scholarly journals Kinematically Coupled Force Compensation—Experimental Results and Advanced Design for the 1D-Implementation

2019 ◽  
Vol 3 (1) ◽  
pp. 24
Author(s):  
Steffen Ihlenfeldt ◽  
Jens Müller ◽  
Marcel Merx ◽  
Christoph Peukert
Keyword(s):  
Experimental Investigations ◽  
Future Research ◽  
The Novel ◽  
Test Bed ◽  
Novel Approach ◽  
Reaction Forces ◽  
Tool Centre Point ◽  
And Control ◽  
Machine Structure ◽  
Force Compensation

Typically, the feed dynamics of machine tools are limited to reduce excitations of machine structure oscillations. Consequently, the potential increase in productivity provided by electrical direct drives cannot be exploited. The novel approach of the Kinematically Coupled Force Compensation (KCFC) combines the principles of redundant axes and force compensation to achieve an increase in the machine’s feed dynamics. Because the drive reaction forces are directly applied to the machine frame, they cancel out each other perfectly if the relative motion at the Tool Centre Point (TCP) is split according to the mass ratio of the slides. In this paper, the principle of KCFC is introduced briefly and possible improvements in the design of machine structures and control are presented. The results of experimental investigations obtained by means of a 1D-KCFC Test Bed illustrate the effectiveness of the principle. Moreover, a further increase of the compensation quality can be achieved by decoupling the force flow from the machine frame, by means of elastic elements. Finally, an outlook on future research with reference to the 1D-implementation as well as possible applications of the KCFC in highly productive processes is given.

scholarly journals DESIGN APPROACH FOR HIGH-DYNAMIC PLANAR MOTION SYSTEMS BASED ON THE PRINCIPLE OF KINEMATICALLY COUPLED FORCE COMPENSATION

2019 ◽  
Vol 19 (2) ◽  
pp. 5-17
Author(s):  
Steffen IHLENFELDT ◽  
Jens MÜLLER ◽  
Marcel MERX ◽  
Christoph PEUKERT
Keyword(s):  
Pulse Width Modulation ◽  
Planar Motion ◽  
Design Approach ◽  
Control Loops ◽  
Linear Motors ◽  
Motion System ◽  
Novel Approach ◽  
Reaction Forces ◽  
And Control ◽  
Force Compensation

Machine tools’ feed dynamics are usually limited in order to reduce excitation of machine structure oscillations. Consequently, the potential increase in productivity provided by direct drives, e.g. linear motors, cannot be exploited. The novel approach of the Kinematically Coupled Force Compensation (KCFC) applies a redundant axis configuration combined with the principle of force compensation and thus achieves an increase in feed dynamics while drive reaction forces cancel out each other in the machine base. In this paper, the principle of KCFC is introduced briefly. Subsequently, the basics for the realisation of a highly dynamic KCFC motion system with planar motion are derived and discussed. In order to achieve highest acceleration (> 100 m/s²) and jerk (> 100000 m/s³), a mechatronic system with specially designed components for the mechanical, electrical and control system is required. Thus, the design approach presented in this paper applies lightweight slides, a decoupled guide frame and voice coil motors operated at high frequencies for the pulse width modulation and control loops.

Power line robotic device for overhead line inspection and maintenance

2017 ◽  
Vol 44 (1) ◽  
pp. 75-84 ◽  
Author(s):  
Rebecca Miller ◽  
Farshid Abbasi ◽  
Javad Mohammadpour
Keyword(s):  
Asset Management ◽  
Video Camera ◽  
Power Line ◽  
The Novel ◽  
Robotic Device ◽  
Test Bed ◽  
Content Type ◽  
Inspection And Maintenance ◽  
And Control ◽  
The Impact

Purpose This paper aims to focus on the design and testing of a robotic device for power line inspection and cleaning. The focus for this design is on simplicity and compactness with a goal to create a device for linemen and other power line workers to keep in their toolbox. Design/methodology/approach The prototype uses V-grooved wheels to grip the line and can pass obstacles such as splices. It is equipped with a video camera to aid in line inspection and a scrub brush to clean debris from the line. The operator controls the device remotely from a laptop through a wireless connection. The novel way in which this device moves down the power line allows compactness while still being able to overcome in-line obstacles up to a certain size. Findings The device has been tested on a test bed in the lab. The device is able to move down a line and expand to overcome in-line obstacles as it travels. Testing proved the mechanical feasibility and revealed new requirements for a future prototype. Practical implications The device can be used for power line asset management by power companies; line inspection can lead to preventative repairs, leading to less downtime. Social implications It stands to reduce costs related to maintenance and mitigates down time and emergency repairs. Originality/value Innovative features include its size, mobility and control methods. Overall, the impact of this work extends to the utility maintenance sector and beyond.

