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Energy is a basic need for development of the modern world. For meeting up the regular demand of energy, a new system that will produce electricity without destroying the nature is needed. Generation of electricity using speed breakers, is one of the most green power generation concepts that the world turning to depend on. The device converts the wasted kinetic energy of vehicles to electrical energy...
This paper proposes a high speed position control using a new actuation structure. To realize a small-sized and highly-torque actuator, a reduction gear is usually used. So that current saturation and friction effect of the actuator exist, the actuator has the maximum acceleration and maximum revolution speed. The gear with high gear ratio reduces these two maximum values because of the reduction...
We propose an evaluation method of grasp stability which takes into account the elastic deformation of fingertips from the viewpoint of energy. An evaluation value of grasp stability is derived as the minimum energy which causes slippage of a fingertip on its contact surface. To formulate the evaluation value, the elastic potential energy of fingertips and the gravitational potential energy of a grasped...
When human walks down a slope, the center of gravity of the body leans backward to keep balance, meanwhile the friction between the heel and ground is increased. Considering this situation, a model of passive kneed biped with fixed feet is modeled in this paper. This type of passive models compensates the lost energy of collision by the potential energy when the knee is locked and the foot impacts...
Molecular dynamics simulation computes the motions of individual molecules in models of solids, liquids and gases, which describe how positions, velocities, and orientations change with time. In present study an attempt has been made for mathematical modeling and dynamical study of a diatomic molecule. Here we consider a fluid system (water) for a diatomic molecule O2 and then we modeled it and simulated...
We model the rebound phenomenon between a ping-pong ball and the table/racket rubber. In the model between the ball and racket rubber, it is assumed that the kinetic energy of the contact velocity is stored as the potential energy due to the elasticity of the rubber. This assumption leads to that the impulse in the horizontal direction is proportional to the contact velocity. The vertical and horizontal...
This paper considers the stability of an object supported by several frictionless contacts in a potential field such as gravity. The bodies supporting the object induce a partition of the object's configuration space into strata corresponding to different contact arrangements. Stance stability becomes a geometric problem of determining whether the object's configuration is a local minimum of its potential...
This paper analyzes grasp stability of two objects with both friction and frictionless contacts in two dimensions. In the grasp of two objects, there exist multiple contact points which mean one contact point between two objects and plural contact points between objects and fingers. In the previous work, all these contact points are assumed to be either only with friction or only without friction...
A control based on human knowledge is flexible and effective for the nonlinear system. Double inverted pendulum is an unstable nonlinear system, it is difficult to control it. On the other hand, human can get knowledge of operation of such a complicated system by moving it several times. In this paper, we propose an intelligent control method based on human knowledge of operation.
Describes the minimization of the dissipated energy in PTP motions of a vertically articulated manipulator. In order to save the dissipated energy, it is first necessary to regenerate the conservative energy, such as kinetic and potential energy, with high efficiency. An electrostatic condenser is used to store the conservative energy so that a rapid charge and discharge can be realized with high...
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