Umer Hameed Shah received the BE and MS degrees in Mechanical Engineering from the National University of Sciences and Technology (NUST), Pakistan, in 2005 and 2012, respectively, and the PhD degree in Mechanical Engineering from the School of Mechanical Engineering, Pusan National University (PNU), South Korea, in 2018. He has held academic positions at several renowned institutions including the Lecturer position at NUST and postdoctoral positions at PNU, Texas A&M University at Qatar, and Khalifa University, United Arab Emirates (UAE). Currently, he is serving as an Assistant Professor at the Department of Mechanical Engineering, College of Engineering and Information Technology, Ajman University, UAE. He has been working in the broad research are of Dynamics and Control of Underactuated Systems that include hybrid ODE-PDE systems; cranes; vehicle suspension systems; underwater vehicle-manipulator systems; marine risers; compliant manipulators; and tactile sensors.
In this paper, the residual vibration control problem of a nuclear power plant’s fuel-transport system is discussed. The purpose of the system is to transport fuel rods to the target position within the minimum time. But according to observations, the rods oscillate at the end of the maneuver, causing an undesirable delay in the operation and affecting the system’s performance in terms both of productivity and of safety. In the present study, a mathematical model of the system was developed to simulate the under-water sway response of the rod while keeping in view the effects of the hydrodynamic forces imposed by the surrounding water. Experiments were performed to validate the model’s correctness. Further, simulation results were used to design the input shaping control that generates shaped velocity commands for transport of the fuel rods to the target position with the minimum residual vibration. It was observed that due to the under-water maneuvering, the fuel-handling system behaves as a highly damped process and that the generated shaped velocity commands fail to effect the desired suppression of the residual vibration. Therefore, keeping in view the highly damped nature of the system, a modified shaped command was generated that transported the fuel rods to the target position with the minimum residual vibration.
In this paper, residual sway control of objects that are moved underwater is investigated. The fuel transfer system in a nuclear power plant transfers the nuclear fuel rods underwater. The research on the dynamics of the loads transferred in different mediums (water and air) and their control methods have not been fully developed yet. The attenuation characteristics of the fuel transfer system have been studied to minimize its residual vibration by considering the effects of hydrodynamic forces acting on the fuel rod. First, a mathematical model is derived for the underwater fuel transfer system, and then experiments have been conducted to study the dynamic behavior of the rod while it travels underwater. Lastly, the residual vibration at the end point is minimized using the input shaping technique.
This paper addresses a residual vibration control problem of the refueling machine (RM) that transports fuel rods in water to their desired locations in the nuclear reactor. A hybrid lumped-mass and distributed-parameter model of the RM is considered for investigation of the transverse vibrations (caused by trolley movement) of a fuel rod in water. Simulations and experiments reveal that the hydrodynamic force causes a large deflection of the rod in water as compared with in air, which must be suppressed to avoid damage to the rod's fissile material. A new command-shaping method for suppression of the flexible rod's residual vibrations in water is developed, which considers both a similitude law relating the maximum endpoint deflection of the rod in water to the maximum trolley velocity and a constraint on the rod's maximum endpoint deflection during its transport. The simulation and experimental results show that the proposed underwater-command-shaping method can effectively suppress the vibrations of the flexible rod operating in water.
This paper addresses a simultaneous control of the positions of the bridge and trolley and the vibrations of the load of a nuclear refueling machine (RM) that transports nuclear fuel rods to given locations in the nuclear reactor. Hamilton’s principle is used to develop the equations of motion of the RM. The lateral and transverse vibrations of the fuel rods during their transportation in water are analyzed. In deriving the control law, the nonlinear hydrodynamic forces acting on the rod are considered. Then, a boundary control scheme is developed, which suppresses the lateral and transverse vibrations simultaneously in the course of the transportation of the fuel rod to the desired locations. Furthermore, Lyapunov function-based stability analyses are performed to prove the uniform ultimate boundedness of the closed loop system as well as the simultaneous control of the positions of the bridge and trolley under the influence of nonlinear hydrodynamic forces. Finally, experimental and simulation results are provided to demonstrate the effectiveness of the proposed control scheme.
This paper reviews the dynamics and vibration control techniques for marine riser systems. The riser pipes are modeled as Euler-Bernoulli beams that vibrate under the effects of ocean loads and the movements of the surface vessel, resulting in hybrid ODE-PDE equations. Chronological development of such hybrid models is first discussed, and their approximated ODE models for simulation are examined. Theoretical and experimental techniques for instability and fatigue analyses on the riser systems are also summarized. To increase the fatigue life against ocean currents, passive vibration suppression devices (e.g., strakes and spoilers) were mounted on the surface of the riser. Whereas to tackle the instability problem caused by sea waves, active control techniques utilizing the movements of the vessel were employed. In Conclusions, as future riser technologies, seven research issues are identified.
This chapter discusses the mathematical modeling of gantry crane systems, considering the subsystems of a crane to be rigid bodies. Such a formulation does not reflect the deflections within the individual parts of the crane but only considers their rigid body movements and results in a lumped mass model (LMM). Both the overhead and container cranes , shown in Figs. 1.1 and 1.3, respectively, lie within the category of gantry cranes . In developing the LMMs of gantry cranes , three different approaches for modeling the hoisting mechanism are usually followed: (i) single-rope hoisting mechanism , (ii) multi-rope hoisting mechanism , and (iii) double-pendulum system . The first approach, which considers a single-rope hoisting mechanism , represents the dynamics of a simple overhead crane considering the hook and the payload as a single-lumped mass.
discussed in Chap. 1, rotary cranes comprise tower cranes and boom cranes . In this chapter, we will discuss the dynamics of both the tower and boom crane systems. The operation of a tower crane consists of a slew motion of the jib , a translational motion of the trolley along the length of the jib , and a hoisting motion of the payload . The operations of a boom crane include slewing and luffing movements of the boom together with a hoisting motion of the payload (Ito et al. 1978).
In the previous chapters, we have discussed the crane systems with a fixed base, which are used at construction sites (e.g., tower cranes ), manufacturing/power plants (e.g., overhead cranes ), ship-building factories (e.g., gantry cranes ), and seaports (e.g., container cranes ), for handling heavy loads.
This chapter discusses modeling of crane systems as distributed parameter systems .
This paper reviews the existing vision-based tactile sensor (VBTS) designs reported in the literature. Although some reviews on VBTSs already exist in the literature. We believe it is necessary to review existing VBTS designs to formulate a guideline for developing such systems considering recent developments in the manufacturing and imaging technologies. Therefore, the main emphasis of this paper is to investigate current manufacturing trends and component selection criteria for developing a complete VBTS system. Further, the motivation behind this review is to identify the shortcomings in the current VBTS development technology and to furnish viable solutions to overcome such challenges. First, three different modalities of VBTSs are discussed: i) Waveguide-type designs, ii) marker-tracking based designs, and ii) reflective membrane designs. Next, a detailed discussion on various design aspects, like manufacturing, selection, and arrangements of the various sensor components, of the VBTSs is included. Then, a discussion on the validation/testing of various VBTSs is presented. Finally, based on the review, several challenges related to the development of VBTS are presented and the future research directions to overcome such challenges are recommended. This will serve the research community in determining the future research directions in the area of VBTS development.