Exploiting global force torque measurements for local compliance estimation in tactile arrays

Author(s):  
Carlo Ciliberto ◽  
Luca Fiorio ◽  
Marco Maggiali ◽  
Lorenzo Natale ◽  
Lorenzo Rosasco ◽  
...  
AIP Advances ◽  
2021 ◽  
Vol 11 (1) ◽  
pp. 015119
Author(s):  
K. R. Fast ◽  
J. A. Thibault ◽  
V. T. K. Sauer ◽  
M. G. Dunsmore ◽  
A. Kav ◽  
...  
Keyword(s):  

2019 ◽  
Vol 23 (9) ◽  
pp. 843-852
Author(s):  
S. F. Hardon ◽  
R. J. van Kasteren ◽  
J. Dankelman ◽  
H. J. Bonjer ◽  
J. B. Tuynman ◽  
...  

2020 ◽  
Vol 29 (3) ◽  
pp. 424-442
Author(s):  
L. I. Maltsev ◽  
V. D. Dimitrov ◽  
E. M. Milanov ◽  
I. I. Zapryagaev ◽  
M. V. Timoshevskiy ◽  
...  

1976 ◽  
Vol 75 (1) ◽  
pp. 1-15 ◽  
Author(s):  
J. A. Cole

Critical speeds for the onset of Taylor vortices and for the later development of wavy vortices have been determined from torque measurements and visual observations on concentric cylinders of radius ratios R1/R2 = 0·894–0·954 for a range of values of the clearance c and length L: c/R1 = 0·0478–0·119 and L/c = 1–107. Effectively zero variation of the Taylor critical speed with annulus length was observed. The speed at the onset of wavy vortices was found to increase considerably as the annulus length was reduced and theoretical predictions are realistic only for L/c values exceeding say 40. The results were similar for all four clearance ratios examined. Preliminary measurements on eccentrically positioned cylinders with c/R1 = 0·119 showed corresponding effects.


1994 ◽  
Vol 274 ◽  
pp. 1-21 ◽  
Author(s):  
R. Gopalkrishnan ◽  
M. S. Triantafyllou ◽  
G. S. Triantafyllou ◽  
D. Barrett

It is shown experimentally that free shear flows can be substantially altered through direct control of the large coherent vortices present in the flow.First, flow-visualization experiments are conducted in Kalliroscope fluid at Reynolds number 550. A foil is placed in the wake of a D-section cylinder, sufficiently far behind the cylinder so that it does not interfere with the vortex formation process. The foil performs a heaving and pitching oscillation at a frequency close to the Strouhal frequency of the cylinder, while cylinder and foil also move forward at constant speed. By varying the phase of the foil oscillation, three basic interaction modes are identified. (i) Formation of a street of pairs of counter-rotating vortices, each pair consisting of one vortex from the initial street of the cylinder and one vortex shed by the foil. The width of the wake is then substantially increased. (ii) Formation of a street of vortices with reduced or even reverse circulation compared to that of oncoming cylinder vortices, through repositioning of cylinder vortices by the foil and interaction with vorticity of the opposite sign shed from the trailing edge of the foil. (iii) Formation of a street of vortices with circulation increased through merging of cylinder vortices with vortices of the same sign shed by the foil. In modes (ii) and (iii) considerable repositioning of the cylinder vortices takes place immediately behind the foil, resulting in a regular or reverse Kármán street. The formation of these three interaction patterns is achieved only for specific parametric values; for different values of the parameters no dominant stable pattern emerges.Subsequently, the experiments are repeated in a different facility at larger scale, resulting in Reynolds number 20000, in order to obtain force and torque measurements. The purpose of the second set of experiments is to assess the impact of flow control on the efficiency of the oscillating foil, and hence investigate the possibility of energy extraction. It is found that the efficiency of the foil depends strongly on the phase difference between the oscillation of the foil and the arrival of cylinder vortices. Peaks in foil efficiency are associated with the formation of a street of weakened vortices and energy extraction by the foil from the vortices of the vortex street.


1971 ◽  
Vol 21 (11) ◽  
pp. 1187-1197 ◽  
Author(s):  
Z. Šimša ◽  
V. Roskovec ◽  
P. Novák ◽  
V. A. M. Brabers

Author(s):  
James M. Corliss ◽  
H. Sprysl

Abstract A new 100 MW (135,000 Hp) adjustable speed drive system has recently been installed in the NASA Langley National Transonic Facility. The 100 MW system is the largest of its kind in the world and consists of a salient pole synchronous motor powered by a 12-pulse Load Commutated Inverter variable frequency drive. During system commissioning the drive line torsional vibrations were measured with strain gages and a telemetry-based data acquisition system. The torque measurements included drive start-up and steady-state operation at speeds where the drive motor’s pulsating torques match the drive line’s torsional natural frequency. Rapid drive acceleration rates with short dwell times were effective in reducing torsional vibrations during drive starts. Measured peak torsional vibrations during steady-state operation were comparable to predicted values and large enough to produce noticeable lateral vibrations in the drive line shafting. Cyclic shaft stresses for all operating conditions were well within the fatigue limits of the drive line components. A comparison of the torque measurements to an analytical forced response model concluded that a 0.5% critical damping ratio was appropriately applied in the drive line’s torsional analysis.


1978 ◽  
Vol 45 (4) ◽  
pp. 581-589 ◽  
Author(s):  
V. P. Vellody ◽  
M. Nassery ◽  
W. S. Druz ◽  
J. T. Sharp

With a linearized respiratory magnetometer, measurements of anteroposterior and lateral diameters of both the rib cage and the abdomen were made at functional residual capacity and continuously during tidal breathing. Twenty-five subjects with normal respiratory systems were studied in the sitting, supine, lateral decubitus, and prone body positions. When subjects changed from sitting to supine position anteroposterior diameters of both rib cage and abdomen decreased while their lateral diameters increased. Both anteroposterior and lateral tidal excursions of the rib cage decreased; those of the abdomen increased. When subjects turned from supine to lateral decubitus position both anteroposterior diameters increased and the lateral diameters decreased. This was associated with an increase in both lateral excursions and a decrease in the abdominal anteroposterior excursions. Diameters and tidal excursions in the prone position resembled those in the supine position. Diameter changes could be explained by gravitational effects. Differences in tidal excursions accompanying body position change were probably related to 1) differences in the distribution of respiratory muscle force, 2) differences in the activity or mechanical advantage of various inspiratory muscles, and 3) local compliance changes in parts of the rib cage and abdomen.


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