Novel Omnimagnet actuation method for a Cubesat nano-satellite

2021 ◽  
pp. 106913
Author(s):  
Amr M. Hassan ◽  
Ayman A. El-Badawy
Keyword(s):  
Actuation Method

OPTIMAL MOTION PLANNING OF A PLANAR PARALLEL MANIPULATOR WITH KINEMATICALLY REDUNDANT DEGREES OF FREEDOM

2016 ◽  
Vol 40 (3) ◽  
pp. 383-397 ◽  
Author(s):  
Bahman Nouri Rahmat Abadi ◽  
Sajjad Taghvaei ◽  
Ramin Vatankhah
Keyword(s):  
Motion Planning ◽  
Feedback Linearization ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Redundant Manipulator ◽  
Optimal Motion ◽  
Planar Parallel Manipulator ◽  
Optimal Motion Planning ◽  
Planning Algorithm ◽  
Actuation Method

In this paper, an optimal motion planning algorithm and dynamic modeling of a planar kinematically redundant manipulator are considered. Kinematics of the manipulator is studied, Jacobian matrix is obtained and the dynamic equations are derived using D’Alembert’s principle. Also, a novel actuation method is introduced and applied to the 3-PRPR planar redundant manipulator. In this approach, the velocity of actuators is determined in such a way to minimize the 2-norm of the velocity vector, subjected to the derived kinematic relations as constraints. Having the optimal motion planning, the motion is controlled via a feedback linearization controller. The motion of the manipulator is simulated and the effectiveness of the proposed actuation strategy and the designed controller is investigated.

Comparison of Torque and Coupler-Driven Four-Bars as Solutions to Planar Four Position and Spherical Four Orientation Tasks

2009 ◽  
Author(s):  
David A. Perkins ◽  
Andrew P. Murray
Keyword(s):  
Internal Loading ◽  
The Body ◽  
Linear Actuator ◽  
Kinematic Parameters ◽  
Static Loads ◽  
Position Task ◽  
Actuation Method

This work presents a comparison between two actuation methods for planar and spherical four-bar mechanisms. The first is actuation by a torque applied at either of the fixed pivots. The second actuation method uses a linear actuator connected between ground and the coupler. For any four position task, planar or spherical, a one parameter set of dyads is found that may be used to guide the body through the four positions. Any two of these dyads, when coupled, define a potential four-bar solution to the task. A sampling across the set of all possible mechanisms that solve the four position task may be compared by analyzing the internal static loads of the four-bar mechanisms. The comparison was conducted to determine if coupler-driven four-bars have reduced internal loading when compared to torque-driven mechanisms. Four position tasks were used for comparison of mechanisms designed for the same task, under the assumption that the optimal torque-driven mechanism would have a different set of kinematic parameters than the optimal coupler-driven mechanism.

scholarly journals Automatic and manual devices for cardiopulmonary resuscitation: A review

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401774874 ◽  
Author(s):  
Carlo Remino ◽  
Manuela Baronio ◽  
Nicola Pellegrini ◽  
Francesco Aggogeri ◽  
Riccardo Adamini
Keyword(s):  
Cardiac Arrest ◽  
Cardiopulmonary Resuscitation ◽  
Early Recognition ◽  
Hemodynamic Effects ◽  
Chest Compressions ◽  
High Quality ◽  
Working Space ◽  
Meta Analyses ◽  
Positioning Time ◽  
Actuation Method

Rate of survival without any neurological consequence after cardiac arrest is driven not only by early recognition but also by high-quality cardiopulmonary resuscitation. Because the effectiveness of the manual cardiopulmonary resuscitation is usually impaired by rescuers’ fatigue, devices have been devised to improve it by appliances or ergonomic solutions. However, some devices are thought to replace the manual resuscitation altogether, either mimicking its action or generating hemodynamic effects with working principles which are entirely different. This article reviews such devices, both manual and automatic. They are mainly classified by actuation method, applied force, working space, and positioning time. Most of the trials and meta-analyses have not demonstrated that chest compressions given with automatic devices are more effective than those given manually. However, advances in clinical research and technology, with an improved understanding of the organizational implications of their use, are constantly improving the effectiveness of such devices.

Humanoid Face Utilizing Rotary Actuator and Piezoelectric Sensors

2008 ◽  
Author(s):  
Yonas Tadesse ◽  
Shashank Priya
Keyword(s):  
Facial Expressions ◽  
Functional Relationship ◽  
Angular Position ◽  
Piezoelectric Sensors ◽  
Control Points ◽  
Specific Expression ◽  
Rotary Actuator ◽  
And Control ◽  
Actuation Method

Mimicking facial structure for a robotic head is a challenging issue and requires information on design and control of muscle actuation, architecture of the linkages between actuation points within skin, and deformation matrix with respect to global coordinates for a specific expression. This manuscript presents: (1) a functional relationship between deformation vector of facial control points and actuator parameter, skin elasticity and angular position of actuator. The actuation method is applicable to any rotary actuator technology utilized for facial expressions and takes into account the skin stiffness; (2) a prototype robotic head with embedded sensor to enhance interaction ability of humanoids; and (3) characterization of various facial expressions on a prototype robotic face.

An intelligent bipolar actuation method with high stiction immunity for RF MEMS capacitive switches and variable capacitors

2007 ◽  
Vol 139 (1-2) ◽  
pp. 233-236 ◽  
Author(s):  
Hiroaki Yamazaki ◽  
Tamio Ikehashi ◽  
Tatsuya Ohguro ◽  
Etsuji Ogawa ◽  
Kenji Kojima ◽  
...  
Keyword(s):  
Rf Mems ◽  
Capacitive Switches ◽  
Actuation Method

scholarly journals Wetting ridge assisted programmed magnetic actuation of droplets on ferrofluid-infused surface

2021 ◽  
Vol 12 (1) ◽  
Author(s):  
Jianqiang Zhang ◽  
Xuejiao Wang ◽  
Zhaoyue Wang ◽  
Shangfa Pan ◽  
Bo Yi ◽  
...  
Keyword(s):  
Biological Fluids ◽  
Industrial Applications ◽  
Magnetic Actuation ◽  
Arbitrary Size ◽  
Magnetic Forces ◽  
Ideal Approach ◽  
Large Ensembles ◽  
Spatially Varying ◽  
Respiratory Droplets ◽  
Actuation Method

AbstractFlexible actuation of droplets is crucial for biomedical and industrial applications. Hence, various approaches using optical, electrical, and magnetic forces have been exploited to actuate droplets. For broad applicability, an ideal approach should be programmable and be able to actuate droplets of arbitrary size and composition. Here we present an “additive-free” magnetic actuation method to programmably manipulate droplets of water, organic, and biological fluids of arbitrary composition, as well as solid samples, on a ferrofluid-infused porous surface. We specifically exploit the spontaneously formed ferrofluid wetting ridges to actuate droplets using spatially varying magnetic fields. We demonstrate programmed processing and analysis of biological samples in individual drops as well as the collective actuation of large ensembles of micrometer-sized droplets. Such model respiratory droplets can be accumulated for improved quantitative and sensitive bioanalysis - an otherwise prohibitively difficult task that may be useful in tracking coronavirus.

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