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This paper proposes a high accuracy Computing Reduction Algorithm Based on Data Reuse. Hassian-Based Predictor-Corrector integration approach uses the current points and external interpolation to predict the location and energy of the next point based on Hessian update scheme. We tested the new approach on CO2 and H2O simulations with an approximated potential energy approximated solution method and...
In a versatile, flexible robotic assembly system, robots need to reorient parts from the initial orientations to another ones appropriate for assembly tasks. Previously, we have proposed a motion strategy of a parallel gripper to reorient a part allowing release motion in its unstable orientation on a flat workbench. Toward motion planning for reorientation tasks by this strategy, it is necessary...
In this paper, we study the design of energy based controller to control the magnetic needle at desired location. The magnetic needle is allowed rotate about one axis, in the external magnetic field by pivoting its center. Due to attraction and repulsive forces between the magnetic needle and external magnetic field, the magnetic needle will have two equilibrium points, one is stable and the other...
“Elastic network interpolation (ENI)” generates a series of transitional conformations between two protein conformations by interpolating inter-atomic distances. A group of atoms that maintain their inter-atomic distances while moving concurrently in a protein is known as a rigid cluster; “rigid cluster ENI” is the interpolation of the rotations and translations of rigid clusters. Rank 3 positive...
In a recent contribution, it was shown that a class of mechanical systems, which contains many practical examples, can be stabilized via energy shaping without solving partial differential equations. The proposed controller consists of two terms, a partial linearizing state-feedback and a <bold>linear PID</bold> loop around two new passive outputs. In this brief note we prove that the...
Modern ideas are presented concerning the source of an earthquake and the seismotectonic source of a tsunami. The main physical processes taking place at a tsunami source are described. Estimation is performed of the role of secondary effects: displacements of the bottom, occurring in its own plane, Coriolis force, and density stratification of the water. The Okada formulae are presented, and the...
In this paper, we try to draw attention to a particular type of force that has been somehow overlooked in the control of mechanical manipulators: gyroscopic force. At first, we broaden our understanding of gyroscopic effect intrinsic in mechanical systems by reformulating the Euler-Lagrange (EL) equation in terms of a gyroscopic part and the non-gyroscopic ones (or Rayleigh type). Then, we propose...
Designing a control strategy of two-wheeled wheelchair is a very challenging task due to the unstable and highly nonlinear system. In the paper the system is modeled by mimicking a double-link inverted pendulum concept and the mathematical equations is derived using Euler-Lagrange method. Then the state-space representation is applied to the Simulink block diagram in Matlab. The control parameter...
The aim of this research is to study behavior of numerical methods for solving one-dimensional stationary Schr¨odinger equation. Two testing tasks are taken for example: the probability tunneling of the square potential barrier and “hyperbolic” potential barrier. The precision and speed of various methods were evaluated.
This paper introduces a novel and light weight lower extremity exoskeleton, used for carrying heavy load in the individual soldier combat system. This exoskeleton has six degree of freedom per leg, only one of which is powered by the motor. In order to provide a reference for the exoskeleton mechanical structure and drive unit, the mechanical topology is designed and analyzed by Adams software to...
Designing a control strategy of two-wheeled wheelchair is a very challenging task due to the unstable and highly nonlinear system. In the paper the system is modeled by mimicking a double-link inverted pendulum concept and the mathematical equations is derived using Euler-Lagrange method. Then the state-space representation is applied to the Simulink block diagram in Matlab. The control parameter...
We propose a prediction method for lane changes in other vehicles. According to previous research, over 90 % of car crashes are caused by human mistakes, and lane changes are the main factor. Therefore, if an intelligent system can predict a lane change and alarm a driver before another vehicle crosses the center line, this can contribute to reducing the accident rate. The main contribution of this...
In big data era, the changes of data form, data acquisition and data exchange have increased the difficulty in processing data credibility and isomerism, as a result, it ' s difficult to solve the critical knowledge bottleneck of service combination scheduling model. Service scheduling process, analysis of credibility and functional data acquisition is very important, further more, most of the current...
Tooth pitting is a common failure mode of a gearbox. With the growth of tooth pitting, gear mesh stiffness shape changes and consequently the dynamic properties of the gear system change. An efficient and effective way to evaluate the time-varying mesh stiffness is essential for comprehensive understanding of dynamic properties and fault detection of a gear system. This study is devoted to modeling...
The unsteady near-wake of a self-propelled body in a linearly stratified environment is studied through the novel use of an actuator-line model. A comparison to experiment at ReL = 1.6×106 shows agreement in wake profiles and the emergence of individual blade-wake structures. Increasing the Reynolds number to ReL = 3.1×108 reveals a delayed vortex breakdown and relative reduction in velocity profile...
The mining robot, which has a large size and weight, is easy to slip and sink during the mining process. For this problem, we propose hydraulic station suspension technology in this paper. By using the technology, the hydraulic station is separated from the mining robot and designed as an independent floating body, which is helpful for increasing the travelling capability of mining robot. The relative...
The terahertz response of amorphous materials is investigated using a combination of experimental terahertz timedomain spectroscopy and low-frequency Raman scattering experiments and theoretical ab initio density functional theory and molecular dynamics calculations. The role of intermolecular interactions on the relaxation dynamics is explored, with specific attention paid to the temperature-dependent...
This paper presents a novel metric to evaluate the performance of spatial active noise cancellation (ANC) systems. We show that the acoustic potential energy within a spherical region can be expressed by a weighed squared sum of spherical harmonic coefficients. The proposed metric allows convenient evaluation of spatial ANC performance using a spherical microphone array. In order to evaluate the effectiveness...
A general expression is worked out for the trap-to-trap transition probability per unit time, applicable to amorphous materials where charge conduction is dominated by localized states. The outcome is a closed-form expression involving temperature and local electric potential. It is suitable for inclusion into hydrodynamic or energy-balance numerical solvers to be used for simulating devices based...
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...
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