A New Approach to Distinguish Thixotropic and Viscoelastic Phenomena

A novel approach for distinguishing the viscoelastic and thixotropic phenomena of predisturbed and intact networks at short and long timescales of observation was proposed using stress relaxation, creep/recovery, single shear decay, and in-shear structural recovery experiments. The method was able to illustrate the connections patterns of the internal microstructure of hydrocolloids and its alteration over time. To test the universality of the new approach, we studied seven commercial and four emerging hydrocolloids. Moreover, to find out the correlation between the proposed parameters from this approach and the fundamental rheological parameters of the selected hydrocolloids, a principal component analysis (PCA) was employed, which showed an excellent correlation between the parameters of all hydrocolloids in predisturbed and intact states at short and long timescales. This work assumed that two different patterns of linkage connection exist, but the analysis can be extended to more than two connection patterns of linkages

Hydrocolloid clustering based on their rheological properties

In this study, we proposed an objective classification of seven commercial hydrocolloids and four novel hydrocolloids. Total of 74 rheological parameters was generated by steady (flow behavior, hysteresis loop, single shear decay, in‐shear structural recovery experiments), dynamic (strain sweep and frequency sweep tests), and transient (creep/recovery and stress relaxation) shear measurements. Subsequently, the parameters were classified into seven categories with more than 60% similarity indexes in each group using agglomerative hierarchical clustering based on those properties related to the number of linkage, strength of linkage, distance of linkage, rupture and flow, rate of destruction, the extent of destruction, and the state of destructured samples in the absence of flow field. Fuzzy c‐means classifier used to extract patterns for each class. Our results correspond to four different classes; κ‐carrageenan and agar gum were categorized in the first class, high methoxyl pectin, xanthan, sage seed gum and basil seed gum in the second class, alginate gum and Balangu‐Shirazi seed gum in the third class, and guar gum, cress seed gum and carboxymethyl cellulose in the fourth class. Using this classification technique, complete rheological patterns can be extracted for each class. This classification provides a map for other researchers to rationally design the best test type which could describe adequately different properties of materials and avoid experiments with a similar type of parameters. The main reason for the frequent use of hydrocolloids in various industries is their ability to modify the rheology. A lot of works have been done to study the rheological behavior of many hydrocolloids in model and food systems. As there is still demand for new sources of hydrocolloids with more specific functionality in foods, probing the similarities among commercial and emerging hydrocolloids could help us to rationally design structural features in different formulatio

CARTESIAN APPROACH FOR GAIT PLANNING AND CONTROL OF BIPED ROBOTS ON IRREGULAR SURFACES

Biped robots possess higher capabilities than other mobile robots for moving on uneven environments. However, due to natural postural instability of these robots, their motion planning and control become a more important and challenging task. This article presents a Cartesian approach for gait planning and control of biped robots without the need to use the inverse kinematics and the joint space trajectories, thus the proposed approach could substantially reduce the processing time in both simulation studies and online implementations. It is based on constraining four main points of the robot in Cartesian space. This approach exploits the concept of Transpose Jacobian control as a virtual spring and damper between each of these points and the corresponding desired trajectory, which leads to overcome the redundancy problem. These four points include the tip of right and left foot, the hip joint, and the total center of mass (CM). Furthermore, in controlling biped robots based on desired trajectories in the task space, the system may track the desired trajectory while the knee is broken. This problem is solved here using a PD controller which will be called the Knee Stopper. Similarly, another PD controller is proposed as the Trunk Stopper to limit the trunk motion. Obtained simulation results show that the proposed Cartesian approach can be successfully used in tracking desired trajectories on various surfaces with lower computational effort. </jats:p

Chattering Eliminated and Stable Motion of Biped Robots using a Fuzzy Sliding Mode Controller

Control of biped walking robots based on designated smooth and stable trajectories is a challenging problem that is the focus of this article. Because of highly nonlinear dynamics of biped robots, minor uncertainties in systems parameters may drastically affect the system performance, leading to chattering phenomenon. To tackle this, a new Sliding Mode Control (SMC) approach is proposed privileging a chattering elimination method based on Fuzzy logic to regulate the switching gain. To this end, first a desired trajectory for the lower body will be designed to alleviate the impacts due to contact with the ground. This is obtained by fitting proper polynomials at appropriate break points. Then, the upper body motion is planned based on the Zero Moment Point (ZMP) criterion to provide a stable motion for the biped robot. Next, dynamics equations will be obtained for both single support phase (SSP) and double support phase (DSP). Finally, the SMC approach is applied for both the SSP and the DSP, while a new chattering elimination method using Fuzzy logic will be proposed based on regulating constant switching gain. Obtained simulation results show that the performance of the system is properly accurate in terms of the tracking errors even in the presence of considerable uncertainties and exerted disturbances. Also, the new proposed method substantially reduces chattering effects and avoids the instability of the biped robot due to this phenomenon, resulting in stable smooth motion control of this complicated system