Triboelectric nanogenerators (TENGs) have emerged as a promising energy-harvesting technology by converting mechanical energy into electrical power. However, enhancing their output performance remains a key challenge,...
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This article focuses on the dynamic index and performance of a radial symmetric six-legged *** first the structure of the robot is described in brief and its inverse kinematics is *** the dynamic model is formulated a...
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This article focuses on the dynamic index and performance of a radial symmetric six-legged *** first the structure of the robot is described in brief and its inverse kinematics is *** the dynamic model is formulated as based on the Lagrange equations.A novel index of total torque is proposed by considering the posture of the supporting *** new index can be used to optimize the leg's structure and operation for consuming minimum power and avoiding unstable postures of the robot.A characterization of the proposed six-legged robot is obtained by a parametric analysis of robot performance through simulation using the presented dynamic *** influences are outlined as well as the usefulness of the proposed performance index.
The atomic force microscope (AFM) system has evolved into a useful tool for direct measurements of intermolecular forces with atomic-resolution characterization that can be employed in a broad spectrum of applications...
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The atomic force microscope (AFM) system has evolved into a useful tool for direct measurements of intermolecular forces with atomic-resolution characterization that can be employed in a broad spectrum of applications such as electronics, semi-conductors, materials, manufacturing, polymers, biological analysis, and biomaterials. The non-contact AFM offers unique advantages over other contemporary scanning probe techniques such as contact AFM and scanning tunneling microscopy. Current AFM imaging techniques are often based on a lumped-parameters model and ordinary differential equation (ODE) representation of the micro-cantilevers coupled with an ad-hoc method for atomic interaction force estimation (especially in non-contact mode). Since the magnitude of the interaction force lies within the range of nano-Newtons to pica-Newtons, precise estimation of the atomic force is crucial for accurate topographical imaging. In contrast to the previously utilized lumped modeling methods, this paper aims at improving current AFM measurement technique through developing a general distributed-parameters base modeling approach that reveals greater insight into the fundamental characteristics of the microcantilever-sample interaction. For this, the governing equations of motion are derived in the global coordinates via the Hamilton's Extended Principle. By properly selecting a set of general coordinates, the resulting non-homogenous boundary value problem is then converted to a homogenous one, and hence, analytically solvable. The AFM controller can then be designed based on the original infinite dimensional distributed-parameters system which, in turn, removes some of the disadvantages associated with the truncated-model base controllers such as control spillovers, residual oscillations and increased order of the control. Numerical simulations are provided to support these claims.
A five-fingered,multi-sensory and biomimetic hand is *** cambered palm is specially designed by utilizing the knowledge of *** position of each finger is arranged according to human hand *** finger with three phalange...
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A five-fingered,multi-sensory and biomimetic hand is *** cambered palm is specially designed by utilizing the knowledge of *** position of each finger is arranged according to human hand *** finger with three phalanges could fulfill flexion-extension movement *** the fingers are designed using coupling link *** location of the thumb is designed by maximizing interaction area between the thumb and other *** opposite thumb could grasp along a cone surface,while maintaining its *** hardware architecture is divided into control system and human-machine interaction *** mechanical parts,sensors and motion control systems are integrated in the hand *** addition,a skin-like glove is designed,which makes the hand more *** to our primary experimental results,the hand can accomplish several grasp modes by applying an intuitive surface electromyography control *** success rate of 10 modes is up to 90%.
Tillage of the soil is the most important consideration when it comes to the implementation of agricultural practices. Increases in crop yield has been achieved through a variety of agricultural practices thanks to th...
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A translational cantilevered Euler-Bernoulli beam with tip mass dynamics at its free end is used to study the effect of several damping mechanisms on the stabilization of the beam displacement. Specifically, a Lyapuno...
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A translational cantilevered Euler-Bernoulli beam with tip mass dynamics at its free end is used to study the effect of several damping mechanisms on the stabilization of the beam displacement. Specifically, a Lyapunov-based controller utilizing a partial differential equation model of the translational beam is developed to exponentially stabilize the beam displacement while the beam support is regulated to a desired set-point position. Depending on the composition of the tip mass dynamics assumption (i.e. body-mass, point-mass, or massless), it is shown that proper combination of different damping mechanisms (i.e., strain-rate, structural, or viscous damping) guarantees exponential stability of the beam displacement. This novel Lyapunov-based approach, which is based on the energy dissipation mechanism in the beam, brings new dimensions to the stabilization problem of translational beams with tip mass dynamics. The stability analysis utilizes relatively simple mathematical tools to illustrate the exponential and asymptotic stability results. The numerical results are presented to show the effectiveness of the controller.
作者：
Hazem, Zied BenBingul, Zafer
University of Technology Bahrain Department of Mechatronics Engineering 18041 Bahrain Kocaeli University
Automation and Robotics Laboratory Department of Mechatronics Engineering Kocaeli41001 Turkey
This paper presents a study of the development of anti-swing control of a triple link rotary pendulum system (TLRPS). The motion nonlinear equations of the TLRPS are obtained using the Euler-Lagrange method based on t...
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In this paper, a new method for adjusting the height of a cylindrical pair in a static environment is presented. Generic force formulations are established. A technique to uniquely identify the type of contact based o...
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This paper is concerned with the map based self localization problem based on image matching by crosscorrelation method. The specific aim is to develop a map based scan matching algorithm for robust pose estimation of...
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ISBN:
(纸本)9780889868625
This paper is concerned with the map based self localization problem based on image matching by crosscorrelation method. The specific aim is to develop a map based scan matching algorithm for robust pose estimation of a mobile robot in the static environment. A scan is a set of range measurement of the features transformed into a binary image in the environment provided by a laser range finder (LRF). By comparing a scan taken at the current pose of the robot with an existing scan, an estimate of the absolute pose of the robot is obtained. Real world experiments with our robot within the office environment show that the pose error is small enough to perform navigation tasks.
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