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In this paper, a redundantly actuated chewing robot with two higher kinematic pairs (HKPs) is presented, which can be used in performance test and evaluation of denture material. The robot has six actuators, but only has four degrees of freedom, due to constraints of two HKPs which mimic two temporomandibular joints (TMJs) of human. Quasi-static force analysis in occlusion status is performed to calculate...
Epidural space insertion is a common needle surgery for regional anaesthesia, such as labor pain relief and lower extremity surgery. But detection of needle entry into epidural space can be difficult, which currently is highly depended on a hand-feeling skill named loss-of-resistance (LOR). To provide the clinicians with a better real-time visual signal, this paper presents a novel tip force sensing...
This paper addresses the modeling and attitude control of a novel shrouded floating wind turbine with hinged structure in harsh environmental conditions. Firstly, SimMechanics™ is applied to model the mechanical components of the wind turbine system. Secondly, the wave- and wind-loads acting on the system are respectively calculated based on Morison's equation and blade element momentum theory. Controllers...
This paper investigates an electromagnetic worm-like locomotion system (WLLS) with simple design and control. The WLLS consists of two elastically connected ring-like segments that form two coupled electromagnetic actuators. The actuators generate longitudinal and transverse displacements that lead to locomotion due to changes of normal pressure and friction forces. The paper presents the electromagnetic...
Energy harvesting inside human body is crucial for powering implantable long-term biomedical devices. In this paper, the performance of a piezoelectric energy harvester embedded within custom-designed knee implant in powering RF transmitter was evaluated through simulations. This power harvester is composed of four piezoelectric generators along with four off-the-shelf power conditioning circuits...
Gait analysis aims to study human motion and its potential association with chronic diseases, such as Parkinson's disease and hemiplegic paralysis, by extracting various gait characteristics. It has been a challenging problem to accurately extract temporal and spatial gait parameter and to explore the relationship between gait signal and a disease of interest. In this study, we introduce a gait sensing...
To investigate the seismic behavior of prefabricated segmental bridge column with hybrid system (HSC), an elaborate model of was established based on OpenSees platform. The joint between the column and pile cap in the analytical model was constructed with zero-length elements considering the bond-slip effect. The analytical results of the numerical model were carefully compared with the previous test...
Aiming at the impact damage of transmission steel structure tower coating in Xinjiang, the dynamic impact mechanics behavior of transmission steel structure tower coating under simulated single particle impact was studied by automatic sphere impact tester and digital image correlation experiment measuring system. The three-dimensional morphological features of impact damage were analyzed by laser...
This paper develops a linear parameter varying(LPV) based robust model predictive control(MPC) method for a multi-vectored airship, the speed of the forward flight channel is considered. The nonlinear model of the airship is introduced with kinematics and dynamics. Then, in order to obtain the LPV models, the small perturbation linearization method is used. After that, the higher order singular value...
In this paper, a completely numerical simulation model of a tilt rotor helicopter is established. Based on the hierarchical and modular modeling principles, the whole simulation model is finally realized on the Simulink platform. Then a sliding mode variable structure controller based on expansion state observer (ESO) is designed in order to realize the attitude control of this nonlinear and strong...
This paper presents an external hybrid force/pose controller for a robotic manipulator using a cascade scheme with two control loops. In the outer loop there is a force controller that acts as a perturbation for the position reference, whose purpose is to regulate the force applied by the end-effector during the interaction; the inner loop, which is used to control the end-effector pose (i.e., position...
This paper presents a method for estimating object poses based on force sensor information using a particle filter. Autonomous robots often face uncertainty of measurement of object position when they manipulate objects. Related studies dealing with uncertainty in manipulation mainly focused on motions while grasping objects. In contrast, however, a non-grasp contact motion can be advantageous because...
A new manipulation strategy has been proposed to grasp various objects stably using a dual-arm robotic system in the ROS environment. The grasping pose of the dual-arm has been determined depending upon the shape of the objects which is identified by the pan/tilt camera. For the stable grasping of the object, an operability index of the dual-arm robot (OPIND) has been defined by using the current...
Considerable efforts have been devoted to the design of low-power digital electronics. However, after decades of improvements and maturation, CMOS technology could face an efficiency ceiling. This is due to the trade-off between leakage and conduction losses inherent to transistors. Consequently, the lowest dissipation per operation remains nowadays few decades higher than the theoretical Landauer''s...
Presenting a coordinated control algorithm that takes into account both electric stability control (ESC) and drive force assisted steering (DFAS) performance. It introduces the correction factor ki of the driving force when driving the power steering, which designed by fuzzy control the factor with the different vehicle attitude and conditions of the rules of change, and finally the basic control...
The thin-walled parts of the tank are widely used in aerospace filed and the accuracy is the basis requirement for ensuring the usability. Due to the low rigidity of the thin-walled parts, the milling force becomes a major factor for the machining deformation. Based on analysis the relationship between feed speed and the length of the cutting arc, the feed speed optimization method is proposed to...
Sea-crossing bridges are exposed to great waves. The wave induced dynamic effect on the structural response of the pier was carefully studied in this paper. The pier of Pingtan Strait railway bridge was taken as the example structure. The modal and dynamic response of the example pier under regular wave loadings were carried out using finite element software USFOS. The dynamic and static response...
In this paper, the stability problem of bilateral tele-operation systems with data sampling and communication time delays is considered. Two buffers are introduced in the bilateral teleoperation control framework to deal with the issue that the information transmitted between the master and slave sides suffer from time-varying delays. The mathematical model of bilateral teleoperation systems based...
An interesting about MAV and a research for flapping wing aero vehicle has been increased. It is required that take-off and landing abilities to lift up a vehicle by flapping motion to achieve a special purpose for flapping wing aero vehicle. An airfoil has to generate lift force more than a weight of the body to work take-off from the ground without additional force. MAV can generate enough lift...
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