This paper presents a comprehensive analysis of the kinematics, dynamics, and inverse dynamic control of the Cable-Suspended Parallel Robot (CPR-A). The CPR-A system is a cable-driven robot employing two ropes fixed a...
This paper presents a comprehensive analysis of the kinematics, dynamics, and inverse dynamic control of the Cable-Suspended Parallel Robot (CPR-A). The CPR-A system is a cable-driven robot employing two ropes fixed at the upper corners of a 3D workspace. By controlling the angular positions of three motors, the robot can precisely manipulate the motion of a camera carrier in Cartesian space. The study defines the desired trajectory of the camera’s motion and analyzes the system’s kinematics. The inverse kinematics problem is solved, and a closed-form solution for forward kinematics is given, contributing to the novelty of this research. The paper investigates the Jacobian analysis, which is essential for understanding the relationship between joint variable velocities and the robot’s end-effector motion. The dynamic analysis focuses on deriving the mass matrix, Coriolis and centrifugal, and gravity vectors for the CPR-A system. The study incorporates the mass of cables to achieve more accurate dynamics results. Furthermore, the implications of inverse dynamic control in shaping error free tracking performances are explored. Simulation results validate the analytical solutions, showcasing accurate tracking of desired trajectories.
This study investigates a MEMS-based AT-cut quartz oscillator simultaneously with selective 3 rd overtone oscillation and low acceleration sensitivity (G-sensitivity). We implement (i) aspect-ratio design through aco...
This study investigates a MEMS-based AT-cut quartz oscillator simultaneously with selective 3 rd overtone oscillation and low acceleration sensitivity (G-sensitivity). We implement (i) aspect-ratio design through acoustic wave engineering to mitigate the fundamental thickness shear (TS) mode while accentuating its 3 rd overtone and (ii) folded structure design to alleviate inertia induced stress, thus realizing low G-sensitivity. As a result, the proposed device has a dwarfed Q-factor of 3.6k for the 1 st TS mode while attaining a Q-factor of 84.6k for the 3 rd overtone TS mode. A standard ASIC for quartz oscillator is employed to sustain the oscillation, achieving a power-frequency-normalized Figure of Merit (PFN FoM) of 228 dB at its selective 3 rd overtone (63 MHz). G-sensitivity is characterized through sinusoidal and random vibration test, achieving a G-sensitivity of only 0.3 ppb/g in a 200 Hz to 2 kHz range under 1g sinusoidal vibration. The proposed device exhibits more than 25% improvement on G-sensitivity in vibration frequency span of interest compared to traditional quartz oscillator designs. This work presents a selective 3 rd overtone oscillator with excellent PN performance, extremely low acceleration sensitivity, and a significantly reduced footprint compared to existing commercial products.
We discuss the development and functionalities of the Regionalization Tool (RT) which presents a user-friendly post-processing procedure of scenario results, provided by a long-term energy system investment planning m...
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ISBN:
(数字)9798350381740
ISBN:
(纸本)9798350381757
We discuss the development and functionalities of the Regionalization Tool (RT) which presents a user-friendly post-processing procedure of scenario results, provided by a long-term energy system investment planning model, as well as a national industrial database. The tool generates geographically explicit clusters of production or consumption volumes for different commodities, according to a selected pathway towards 2050. Doing so, the tool introduces a spatial component to the otherwise aggregated modeling results, thereby balancing the computational cost of the energy system model with increased geographical detail to be used as input for energy infrastructure investment decision models. We demonstrate this added value of the tool through a case study for a decarbonization scenario towards 2050 for Belgium, selected from the PATHS2050 study. The case study highlights the spatial component to the electrification trend that emerges in the scenario results, as well as a geographically varying volumes of hydrogen consumption and captured CO
2
, thereby providing input to infrastructure investment decision models.
The electrochemical detection of endogenous molecules from a single cell is a crucial technique for understanding fundamental cellular processes at the subcellular level and uncovering cellular heterogeneity. However,...
The electrochemical detection of endogenous molecules from a single cell is a crucial technique for understanding fundamental cellular processes at the subcellular level and uncovering cellular heterogeneity. However, high throughput intracellular detection has posed significant challenges. This paper proposes a simple method for fabricating a nanoprobe for the electrochemical monitoring of intracellular reactive oxygen species (ROS), which are important signaling molecules that play a key role in a wide range of cellular processes, including apoptosis, proliferation, and differentiation. Combined with the automated nanoprobe platform, the study successfully achieved minimally invasive and efficient intracellular ROS detection in living cells. Moreover, the results reveal that the average ROS concentration in the cytoplasm and nucleus is uneven, which has important implications for the understanding of cellular redox signaling.
This study investigates the impact of a DC electric field on the lift-off height and ion current of a laminar lifted non-premixed jet flame. The experimental setup includes two horizontal electrodes that creates a ver...
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In this study, solar-powered green hydrogen production has been presented. Evacuated tube heat pipe (ETHP) collector is used to benefit from solar energy in the project. Thermal energy is obtained through the solar ra...
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We experimentally demonstrate boosted in-plane thermal conduction by surface plasmon polaritons (SPPs) propagating along a thin Ti film on a glass substrate. Due to the lossy nature of metal, SPPs can propagate over c...
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We experimentally demonstrate boosted in-plane thermal conduction by surface plasmon polaritons (SPPs) propagating along a thin Ti film on a glass substrate. Due to the lossy nature of metal, SPPs can propagate over centimeter-scale distances even along a supported metal film, and the resulting ballistic heat conduction can be quantitatively validated. Further, for a 100-nm-thick Ti film on a glass substrate, a significant enhancement of in-plane thermal conductivity compared to bulk value (∼25%) is experimentally shown. This Letter will provide a new avenue to employ SPPs for heat dissipation along a supported thin film, which can be readily applied to mitigate hot-spot issues in microelectronics.
Fast and accurate safety assessment and collision checking are essential for motion planning and control of highly dynamic autonomous robotic systems. Informative, intuitive, and explicit motion trajectory bounds enab...
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Considering a growing number of metrics and indicators to assess circular economy, it is of paramount importance to shed light on how they differ from traditional approaches, such as life cycle assessment (LCA) or sus...
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As a parametric motion representation, Bézier curves have significant applications in polynomial trajectory optimization for safe and smooth motion planning of various robotic systems, including flying drones, au...
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