scholarly journals Design of Tendon-Driven Manipulators

1995 ◽  
Vol 117 (B) ◽  
pp. 80-86 ◽  
Author(s):  
Lung-Wen Tsai
Keyword(s):  
State Of The Art ◽  
Unique Characteristic ◽  
Current State ◽  
Dynamics And Control ◽  
And Control

This paper presents an overview of the current state-of-the-art in the design of tendon-driven manipulators. A special characteristic associated with tendon-driven manipulators is that tendons can only exert tension but not compression. Based on this unique characteristic, the fundamental mechanics associated with the design of tendon-driven manipulators are reviewed. The review includes structure classification, kinematics, statics, dynamics and control.

scholarly journals Design of Tendon-Driven Manipulators

1995 ◽  
Vol 117 (B) ◽  
pp. 80-86 ◽  
Author(s):  
Lung-Wen Tsai
Keyword(s):  
State Of The Art ◽  
Unique Characteristic ◽  
Current State ◽  
Dynamics And Control ◽  
And Control

This paper presents an overview of the current state-of-the-art in the design of tendon-driven manipulators. A special characteristic associated with tendon-driven manipulators is that tendons can only exert tension but not compression. Based on this unique characteristic, the fundamental mechanics associated with the design of tendon-driven manipulators are reviewed. The review includes structure classification, kinematics, statics, dynamics and control.

scholarly journals Traffic jams: dynamics and control

2010 ◽  
Vol 368 (1928) ◽  
pp. 4455-4479 ◽  
Author(s):  
Gábor Orosz ◽  
R. Eddie Wilson ◽  
Gábor Stépán
Keyword(s):  
State Of The Art ◽  
Vehicular Traffic ◽  
Driver Behaviour ◽  
Traffic Dynamics ◽  
Scientific Methods ◽  
Traffic Jam ◽  
Current State ◽  
Dynamics And Control ◽  
Introductory Paper ◽  
And Control

This introductory paper reviews the current state-of-the-art scientific methods used for modelling, analysing and controlling the dynamics of vehicular traffic. Possible mechanisms underlying traffic jam formation and propagation are presented from a dynamical viewpoint. Stable and unstable motions are described that may give the skeleton of traffic dynamics, and the effects of driver behaviour are emphasized in determining the emergent state in a vehicular system. At appropriate points, references are provided to the papers published in the corresponding Theme Issue.

Process Dynamics and Control Analysis for Electrospinning Nanofibers

2010 ◽  
Author(s):  
Xuri Yan ◽  
Michael Gevelber
Keyword(s):  
Fiber Diameter ◽  
Electrospinning Process ◽  
Open Loop ◽  
Diameter Distribution ◽  
Control Analysis ◽  
Process Dynamics ◽  
Current State ◽  
Dynamics And Control ◽  
Process Reproducibility ◽  
And Control

In many emerging, high value electrospinning applications, the diameter distribution of electrospun fibers has important implications for the product’s performance and process reproducibility. However, the current state-of-the-art electrospinning process results in diameter distribution variations, both during a run and run-to-run. To address these problems, a vision-based, open loop system has been developed to better understand the process dynamics. The effects of process parameters on fiber diameter distributions are investigated, process dynamics are identified, and the relation between measurable variables and the resulting fiber diameter distribution is analyzed.

scholarly journals Nanoscale rippling on polymer surfaces induced by AFM manipulation

2015 ◽  
Vol 6 ◽  
pp. 2278-2289 ◽  
Author(s):  
Mario D’Acunto ◽  
Franco Dinelli ◽  
Pasqualantonio Pingue
Keyword(s):  
State Of The Art ◽  
Theoretical Models ◽  
Polymer Surfaces ◽  
Full Understanding ◽  
Polymeric Surfaces ◽  
Atomic Force ◽  
Current State ◽  
Heating Up ◽  
And Control ◽  
Nanoscale Level

Nanoscale rippling induced by an atomic force microscope (AFM) tip can be observed after performing one or many scans over the same area on a range of materials, namely ionic salts, metals, and semiconductors. However, it is for the case of polymer films that this phenomenon has been widely explored and studied. Due to the possibility of varying and controlling various parameters, this phenomenon has recently gained a great interest for some technological applications. The advent of AFM cantilevers with integrated heaters has promoted further advances in the field. An alternative method to heating up the tip is based on solvent-assisted viscoplastic deformations, where the ripples develop upon the application of a relatively low force to a solvent-rich film. An ensemble of AFM-based procedures can thus produce nanoripples on polymeric surfaces quickly, efficiently, and with an unprecedented order and control. However, even if nanorippling has been observed in various distinct modes and many theoretical models have been since proposed, a full understanding of this phenomenon is still far from being achieved. This review aims at summarizing the current state of the art in the perspective of achieving control over the rippling process on polymers at a nanoscale level.

Integrated attitude-orbit dynamics and control of spacecraft systems: State of the art and future trends

2018 ◽  
Vol 33 (7) ◽  
pp. 60-71
Author(s):  
Mohamad Fakhari Mehrjardi ◽  
Hilmi Sanusi ◽  
Mohd. Alauddin Mohd. Ali ◽  
Mardina Abdullah
Keyword(s):  
State Of The Art ◽  
Future Trends ◽  
Dynamics And Control ◽  
And Control ◽  
Orbit Dynamics

Dynamics and Control of a Portable DMFC System

2009 ◽  
Author(s):  
Federico Zenith ◽  
Ulrike Krewer
Keyword(s):  
Environmental Conditions ◽  
Direct Methanol Fuel Cells ◽  
Control Analysis ◽  
Control Loops ◽  
Current State ◽  
Current Implementation ◽  
Direct Methanol ◽  
Dynamics And Control ◽  
State Of Research ◽  
And Control

