In this paper, the modeling of an industrial robot is presented. The simulation of an industrial robot is carried out using the ADAMS multibody system. The computer-aided design model of an industrial robot is importe...
In this paper, the modeling of an industrial robot is presented. The simulation of an industrial robot is carried out using the ADAMS multibody system. The computer-aided design model of an industrial robot is imported into ADAMS. The imported model in ADAMS is prepared for the simulation by adding markers or frames to the rigid bodies of an industrial robot. The relationship between the rigid bodies is established by applying constraints in ADAMS. The STEP function from the function builder is used to move the rigid bodies of an industrial robot. The STEP function is an expression that uses the initial and final conditions to create a smooth motion. The joint limits of an industrial robot are specified in the STEP function to trace the path of an end-effector, which represents the workspace of an industrial robot. Furthermore, the pose of an industrial robot using STEP expression is investigated in the postprocessor.
In this paper, we discuss the bad pair condition causing a singular stress at a vertex of the interface in three dimensional (3D) prismatic butt joints in comparison with the bad pair condition along the side. 3D fini...
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Multilevel techniques are efficient approaches for solving the large linear systems that arise from discretized partial differential equations and other problems. While geometric multigrid requires detailed knowledge ...
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Magnetorheological fluid (MRF) models are important tools in the design of the material based-valve in a damper. Although Bingham Plastic and polynomial models are quite widely employed, these data-driven models have ...
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Fused silica optics (e.g., wedged focus lenses, continuous phase plate) with high-performance and accuracy are key components in laser-driven inertial confinement fusion (LD-ICF) facilities which deliver megajoule and...
Fused silica optics (e.g., wedged focus lenses, continuous phase plate) with high-performance and accuracy are key components in laser-driven inertial confinement fusion (LD-ICF) facilities which deliver megajoule and petawatt lasers for fusion ignition. The LD-ICF necessitates the use of high-quality, large-aperture fused silica optics to control laser beams temporally, spatially, and spectrally, posing significant ultra-precision manufacturing challenges. When these fused silica optics are exposed to intense laser pulses, laser-induced surface damage (LISD) might generate and then escalate rapidly during subsequent laser shots. This has been a limiting factor in the promotion of output energy in LD-ICF. The root cause of LISD is surface/subsurface defects (SSD). Therefore, eradicating SSD is essential to reduce LISD initiations and repair them. In response to this issue, various techniques have been developed to enhance the laser damage resistance (LDR) of fused silica optics by inhibiting SSD and repairing LISD. Nevertheless, the actual LDR of these optics in practical applications is still significantly below the intrinsic thresholds of their raw materials. A comprehensive and in-depth review of LDR improvement techniques is necessary to provide references for manufacturing high-performance fused silica optics. This paper summarizes the development of cutting-edge manufacturing techniques used to enhance the LDR of fused silica optics. These techniques might introduce new damage precursors (such as redepositions and chemical structure defects), constraining further enhancements in the LDR of fused silica optics. These challenges and their solutions are discussed and analyzed emphatically, and the future trends of LDR improvement techniques are explored. This study aims to provide a foundation and guidance for manufacturing high-performance fused silica optics as well as other hard-brittle optics, thereby propelling the advancement of LD-ICF.
Many children have an upper extremity disability leaving them unable to explore the environment around them. Hard exoskeletons can provide support to lift a child’s arms up against gravity, but these devices are gene...
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A flexible treatment for gas- and aerosol-phase chemical processes has been developed for models of diverse scale, from box models up to global models. At the core of this novel framework is an"abstracted aerosol...
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A flexible treatment for gas- and aerosol-phase chemical processes has been developed for models of diverse scale, from box models up to global models. At the core of this novel framework is an"abstracted aerosol representation" that allows a given chemical mechanism to be solved in atmospheric models with different aerosol representations (e.g., sectional, modal, or particle-resolved). This is accomplished by treating aerosols as a collection of condensed phases that are implemented according to the aerosol representation of the host model. The framework also allows multiple chemical processes (e.g., gas- and aerosol-phase chemical reactions, emissions, deposition, photolysis, and mass-transfer) to be solved simultaneously as a single system. The flexibility of the model is achieved by (1) using an object-oriented design that facilitates extensibility to new types of chemical processes and to new ways of representing aerosol systems;(2) runtime model configuration using JSON input files that permits making changes to any part of the chemical mechanism without recompiling the model;this widely used, human-readable format allows entire gas- and aerosol-phase chemical mechanisms to be described with as much complexity as necessary;and (3) automated comprehensive testing that ensures stability of the code as new functionality is introduced. Together, these design choices enable users to build a customized multiphase mechanism, without having to handle pre-processors, solvers or compilers. Removing these hurdles makes this type of modeling accessible to a much wider community, including modelers, experimentalists, and educators. This new treatment compiles as a stand-alone library and has been deployed in the particle-resolved PartMC model and in the MONARCH chemical weather prediction system for use at regional and global scales. Results from the initial deployment to box models of different complexity and MONARCH will be discussed, along with future extension to more
It is important for an Unmanned Aerial Vehicle (UAV) to detect any object in its view. This enables the UAV to locate the object with respect to itself and is required for locking and tracking the object. Object detec...
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ISBN:
(数字)9781728149974
ISBN:
(纸本)9781728149981
It is important for an Unmanned Aerial Vehicle (UAV) to detect any object in its view. This enables the UAV to locate the object with respect to itself and is required for locking and tracking the object. Object detection and location estimation makes the UAV capable of manipulating the environment as well as to follow the target. In the present work, object detection has been carried out using You Only Look Once (YOLO) to detect the object in the image stream of the Robot Operating System (ROS) bag file. The GPS information of the UAV is used to further calculate the GPS coordinates of the object. The images are acquired using a single monocular camera.
Stinging nettle is a perennial herbaceous plant belonging to the Urticaceae family, In Bali Indonesia called jelatang. This species is considered a weed in intensive agriculture as its fast vegetative growth and high ...
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We present a sim-to-real framework that uses dynamics and domain randomized offline reinforcement learning to enhance open-loop gaits for legged robots, allowing them to traverse uneven terrain without sensing foot im...
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