Emergency decision-making requires perspectives from multiple decision-makers with different knowledge and experience to evaluate alternatives jointly and agree on the final solution. Researchers are developing the La...
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Proportional, integral, and derivative (PID) controllers have been widely adopted for industrial applications. However, these controllers are not very efficient for non-linear systems. Artificial neural networks (ANN)...
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In collaborative robotic arms, tactile sensing is crucial for enhancing interaction accuracy and safety. Robotic skins play an vital role in tactile sensing by mimicking the human sense of touch, enabling robots to de...
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作者:
Veeresha, R.K.Bhat, KrishnaMuralidhara
Department of Robotics and Artificial Intelligence Udupi574110 India
Department of Mechanical Engineering Udupi574110 India
The paper aims to develop a novel piezoelectric motor and its controller;here the motor shaft needs to be rotated fully by 360° using two sets of Parallelly Prestressed Actuators (PPA) and one set of lock release...
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Connecting multiple aerial vehicles to a rigid central platform through passive spherical joints holds the potential to construct a fully-actuated aerial platform. The integration of multiple vehicles enhances efficie...
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We analyze the low-Reynolds-number translation of a sphere towards or away from a rigid plane in an Oldroyd-B fluid under two scenarios: prescribing the sphere's translational velocity, and prescribing the force o...
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We analyze the low-Reynolds-number translation of a sphere towards or away from a rigid plane in an Oldroyd-B fluid under two scenarios: prescribing the sphere's translational velocity, and prescribing the force on the sphere. Leveraging the lubrication approximation and a perturbation expansion in powers of the Deborah number, we develop a comprehensive theoretical analysis that yields analytical approximations for velocity fields, pressures, and forces acting on the sphere. Our framework aids in understanding temporal microstructural changes as the particle-wall gap evolves over time. In particular, we show that alterations in the polymer conformation tensor in response to geometric changes induce additional forces on the sphere. For cases with prescribed velocity, we present a theoretical approach for calculating resistive forces at any order in the Deborah number and utilize a reciprocal theorem to obtain higher-order corrections based on velocity fields in the previous orders. When the sphere translates with a constant velocity, the fluid viscoelasticity decreases the resistive force at the first order. However, at the second-order correction, the direction of the sphere's movement determines whether viscoelasticity increases or decreases the resistive force. For cases with prescribed force, we show that understanding the influence of viscoelasticity on the sphere's translational velocity necessitates a more intricate analysis even at low Deborah numbers. Specifically, we introduce an ansatz for constant force scenarios, and we derive solution forms for general prescribed forces using the method of multiple scales. We find that when a sphere undergoes sedimentation due to its own weight, the fluid viscoelasticity results in a slower settling process, reducing the leading-order sedimentation rate.
With increasingly challenging applications for quadrotors, higher requirements are emerging for tracking accuracy and safety. While high accuracy is a prerequisite for complex tasks, safety is ensured through toleranc...
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With the development of machine learning, numerical analysis using neural networks has been devised. Remarkably, physics-informed neural networks (PINNs) enable physically consistent numerical analysis by introducing ...
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Kinematic calibration is essential for improving the accuracy of parallel robots by compensating for geometric errors. This paper presents a calibration method for spherical parallel robots using relative pose measure...
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In this study, composite materials with Al6061 alloy matrix and B4C particles reinforcement were produced by hot extrusion process. Fabricated composites were examined for the mechanical and machinability attributes. ...
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