Experimental Studies of Contact Space Model for Multi-surface Collisions in Articulated Rigid-Body Systems

Author(s):  
Shameek Ganguly ◽  
Oussama Khatib
2020 ◽  
Vol 39 (10-11) ◽  
pp. 1239-1258
Author(s):  
Shameek Ganguly ◽  
Oussama Khatib

Multi-surface interactions occur frequently in articulated-rigid-body systems such as robotic manipulators. Real-time prediction of contact-interaction forces is challenging for systems with many degrees of freedom (DOFs) because joint and contact constraints must be enforced simultaneously. While several contact models exist for systems of free rigid bodies, fewer models are available for articulated-body systems. In this paper, we extend the method of Ruspini and Khatib and develop the contact-space resolution (CSR) model by applying the operational space theory of robot manipulation. Through a proper choice of contact-space coordinates, the projected dynamics of the system in the contact space is obtained. We show that the projection into the dynamically consistent null space preserves linear and angular momentum in a subspace of the system dynamics complementary to the joint and contact constraints. Furthermore, we illustrate that a simultaneous collision event between two articulated bodies can be resolved as an equivalent simultaneous collision between two non-articulated rigid bodies through the projected contact-space dynamics. Solving this reduced-dimensional problem is computationally efficient, but determining its accuracy requires physical experimentation. To gain further insights into the theoretical model predictions, we devised an apparatus consisting of colliding 1-, 2-, and 3-DOF articulated bodies where joint motion is recorded with high precision. Results validate that the CSR model accurately predicts the post-collision system state. Moreover, for the first time, we show that the projection of system dynamics into the mutually complementary contact space and null space is a physically verifiable phenomenon in articulated-rigid-body systems.


Author(s):  
A.N. Temnov ◽  
Ko Ko Win

Further exploration of outer space is not possible without energy industrialization. For the industrialization of outer space, Russian and American experts are considering the possibility of creating orbital refueling stations and space refueling stations for future flights to the Moon, Mars and other planets. The proposed article presents the formulation of the problem, the solutions and the results of studies of the dynamic characteristics and stability of small oscillations of a solid, simulating a space tanker, whose fuel tank contains a cryogenic liquid. A distinctive feature of a cryogenic liquid is the low temperatures and various densities of fluid particles observed in the processes of storage and operation, which greatly complicates the study of hydrodynamic problems. In the article, the cryogenic fluid is modeled by layers of immiscible liquids. In the work, the equations of motion of a rigid body with a cavity containing three immiscible incompressible ideal liquids and performing a plane motion are obtained. The formulation of the problem of small oscillations and stability of motion of a rigid body with a cavity filled with such a layered fluid is given. The areas of stability of the motion of a solid semi-cylinder with a cylindrical cavity filled with three immiscible liquids are investigated. The article also presents the results of an experimental study of oscillations of a half-cylinder with two immiscible liquids.


1988 ◽  
Vol 110 (3) ◽  
pp. 190-199 ◽  
Author(s):  
D. P. Theret ◽  
M. J. Levesque ◽  
M. Sato ◽  
R. M. Nerem ◽  
L. T. Wheeler

Experimental studies have shown that endothelial cells which have been exposed to shear stress maintain a flattened and elongated shape after detachment. Their mechanical properties, which are studied using the micropipette experiments, are influenced by the level as well as the duration of the shear stress. In the present paper, we analyze these mechanical properties with the aid of two mathematical models suggested by the micropipette technique and by the geometry peculiar to these cells in their detached post-exposure state. The two models differ in their treatment of the contact zone between the cell and the micropipette. The main results are expressions for an effective Young’s modulus for the cells, which are used in conjunction with the micropipette data to determine an effective Young’s modulus for bovine endothelial cells, and to discuss the dependence of this modulus upon exposure to shear stress.


Author(s):  
Kent McDonald ◽  
David Mastronarde ◽  
Rubai Ding ◽  
Eileen O'Toole ◽  
J. Richard McIntosh

Mammalian spindles are generally large and may contain over a thousand microtubules (MTs). For this reason they are difficult to reconstruct in three dimensions and many researchers have chosen to study the smaller and simpler spindles of lower eukaryotes. Nevertheless, the mammalian spindle is used for many experimental studies and it would be useful to know its detailed structure.We have been using serial cross sections and computer reconstruction methods to analyze MT distributions in mitotic spindles of PtK cells, a mammalian tissue culture line. Images from EM negatives are digtized on a light box by a Dage MTI video camera containing a black and white Saticon tube. The signal is digitized by a Parallax 1280 graphics device in a MicroVax III computer. Microtubules are digitized at a magnification such that each is 10-12 pixels in diameter.


Author(s):  
Ina Grau ◽  
Jörg Doll

Abstract. Employing one correlational and two experimental studies, this paper examines the influence of attachment styles (secure, anxious, avoidant) on a person’s experience of equity in intimate relationships. While one experimental study employed a priming technique to stimulate the different attachment styles, the other involved vignettes describing fictitious characters with typical attachment styles. As the specific hypotheses about the single equity components have been developed on the basis of the attachment theory, the equity ratio itself and the four equity components (own outcome, own input, partner’s outcome, partner’s input) are analyzed as dependent variables. While partners with a secure attachment style tend to describe their relationship as equitable (i.e., they give and take extensively), partners who feel anxious about their relationship generally see themselves as being in an inequitable, disadvantaged position (i.e., they receive little from their partner). The hypothesis that avoidant partners would feel advantaged as they were less committed was only supported by the correlational study. Against expectations, the results of both experiments indicate that avoidant partners generally see themselves (or see avoidant vignettes) as being treated equitably, but that there is less emotional exchange than is the case with secure partners. Avoidant partners give and take less than secure ones.


Author(s):  
Anne Andronikof

Based on an analysis of John Exner’s peer-reviewed published work from 1959 to 2007, plus a brief comment for an editorial in Rorschachiana, the author draws a comprehensive picture of the scientific work of this outstanding personality. The article is divided into three sections: (1) the experimental studies on the Rorschach, (2) the clinical studies using the Rorschach, and (3) Exner’s “testament,” which we draw from the last paper he saw published before his death (Exner, 2001/2002). The experimental studies were aimed at better understanding the nature of the test, in particular the respective roles of perception and projection in the response process. These fundamental studies led to a deeper understanding of the complex mechanisms involved in the Rorschach responses and introduced some hypotheses about the intentions of the author of the test. The latter were subsequently confirmed by the preparatory sketches and documents of Hermann Rorschach, which today can be seen at the H. Rorschach Archives and Museum in Bern (Switzerland). Exner’s research has evidenced the notion that the Rorschach is a perceptive-cognitive-projective test.


2013 ◽  
Vol 44 (2) ◽  
pp. 117-128 ◽  
Author(s):  
Mauro Bertolotti ◽  
Patrizia Catellani ◽  
Karen M. Douglas ◽  
Robbie M. Sutton

In two experimental studies (conducted in Britain and Italy), participants read about a politician answering to leadership- versus morality-related allegations using either downward counterfactuals (“things could have been worse, if ...”) or upward counterfactuals (“things could have been better, if ...”). Downward messages increased the perception of the politician’s leadership, while both downward and upward messages increased morality perception. Political sophistication moderated the effect of message direction, with downward messages increasing perceived morality in low sophisticates and upward messages increasing perceived morality in high sophisticates. In the latter group, the acknowledgment of an intent to take responsibility mediated morality judgment. Results were consistent across different countries, highlighting previously unexplored effects of communication on the perception of the “Big Two” dimensions.


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