scholarly journals Dynamic Scaling of Manipulator Trajectories

1984 ◽  
Vol 106 (1) ◽  
pp. 102-106 ◽  
Author(s):  
J. M. Hollerbach
Keyword(s):  
Movement Speed ◽  
Dynamic Scaling ◽  
Manipulator Dynamics ◽  
Scaling Property ◽  
Time Scaling

A fundamental time-scaling property of manipulator dynamics has been identified that allows modification of movement speed without complete dynamics recalculation. By exploiting this property, it can be determined whether a planned trajectory is dynamically realizable given actuator torque limits, and if not, how to modify the trajectory to bring it within dynamic and actuating constraints.

Geometric Interpretation of Discrete Fractional Order Controllers Based on Sampling Time Scaling Property and Experimental Verification of Fractional 1/Sα Systems’ Robustness

2003 ◽  
Author(s):  
Chengbin Ma ◽  
Yoichi Hori
Keyword(s):  
Control Systems ◽  
Fractional Order ◽  
Experimental Verification ◽  
Geometric Interpretation ◽  
Sampling Time ◽  
Fractional Order Control ◽  
Satisfactory Accuracy ◽  
Scaling Property ◽  
Time Scaling ◽  
Fractional Order Integral

This article proposes a geometric interpretation of discrete fractional order controllers based on sampling time scaling property. Due to its clear interpretation, satisfactory accuracy and easy programming, the property could be used as a reliable simulation and realization method for fractional order control systems. The experiments of one-inertia speed control with fractional order integral controllers realized by the proposed sampling time property are also carried out to verify the theoretical robustness of fractional 1/sα systems. The experimental results show the superior robustness performances of fractional 1/sα systems against saturation non-linearity and inertia variation, which highlights the promising aspects of fractional order control.

Frequency-size distribution and time-scaling property of high-casualty fires in China: Analysis and comparison

2013 ◽  
Vol 51 (1) ◽  
pp. 209-216 ◽  
Author(s):  
Song Lu ◽  
Canjun Liang ◽  
Weiguo Song ◽  
Heping Zhang
Keyword(s):  
Size Distribution ◽  
Scaling Property ◽  
Time Scaling

The Use of Neuroplastic Principles Affects the Swallow Motor Plan of a Patient in Severe Cognitive Decline: A Case Study

2016 ◽  
Vol 1 (15) ◽  
pp. 79-83
Author(s):  
Ed Bice ◽  
Kristine E. Galek
Keyword(s):  
Central Nervous System ◽  
Cognitive Decline ◽  
Full Range ◽  
Movement Speed ◽  
Positive Outcomes ◽  
Verbal Cues ◽  
Motor Plan ◽  
Bolus Size ◽  
The Central Nervous System

Dysphagia is common in patients with dementia. Dysphagia occurs as a result of changes in the sensory and motor function of the swallow (Easterling, 2007). It is known that the central nervous system can undergo experience-dependent plasticity, even in those individuals with dementia (Park & Bischof, 2013). The purpose of this study was to explore whether or not the use of neuroplastic principles would improve the swallow motor plan and produce positive outcomes of a patient in severe cognitive decline. The disordered swallow motor plan was manipulated by focusing on a neuroplastic principles of frequency (repetition), velocity of movement (speed of presentation), reversibility (Use it or Lose it), specificity and adaptation, intensity (bolus size), and salience (Crary & Carnaby-Mann, 2008). After five therapeutic sessions, the patient progressed from holding solids in her mouth with decreased swallow initiation to independently consuming a regular diet with full range of liquids with no oral retention and no verbal cues.

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