Dynamic Workspace and Control of Planar Active Tensegrity-Like Structures

2008 ◽  
Author(s):  
Andrew P. Schmalz ◽  
Sunil K. Agrawal
Keyword(s):  
Computer Simulation ◽  
Feedback Linearization ◽  
Null Space ◽  
System Dynamic ◽  
Initial Configuration ◽  
Dynamic Equations ◽  
Entire System ◽  
Tensegrity Structures ◽  
And Control

This paper addresses the issues of control and workspace determination of planar active tensegrity or tensegrity-like structures. The motion of such structures is generally produced by actuated cables, which cannot tolerate compressive forces. Hence, a controller which not only satisfies the system dynamic equations, but also maintains positive tension in cables is necessary. A null-space controller based on feedback linearization theory is developed for this purpose. This controller utilizes redundant active cables to overactuate the system. The concept of a ‘dynamic workspace’ for these structures is then introduced. This workspace consists of all configurations that are achievable from a given initial configuration while maintaining positive tensions throughout the entire system motion and is a powerful tool in analyzing the performance of a variety of tensegrity structures. This idea extends the concept of the static workspace, which consists of statically maintainable configurations, by incorporating system motion and dynamics to guarantee positive tensions during transition between the states. A critical benefit of this procedure is that it may be used to find the dynamic workspace of a system regardless of whether actuator redundancy is utilized, and thus can be used to objectively illustrate the degree to which overactuation improves mobility of a tensegrity structure. The effectiveness of the developed concepts is demonstrated through computer simulation and actual physical experimentation.

Dynamic Workspace and Control of Planar Active Tensegritylike Structures

2008 ◽  
Vol 130 (12) ◽  
Author(s):  
Andrew P. Schmalz ◽  
Sunil K. Agrawal
Keyword(s):  
Computer Simulation ◽  
Feedback Linearization ◽  
Null Space ◽  
System Dynamic ◽  
Initial Configuration ◽  
Dynamic Equations ◽  
Entire System ◽  
Tensegrity Structures ◽  
And Control

This paper addresses the issues of control and workspace determination of planar active tensegrity or tensegritylike structures. The motion of such structures is generally produced by actuated cables, which cannot tolerate compressive forces. Hence, a controller, which not only satisfies the system dynamic equations but also maintains positive tension in cables, is necessary. A null-space controller based on feedback linearization theory is developed for this purpose. This controller utilizes redundant active cables to overactuate the system. The concept of a “dynamic workspace” for these structures is then introduced. This workspace consists of all configurations that are achievable from a given initial configuration while maintaining positive tensions throughout the entire system motion, and it is a powerful tool in analyzing the performance of a variety of tensegrity structures. This idea extends the concept of the static workspace, which consists of statically maintainable configurations, by incorporating system motion and dynamics to guarantee positive tensions during transition between the states. A critical benefit of this procedure is that it may be used to find the dynamic workspace of a system regardless of whether actuator redundancy is utilized, and thus it can be used to objectively illustrate the degree to which overactuation improves mobility of a tensegrity structure. The effectiveness of the developed concepts is demonstrated through computer simulation and actual physical experimentation.

Modelling and Control of a Flexible Spherical Wrist

Robotica ◽  
1996 ◽  
Vol 14 (2) ◽  
pp. 155-163
Author(s):  
Véronique Perdereau ◽  
S. Ng ◽  
D. Wang
Keyword(s):  
Feedback Linearization ◽  
Control Strategies ◽  
Dynamic Equations ◽  
Pid Controllers ◽  
Structural Flexibility ◽  
Nonlinear Dynamic Equations ◽  
Spherical Wrist ◽  
Linearized Model ◽  
Identification Techniques ◽  
And Control

SUMMARYIn this paper, a very inexpensive, lightweight and simple wrist mechanism is introduced. This wrist displays nonlinear torsional vibrations. This differs from conventional wrists in that structural flexibility in the mechanism is allowed to occur by design. In this paper, the dynamic equations of this wrist are derived. System identification techniques are then employed to obtain a linearized model. Various control strategies are studied. It is shown that the input-output feedback linearization technique is not feasible for these nonlinear dynamic equations. It is also shown that the use of conventional rigid body PID controllers on this proto-type is inadequate. A tracking controller which compensates for the flexible dynamics of the wrist is implemented with encouraging results. This controller allows the end-effector to be placed at an arbitrary orientation with little vibration. The effect of the controller is to make the wrist appear to have a much higher structural stiffness. The compliant nature of this wrist allows simple force control strategies to be implemented. It is the combination of the wrist with the control algorithm which makes this design viable.

Ultrastructural changes in sciatic nerve tissue: Effects of passive maternal smoking

1983 ◽  
Vol 41 ◽  
pp. 650-651
Author(s):  
Amankwah K.S. ◽  
A.D. Weberg ◽  
R.C. Kaufmann
Keyword(s):  
Sciatic Nerve ◽  
Maternal Smoking ◽  
Ultrastructural Level ◽  
Uranyl Acetate ◽  
Nerve Tissue ◽  
Ultrastructural Changes ◽  
Cacodylate Buffer ◽  
And Control ◽  
Spontaneous Delivery

Previous research has revealed that passive (involuntary inhalation) tobacco smoking during gestation can have adverse effects upon the developing fetus. These prior investigations did not concentrate on changes in fetal morphology. This study was undertaken to delineate fetal neural abnormalities at the ultrastructural level in mice pups exposed in utero to passive maternal smoking.Pregnant study animals, housed in a special chamber, were subjected to cigarette smoke daily from conception until delivery. Blood tests for determination of carbon monoxide levels were run at 15-18 days gestation. Sciatic nerve tissue from experimental and control animals were obtained following spontaneous delivery and fixed in 2.5% gluteraldehyde in 0.1M cacodylate buffer pH 7.3. The samples were post-fixed in osmium ferrocyanide (1:1 mixture of 1.5% aqueous OSO4 and 2.5% K4 Fe(CN)6). Following dehydration, the tissues were infiltrated with and embedded in Spurr. Sections were stained with uranyl acetate and lead citrate.

