An optimal motion planning of a free-falling cat based on the spline approximation is investigated.Nonholonomicity arises in a free-falling cat subjected to nonintegrable velocity constraints or nonintegrable conserva...An optimal motion planning of a free-falling cat based on the spline approximation is investigated.Nonholonomicity arises in a free-falling cat subjected to nonintegrable velocity constraints or nonintegrable conservation laws.The equation of dynamics of a free-falling cat is obtained by using the model of two symmetric rigid bodies.The control of the system can be converted to the motion planning problem for a driftless system.A cost function is used to incorporate the final errors and control energy.The motion planning is to determine control inputs to minimize the cost function and is formulated as an infinite dimensional optimal control problem.By using the control parameterization,the infinite dimensional optimal control problem can be transformed to a finite dimensional one.The particle swarm optimization(PSO) algorithm with the cubic spline approximation is proposed to solve the finite dimension optimal control problem.The cubic spline approximation is introduced to realize the control parameterization.The resulting controls are smooth and the initial and terminal values of the control inputs are zeros,so they can be easily generated by experiment.Simulations are also performed for the nonholonomic motion planning of a free-falling cat.Simulated experimental results show that the proposed algorithm is more effective than the Newtoian algorithm.展开更多
Due to autorotation,samaras can fly efficiently and stably to be dispersed over a great distance under various weather conditions.Here,we provide a quantitative analysis of the dynamic stability of free-falling maple ...Due to autorotation,samaras can fly efficiently and stably to be dispersed over a great distance under various weather conditions.Here,we provide a quantitative analysis of the dynamic stability of free-falling maple samara(Acer grosseri Pax)and verify whether they are dynamically stable as observed.Morphological and kinematic parameters were obtained based on the existing experimental data of the maple seed.Then the linearized equations of motion were derived,and the stability derivatives were calculated by a computational fluid dynamics method.The techniques of eigenvalue and eigenvector analysis were also used to examine the stability characteristics.It is found that there are five natural modes of motion of the maple seed:one stable oscillatory mode,one fast subsidence mode,one slow subsidence mode,and two neutral stable modes.The two neutral modes are manifested as the seed moving horizontally at a low speed under disturbance.Results show that the maple seed has dynamic stability in sustaining the steady autorotation and descent,exhibiting a minor horizontal motion when disturbed.These findings can beapplied to biomimetic aircraft.展开更多
基金supported by the National Natural Science Foundation of China (Grant No. 11072038)the Municipal Key Programs of Natural Science Foundation of Beijing,China (Grant No. KZ201110772039)
文摘An optimal motion planning of a free-falling cat based on the spline approximation is investigated.Nonholonomicity arises in a free-falling cat subjected to nonintegrable velocity constraints or nonintegrable conservation laws.The equation of dynamics of a free-falling cat is obtained by using the model of two symmetric rigid bodies.The control of the system can be converted to the motion planning problem for a driftless system.A cost function is used to incorporate the final errors and control energy.The motion planning is to determine control inputs to minimize the cost function and is formulated as an infinite dimensional optimal control problem.By using the control parameterization,the infinite dimensional optimal control problem can be transformed to a finite dimensional one.The particle swarm optimization(PSO) algorithm with the cubic spline approximation is proposed to solve the finite dimension optimal control problem.The cubic spline approximation is introduced to realize the control parameterization.The resulting controls are smooth and the initial and terminal values of the control inputs are zeros,so they can be easily generated by experiment.Simulations are also performed for the nonholonomic motion planning of a free-falling cat.Simulated experimental results show that the proposed algorithm is more effective than the Newtoian algorithm.
基金supported by the National Natural Science Foundation of China(Grant No.11832004)。
文摘Due to autorotation,samaras can fly efficiently and stably to be dispersed over a great distance under various weather conditions.Here,we provide a quantitative analysis of the dynamic stability of free-falling maple samara(Acer grosseri Pax)and verify whether they are dynamically stable as observed.Morphological and kinematic parameters were obtained based on the existing experimental data of the maple seed.Then the linearized equations of motion were derived,and the stability derivatives were calculated by a computational fluid dynamics method.The techniques of eigenvalue and eigenvector analysis were also used to examine the stability characteristics.It is found that there are five natural modes of motion of the maple seed:one stable oscillatory mode,one fast subsidence mode,one slow subsidence mode,and two neutral stable modes.The two neutral modes are manifested as the seed moving horizontally at a low speed under disturbance.Results show that the maple seed has dynamic stability in sustaining the steady autorotation and descent,exhibiting a minor horizontal motion when disturbed.These findings can beapplied to biomimetic aircraft.
