DAE, India
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Vasumalaikannan A.,IGCAR | George S.J.,IGCAR | Venugopal S.,IGCAR | Kumar R.,CUSAT
Proceedings of the IASTED International Conference on Robotics, Robo 2010 | Year: 2010

This paper details the development of bilateral master slave control using low cost microcontroller. The proposed system is cost effective. Force feedback is widely assumed to enhance the performance in Telemanipulation. In this paper the environment force is estimated just by sensing the slave's current and the results shows an acceptable performance of the developed system. The performance of the system is given in the last section of this paper.


Balamonica K.,CSIR - Central Electrochemical Research Institute | Ramamohan Rao A.,CSIR - Central Electrochemical Research Institute | Nimala Sundaran M.,IGCAR | Chellapandi P.,IGCAR | Gopalakrishnan N.,CSIR - Central Electrochemical Research Institute
Nuclear Engineering and Design | Year: 2015

The control and safety rod drive mechanism is a classic example of a multiply supported and differentially excited structure as it receives varying inputs at each of its supports as they are connected at different parts of a building. The responses of such systems are conventionally computed using pseudo-static method in which the dynamic component is evaluated by time history analysis, response spectrum method or modal analysis. In the present work the dynamic components are evaluated by using Ritz vectors and are compared with the conventional methods namely time history analysis and modal analysis. The usage of Ritz vectors as an alternative for conventional modal vectors has been validated through an experiment conducted on a control and safety rod drive mechanism (CSRDM) subjected to differential input motion. The validation of the code developed for this purpose is carried out for a bridge structure. ©2014 Elsevier B.V. All rights reserved.

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