scholarly journals Using Evolutionary Algorithms for the Scheduling of Aircrew on Airborne Early Warning and Control System

2020 ◽  
Vol 70 (3) ◽  
pp. 240-248
Author(s):  
Hamit Taner Ünal ◽  
Fatih Başçiftçi
Keyword(s):  
Control System ◽  
Evolutionary Algorithms ◽  
Early Warning ◽  
Crew Scheduling ◽  
Superior Performance ◽  
Effective Control ◽  
Test Bed ◽  
Use Of Resources ◽  
Novel Approach ◽  
And Control

Equipped with an advanced radar and other electronic systems mounted on its body, Airborne Early Warning and Control System (AWACS) enables the airspace to be monitored from medium to long distances and facilitates effective control of friendly aircraft. To operate the complex equipment and fulfill its critical functions, AWACS has a specialised flight and mission crew, all of whom are extensively trained in their respective roles. For mission accomplishment and effective use of resources, tasks should be scheduled, and individuals should be assigned to missions appropriately. In this paper, we implemented evolutionary algorithms for scheduling aircrew on AWACS and propose a novel approach using Genetic Algorithms (GA) with a special encoding strategy and modified genetic operations tailored to the problem. The objective is to assign aircrew to various AWACS tasks such as flights, simulator sessions, ground training classes and other squadron duties while aiming to maximise combat readiness and minimise operational costs. The presented approach is applied to several test instances consisting notional weekly schedules of Turkish Boeing 737 AEW&C Peace Eagle AWACS Base, generated similar to real-world examples. To test the algorithm and evaluate solution performance, experiments have been conducted on a novel scheduling software called AWACS Crew Scheduling (ACS), developed as a test bed. Computational results reveal that presented GA approach proves to be quite successful in solving the AWACS Crew Scheduling Problem and exhibits superior performance when compared to manual methods.

scholarly journals Soft Robotics: Biological Inspiration, State of the Art, and Future Research

2008 ◽  
Vol 5 (3) ◽  
pp. 99-117 ◽  
Author(s):  
Deepak Trivedi ◽  
Christopher D. Rahn ◽  
William M. Kier ◽  
Ian D. Walker
Keyword(s):  
Degrees Of Freedom ◽  
State Of The Art ◽  
Future Research ◽  
Robot Design ◽  
The Novel ◽  
Soft Robots ◽  
Biological Inspiration ◽  
End Effectors ◽  
And Control ◽  
Complex Movement

Traditional robots have rigid underlying structures that limit their ability to interact with their environment. For example, conventional robot manipulators have rigid links and can manipulate objects using only their specialised end effectors. These robots often encounter difficulties operating in unstructured and highly congested environments. A variety of animals and plants exhibit complex movement with soft structures devoid of rigid components. Muscular hydrostats (e.g. octopus arms and elephant trunks) are almost entirely composed of muscle and connective tissue and plant cells can change shape when pressurised by osmosis. Researchers have been inspired by biology to design and build soft robots. With a soft structure and redundant degrees of freedom, these robots can be used for delicate tasks in cluttered and/or unstructured environments. This paper discusses the novel capabilities of soft robots, describes examples from nature that provide biological inspiration, surveys the state of the art and outlines existing challenges in soft robot design, modelling, fabrication and control.

scholarly journals Autonomy-Supportive and Controlling Teaching in the Classroom: A Video-Based Case Study

2019 ◽  
Vol 9 (3) ◽  
pp. 229 ◽  
Author(s):  
Jiang ◽  
Vauras ◽  
Volet ◽  
Salo ◽  
Kajamies
Keyword(s):  
Autonomy Support ◽  
Teaching Practice ◽  
Well Being ◽  
Error Tolerance ◽  
Future Research ◽  
The Novel ◽  
Negative Effects ◽  
Indirect Control ◽  
And Control ◽  
Support Students

This study explored teachers’ autonomy-supportive and controlling behaviors through video-taped observation in the classroom. Four lessons by two teachers from a secondary school in Finland were videotaped and analyzed using a rigorous coding protocol. It was found that teachers employed both autonomy-supportive and controlling teaching during the same lesson, and even combined them in the same instructional sequence. This finding suggests the complexity of the use of autonomy support and control in the classroom, as well as their context-dependent aspects. The novel finding from this study was that teachers showed error tolerance and creativity to support students’ autonomy. Showing error tolerance and teaching creatively have not been investigated from the perspective of autonomy support in previous research. Furthermore, this study suggested that indirect control and its negative effects on students’ learning and well-being should arouse more concern in future research. Implications for teaching practice concerning supporting students’ autonomy have been provided.