Application of EDS Technique for OSP Film Thickness Measurement

2006 ◽  
Author(s):  
Prong Kongsubto ◽  
Sirarat Kongwudthiti
Keyword(s):  
Thin Film ◽  
Quantitative Analysis ◽  
Joint Strength ◽  
Critical Factor ◽  
Thickness Measurement ◽  
Ic Manufacturing ◽  
And Control ◽  
Film Thickness Measurement ◽  
Non Destructive

Abstract Organic solderability preservatives (OSPs) pad is one of the pad finishing technologies where Cu pad is coated with a thin film of an organic material to protect Cu from oxidation during storage and many processes in IC manufacturing. Thickness of OSP film is a critical factor that we have to consider and control in order to achieve desirable joint strength. Until now, no non-destructive technique has been proposed to measure OSP thickness on substrate. This paper reports about the development of EDS technique for estimating OSP thickness, starting with determination of the EDS parameter followed by establishing the correlation between C/Cu ratio and OSP thickness and, finally, evaluating the accuracy of the EDS technique for OSP thickness measurement. EDS quantitative analysis was proved that it can be utilized for OSP thickness estimation.

scholarly journals Biodegradation of Poly(Lactic Acid) Biocomposites under Controlled Composting Conditions and Freshwater Biotope

Polymers ◽  
2021 ◽  
Vol 13 (4) ◽  
pp. 594
Author(s):  
Pavel Brdlík ◽  
Martin Borůvka ◽  
Luboš Běhálek ◽  
Petr Lenfeld
Keyword(s):  
Degradation Rate ◽  
Poly Lactic Acid ◽  
Screw Extruder ◽  
Flat Film ◽  
Twin Screw ◽  
Acetyl Tributyl Citrate ◽  
And Control ◽  
Aerobic Biodegradability ◽  
Qualitative Analyses

The influence of additives such as natural-based plasticiser acetyl tributyl citrate (ATBC), CaCO3 and lignin-coated cellulose nanocrystals (L-CNC) on the biodegradation of polylactic acid (PLA) biocomposites was studied by monitoring microbial metabolic activity through respirometry. Ternary biocomposites and control samples were processed by a twin-screw extruder equipped with a flat film die. Commonly available compost was used for the determination of the ultimate aerobic biodegradability of PLA biocomposites under controlled composting conditions (ISO 14855-1). In addition, the hydro-degradability of prepared films in a freshwater biotope was analysed. To determine the efficiency of hydro-degradation, qualitative analyses (SEM, DSC, TGA and FTIR) were conducted. The results showed obvious differences in the degradation rate of PLA biocomposites. The application of ATBC at 10 wt.% loading increased the biodegradation rate of PLA. The addition of 10 wt.% of CaCO3 into the plasticised PLA matrix ensured an even higher degradation rate at aerobic thermophilic composting conditions. In such samples (PLA/ATBC/CaCO3), 94% biodegradation in 60 days was observed. In contrast, neat PLA exposed to the same conditions achieved only 16% biodegradation. Slightly inhibited microorganism activity was also observed for ternary PLA biocomposites containing L-CNC (1 wt.% loading). The results of qualitative analyses of degradation in a freshwater biotope confirmed increased biodegradation potential of ternary biocomposites containing both CaCO3 and ATBC. Significant differences in the chemical and structural compositions of PLA biocomposites were found in the evaluated period of three months.

Investigation of Impact Profile and Isolation Effect in Automated Impact Device Design and Control for Operational Modal Analysis

2015 ◽  
Vol 137 (9) ◽  
Author(s):  
Z. C. Ong ◽  
C. C. Lee
Keyword(s):  
Modal Analysis ◽  
Isolation Effect ◽  
Time Averaging ◽  
Impact Device ◽  
Lack Of Information ◽  
Analysis Technique ◽  
And Control ◽  
Phase Angles ◽  
Synchronous Time

A novel modal analysis technique called impact-synchronous modal analysis (ISMA) was introduced in previous research. With the utilization of impact-synchronous time averaging (ISTA), this modal analysis can be performed in presence of ambient forces whereas the conventional analysis method requires machines to be totally shut down. However, lack of information of phase angles with respect to impact in ISMA has caused it to be labor-intensive and time-consuming. An automated impact device (AID) is introduced in this study in the effort to replace the manually operated impact hammer and prepare it to be used in the current practice of ISMA on the purpose of enhancing its effectiveness and practicability. Impact profile and isolation effect are noted to be the contributing parameters in this study. This paper devoted on calibrating and controlling of the AID which gives the desired impact profiles as compared to the manual impact hammer. The AID is found effective in the determination of dynamic characteristics when the device is isolated from the boundary condition of the test structure.

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