The current state of research on direct methanol fuel cells focuses heavily on the cell itself, with only a small minority of published articles about the management of the complete DMFC system. It is of particular importance to learn about the dynamics and control of such systems in order to provide autonomous and robust operation in spite of changing environmental conditions. We simulate and analyse a reference DMFC system consisting of, besides a model of the fuel cell, a mixer, coolers, separators, pumps and a fuel tank. A control analysis of a DMFC system is presented, to understand which variables are to be controlled by what means, and what constraints the system sets on the control loops. Some apparently negative phenomena can be beneficial to control performance: methanol cross-over stabilises the concentration dynamics and allows the usage of simple feedforward controllers. A portable DMFC system may be used in various environments, with very different environmental conditions. It is therefore explored how these conditions influence the system’s operation and control strategy, especially in regard to environmental temperature and humidity. The current implementation of the model has been designed to study the long-term transients, such as overall anode-loop water and energy holdups, assuming pseudo-steady state for most units.

Single-ion mass spectrometry at 100 ppt and beyond

2002 ◽  
Vol 80 (11) ◽  
pp. 1329-1336 ◽  
Author(s):  
S Rainville ◽  
J K Thompson ◽  
D E Pritchard
Keyword(s):  
Mass Spectrometry ◽  
Penning Trap ◽  
State Of The Art ◽  
Normal Modes ◽  
Mass Ratio ◽  
Current State ◽  
Order Of Magnitude ◽  
And Control ◽  
Source Of Error ◽  
Do So

Using a Penning trap single-ion mass spectrometer, we measured the atomic masses of 14 isotopes with a fractional accuracy of ~10–10. The precision on these measurements was limited by the temporal fluctuations of our magnetic field. By trapping two different ions in the same Penning trap at the same time, we have recently been able to virtually eliminate that source of error. We can now simultaneously measure the ratio of the two ion's cyclotron frequencies (from which we obtain their atomic mass ratio) with a precision of about 10–11 in only a few hours. To perform these comparisons, we must be able to measure and control all three normal modes of motion of each ion — cyclotron, axial, and magnetron — and have developed novel techniques to do so. This new technique shows promise of expanding the precision of mass spectrometry by an order of magnitude beyond the current state-of-the-art. PACS Nos.: 32.10Bi, 06.20Jr, 06.30Dr, 07.75+h, 07.77-n

ADVANCES REGARDING POWERED PROSTHESIS FOR TRANSTIBIAL AMPUTATION

2015 ◽  
Vol 15 (01) ◽  
pp. 1530001 ◽  
Author(s):  
ROBERT LEMOYNE
Keyword(s):  
Energy Storage ◽  
State Of The Art ◽  
Plantar Flexion ◽  
Compensatory Mechanisms ◽  
Transtibial Amputation ◽  
Test And Evaluation ◽  
Force Depression ◽  
Current State ◽  
Powered Prosthesis ◽  
And Control

The necessity for developing advanced prostheses are apparent in light of projections that the forecast for the number of people enduring amputation will double by the year 2050. The transtibial powered prosthesis that enables positive mechanical work about the ankle during the powered plantar flexion aspect of stance phase constitutes a paradigm shift in available transtibial prostheses. The objective of the review is to advocate the state of the art regarding the transtibial powered prosthesis. The historic origins of the prosthesis and motivations for amputation are clarified. The phases of gait and the compensatory mechanisms and asymmetries inherent with passive transtibial prostheses are described. The three general classes of transtibial prosthesis (passive, energy storage and return and powered prostheses) are defined. Subsystems that are integral to the powered prosthesis are explained, such as the series elastic actuator and control architecture. Gait analysis systems and their role for the test and evaluation of energy storage and return and powered prostheses are demonstrated. Future advanced concepts; such as the integration of titin into novel muscle models that account for force enhancement and force depression including their implications for cutting edge bio-inspired actuators are elucidated. The review accounts for the evolution of the prosthetic device with regards to the scope of transtibial amputation and assesses the current state-of-the-art.

scholarly journals Models, Methods, and Applications of Dynamics and Control in Engineering Sciences: State of the Art

2010 ◽  
Vol 2010 ◽  
pp. 1-4
Author(s):  
José Manoel Balthazar ◽  
Paulo Batista Gonçalves ◽  
Stefano Lenci ◽  
Yuri Vladimirovich Mikhlin
Keyword(s):  
State Of The Art ◽  
Engineering Sciences ◽  
Dynamics And Control ◽  
And Control

Empowering lower limbs exoskeletons: state-of-the-art

Robotica ◽  
2018 ◽  
Vol 36 (11) ◽  
pp. 1743-1756
Author(s):  
Slavka Viteckova ◽  
Patrik Kutilek ◽  
Gérard de Boisboissel ◽  
Radim Krupicka ◽  
Alena Galajdova ◽  
...  
Keyword(s):  
Human Body ◽  
State Of The Art ◽  
Control Strategies ◽  
Lower Limbs ◽  
Single System ◽  
Fire Fighters ◽  
Design Concepts ◽  
Current State ◽  
And Control ◽  
Lower Exoskeleton

SUMMARYGiven the advanced breakthroughs in the field of supportive robotic technologies, interest in the integration of the human body and a robot into a single system has rapidly increased. The aim of this work is to provide an overview of empowering lower limbs exoskeletons. Along with lower exoskeleton limbs, their unique design concepts, operator–exoskeleton interactions and control strategies are described. Although many problems have been solved in recent development, many challenges remain. Especially in the context of infantry soldiers, fire fighters and rescuers, the challenges of empowering exoskeletons are discussed, and improvements are outlined and described. This study is not only a summary of the current state, but also points to weaknesses of empowering lower limbs exoskeletons and outlines possible improvements.

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