Analysis and Control of Transverse Vibrations of Axially Moving Strings

2005 ◽  
Vol 58 (2) ◽  
pp. 91-116 ◽  
Author(s):  
Li-Qun Chen
Keyword(s):  
Vibration Control ◽  
Nonlinear Vibration ◽  
Transverse Motion ◽  
Experimental Investigations ◽  
Future Research ◽  
Bifurcation And Chaos ◽  
Transverse Vibrations ◽  
Early Results ◽  
Axially Moving ◽  
And Control

In this paper, research on transverse vibrations of axially moving strings and their control is thoroughly reviewed. In the last few decades, there have been extensive studies on analysis and control of transverse vibrations of axially moving strings because of the wide applications of many engineering devices that axially moving strings represent. In the investigations adopting linear models of moving strings, the paper summarizes recent studies on modal analysis, complicatedly constrained strings, coupled vibrations, and parametric vibration, as well as some early results. In the investigations adopting nonlinear models of moving strings, the paper presents the governing equations with large amplitude, and reviews progress on discretized or direct approximate analytical analyses and numerical approaches based on the Galerkin method or the finite difference method. Furthermore, investigations are reported on modeling of damping mechanisms as viscoelastic materials, coupled vibration of power transmission systems, and bifurcation and chaos. The state of the art of active control of moving strings is surveyed on controllability and observability, the Laplace transform domain analysis and the energy analysis, nonlinear vibration control and adaptive vibration control. Finally, future research directions are suggested such as nonlinear vibration of moving strings under complex constraints and couplings, energetics of nonlinear and time-varying strings, bifurcation and chaos in transverse motion of moving strings, control of hybrid systems containing moving strings, robust and adaptive controls of nonlinear moving strings, and experimental investigations. In this review article there are 242 references cited.

Exploring normative perceptions and misperceptions of private, environmentally impactful behaviours

2020 ◽  
Author(s):  
Elaine Gallagher ◽  
Bas Verplanken ◽  
Ian Walker
Keyword(s):  
Social Norms ◽  
Behaviour Change ◽  
Social Contexts ◽  
The Novel ◽  
Normative Influence ◽  
Change Mechanism ◽  
Novel Approach ◽  
Classical Studies ◽  
Referent Group

Social norms have been shown to be an effective behaviour change mechanism across diverse behaviours, demonstrated from classical studies to more recent behaviour change research. Much of this research has focused on environmentally impactful actions. Social norms are typically utilised for behaviour change in social contexts, which facilitates the important element of the behaviour being visible to the referent group. This ensures that behaviours can be learned through observation and that deviations from the acceptable behaviour can be easily sanctioned or approved by the referent group. There has been little focus on how effective social norms are in private or non-social contexts, despite a multitude of environmentally impactful behaviours occurring in the home, for example. The current study took the novel approach to explore if private behaviours are important in the context of normative influence, and if the lack of a referent groups results in inaccurate normative perceptions and misguided behaviours. Findings demonstrated variance in normative perceptions of private behaviours, and that these misperceptions may influence behaviour. These behaviours are deemed to be more environmentally harmful, and respondents are less comfortable with these behaviours being visible to others, than non-private behaviours. The research reveals the importance of focusing on private behaviours, which have been largely overlooked in the normative influence literature.

scholarly journals Can neuroscience help to understand narcissism? A systematic review of an emerging field

2021 ◽  
Vol 4 ◽  
Author(s):  
Emanuel Jauk ◽  
Philipp Kanske
Keyword(s):  
Systematic Review ◽  
Stress Responses ◽  
Interpersonal Functioning ◽  
Integrative Model ◽  
Experimental Investigations ◽  
Future Research ◽  
Pathological Narcissism ◽  
Ego Threat ◽  
Self Reports ◽  
And Behavior

Abstract Narcissism is a Janusian personality construct, associated with both grandiose self-assuredness and dominance, as well as vulnerable insecurity and reactivity. Central questions of intra- and interpersonal functioning in narcissism are still a matter of debate. Neuroscience could help to understand the paradoxical patterns of experience and behavior beyond the limitations of self-reports. We provide a systematic review of 34 neuroscience studies on grandiose, vulnerable, pathological narcissism, and Narcissistic Personality Disorder (NPD), spanning experimental investigations of intra- and interpersonal mechanisms, research on neurophysiological and neuroendocrine aspects of baseline function, and brain structural correlates. While neuroscience has scarcely directly studied vulnerable narcissism, grandiose narcissism is associated with heightened vigilance to ego threat and stress responses following ego threat, as well as heightened stress indicators in baseline measures. Such responses are not commonly observed in self-reports, highlighting the potential of neuroscience to augment our understanding of self-regulatory dynamics in narcissism. Interpersonal functioning is characterized by deficits in social–affective processes. Both involve altered activity within the salience network, pointing to a double dissociation regarding the expression of narcissism and self/other oriented situational focus. Findings are summarized in an integrative model providing testable hypotheses for future research along with methodological recommendations.

scholarly journals A Novel Approach for Tuning the Physicochemical, Textural, and Sensory Characteristics of Plant-Based Meat Analogs with Different Levels of Methylcellulose Concentration

Foods ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 560
Author(s):  
Allah Bakhsh ◽  
Se-Jin Lee ◽  
Eun-Yeong Lee ◽  
Nahar Sabikun ◽  
Young-Hwa Hwang ◽  
...  
Keyword(s):  
Profile Analysis ◽  
Control Sample ◽  
Texture Profile ◽  
Crude Fiber Content ◽  
A Value ◽  
Novel Approach ◽  
Meat Analog ◽  
And Control ◽  
Water Holding ◽  
Different Levels

This study assessed the effects of Methylcellulose (MC) at different concentrations on plant-based meat analog (PBMA) patties, comprised of commercial texture vegetable protein (C-TVP) and textured isolate soy protein (T-ISP) as key ingredients, and compared to beef patty control. A significantly higher difference was observed in moisture content in control with increasing MC concentration than the C-TVP and T-ISP patties. However, protein varied significantly among three different protein sources, with control had higher protein content than PBMA patties. Crude fiber content recorded higher values in C-TVP as compared to control. Significantly lower pH values were recorded in control than C-TVP and T-ISP respectively. Regardless, with the addition of MC or ingredient PBMA and control patties tend to reduce lightness (L*) and redness (a*) value after cooking. Although control sample before cooking exhibits lighter and redder than PBMA patties (C-TVP and T-ISP). Likewise, water holding capacity (WHC) decreases as the concentration of MC increases (1.5–4%) in control and PBMA patties. Warner-Bratzler shear force (WBSF) and texture profile analysis (TPA), including hardness, chewiness, and gumminess of control, were significantly higher than C-TVP and T-ISP. Consequently, panelists’ in the sensory analysis presented that C-TVP patties containing 3% of MC had better sensory properties than T-ISP. Hence, PBMA patties with C-TVP and incorporation of 3% MC are considered ideal for manufacturing of meat analog as related to control (beef).

scholarly journals Social exclusion increases the executive function of attention networks

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Huoyin Zhang ◽  
Shiyunmeng Zhang ◽  
Jiachen Lu ◽  
Yi Lei ◽  
Hong Li
Keyword(s):  
Social Exclusion ◽  
Executive Control ◽  
Brain Regions ◽  
Negative Influence ◽  
Future Research ◽  
Research Attention ◽  
Attention Network ◽  
Attention Networks ◽  
The Social ◽  
And Control

AbstractPrevious studies in humans have shown that brain regions activating social exclusion overlap with those related to attention. However, in the context of social exclusion, how does behavioral monitoring affect individual behavior? In this study, we used the Cyberball game to induce the social exclusion effect in a group of participants. To explore the influence of social exclusion on the attention network, we administered the Attention Network Test (ANT) and compared results for the three subsystems of the attention network (orienting, alerting, and executive control) between exclusion (N = 60) and inclusion (N = 60) groups. Compared with the inclusion group, the exclusion group showed shorter overall response time and better executive control performance, but no significant differences in orienting or alerting. The excluded individuals showed a stronger ability to detect and control conflicts. It appears that social exclusion does not always exert a negative influence on individuals. In future research, attention to network can be used as indicators of social exclusion. This may further reveal how social exclusion affects individuals' psychosomatic mechanisms.

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