A compliance modeling method of flexible rotary joint for collaborative robot using passive network synthesis theory

Collaborative robots have become a research focus because of their wide applications. However, the previous compliance design method of the flexible rotary joint for collaborative robot mainly relied on experience of designers, and “trial and error” method is usually adopted, no feasible and systematic theory for the designer to select numerical value and series-parallel connection mode of the springs and dampers for the flexible rotary joint. Thus, developing a feasible compliance modeling theory to guide the design of the flexible rotary joint is a particularly challenging task. The main contribution of this paper is to present a novel and effective compliance modeling theory of the flexible rotary joint for collaborative robot based on electrical and mechanical passive network synthesis, to provide theoretical and systematic guidances for compliance design of the flexible rotary joint. First, inerter element is introduced into the mechanical system, and the compliance of the flexible rotary joint is expressed as an angular velocity admittance function using electrical and mechanical network analogy. Then, by passive network synthesis theory, the three kinds of compliance realization forms of rational function and four-element compliance realization conditions of biquadratic function for the flexible rotary joint are given using inerters, springs, and dampers. Moreover, numerical examples and simulations are conducted to illustrate effectiveness of the proposed compliance realization method. Finally, discussions are given to illustrate advantages of the proposed compliance modeling and design methods compared with the previous method.

Advances in an Event-Based Spatiotemporal Data Modeling

Spatiotemporal data are vitally important for the national economy and defense modernization since it is not only an important component of human society and geographical information of the environment but also a key carrier of spatiotemporal information. An event-based spatiotemporal data model and its improvements are employed to model spatiotemporal objects, change history, and change relation, which is the main approach to resolve the spatiotemporal change modeling and has been comprehensively developed in modeling theory and applications. This manuscript studies the event-based spatiotemporal data modeling theory based on three aspects of the cognitive theory, which are the spatiotemporal object, the concept of the spatiotemporal dynamic object, and the spatiotemporal object relationship. Then, the implementation characteristics of the models were analyzed regarding the management of cadastral information, analog natural disaster phenomena, and reasoning. Finally, the key points and difficulties of an event-based spatiotemporal data modeling and prospective developmental trends were discussed to provide insights with spatiotemporal data modeling.

Suitability of passive RC-network-based inductorless bridged-T as a bandpass NGD circuit

Purpose The purpose of this paper is to study, a bridged-T topology with inductorless passive network used as a bandpass (BP) negative group delay (NGD) function. Design/methodology/approach The BP NGD topology under study is composed of an inductorless passive resistive capacitive network. The circuit analysis is elaborated from the equivalent impedance matrix. Then, the analytical model of the C-shunt bridged-T topology voltage transfer function is established. The BP NGD analysis of the considered topology is developed in function of the bridged-T parameters. The NGD properties and characterizations of the proposed topology are analytically expressed. Moreover, the relevance of the BP NGD theory is verified with the design and fabrication of surface mounted device components-based proof-of-concept (PoC). Findings From measurement results, the BP NGD network with −151 ns at the center frequency of 1 MHz over −6.6 dB attenuation is in very good agreement with the C-shunt bridged-T PoC. Originality/value This paper develops a mathematical modeling theory and measurement of a C-shunt bridged-T network circuit.

SYNTHESIS OF EFFECTIVE IDEAS OF INNOVATIVE PROJECTS DURING THE DEVELOPMENT OF THE EIGHTH TECHNOLOGICAL ORDER

The subject of the article is the synthesis of ideas of innovative projects during the formation of the eighth technological order; the object of the article is innovative activity during the eighth technological order; the purpose of the work is to increase the efficiency of the synthesis of innovative ideas during the transition to the eighth technological order; to achieve this goal, the following tasks are solved: research and clarification of the concept and essence of innovative ideas; analysis of factors and methods of synthesis of innovative ideas in the process of development of a new technological order; formation of methods for the analysis of innovative ideas; description of modeling processes and business planning of projects for the implementation of these ideas; scientific methods in the article are: synthesis theory; theory of technological order, modeling theory, expert assessments, heuristic synthesis, structural and logical analysis of projects; scientific novelty of the article is associated with the development of methods for the synthesis and analysis of the effectiveness of innovative project ideas in the conditions of the formation of the eighth technological order.

Simulation and Analysis of Coal Mine Safety Escape Routes Based on a Multi-agent Model

In order to discuss the influencing factors of mine escape decision when underground disaster occurs, this paper uses the multi-agent modeling theory to construct the coal mine safety accident escape model. The real escape scenarios of different chamber positions and multiple exits are simulated. Dijkstra algorithm was used for site selection and the shortest escape path is searched by combining breadth-first algorithm and adjacency matrix. The simulation results show that the multi-agent simulation modeling method has great advantages in simulating the evolution of complex systems.

Research on VANET vehicle movement modeling in ITS

At present, Traffic simulation has become the most widely used tool in operational research and system analysis. This paper studies VANET’s vehicle movement modeling theory in the Intelligent Transportation System. It build Car movement model by OPNET Modeler soft. It simulates VANET communication process, evaluates the entire performance of the network, which can offer reference to designing and optimizing the Vehicle Ad hoc Network.

ENTIRE-REGION CONSTITUTIVE RELATION FOR TRELOAR'S DATA

ABSTRACT Hyperelastic materials can experience a large deformation process. A constitutive relation suitable for an entire region from small, moderate, to large deformations is of great importance for practical applications such as fracture problems. Treloar's data are first investigated, and the tension curve is divided into three regimes: small-to-moderate regime, strain-hardening regime, and limiting-chain regime. Next, the modeling theory of hyperelastic materials is introduced, and the tensile behaviors of basic energy functions are analyzed for different deformation regimes. Finally, a successive procedure is suggested to establish an entire-region constitutive relation and then applied to Treloar's data. The present constitutive relation can maintain the initial shear modulus while the experimental data are satisfactorily predicted. The present procedure is simple and feasible and hence applicable to other hyperelastic materials when their entire-region constitutive relations are studied based on experimental data.

A Life Cycle for Modeling Biology at Different Scales

Modeling has become a popular tool for inquiry and discovery across biological disciplines. Models allow biologists to probe complex questions and to guide experimentation. Modeling literacy among biologists, however, has not always kept pace with the rise in popularity of these techniques and the relevant advances in modeling theory. The result is a lack of understanding that inhibits communication and ultimately, progress in data gathering and analysis. In an effort to help bridge this gap, we present a blueprint that will empower biologists to interrogate and apply models in their field. We demonstrate the applicability of this blueprint in two case studies from distinct subdisciplines of biology; developmental-biomechanics and evolutionary biology. The models used in these fields vary from summarizing dynamical mechanisms to making statistical inferences, demonstrating the breadth of the utility of models to explore biological phenomena.

A Universal Nonlinear Analyzer for Rigid Multibody Systems Based on the Efficient Galerkin Averaging-Incremental Harmonic Balance Method

The bridge between the multibody dynamic modeling theory and nonlinear dynamic analysis theory is built for the first time in this work by introducing an efficient Galerkin averaging-incremental harmonic balance (EGA-IHB) method for steady-state nonlinear dynamic analysis of index-3 differential algebraic equations (DAEs) for general rigid multibody systems. The multibody dynamic modeling theory has made significant advances in generality and simplicity, and multibody systems are usually governed by DAEs. Since the fast Fourier transform and EGA are used, the EGA-IHB method has excellent robustness and computational efficiency. Since the Floquet theory cannot be directly used for stability analysis of periodic responses of DAEs, a new stability analysis procedure is developed, where perturbed, linearized DAEs are reduced to ordinary differential equations with use of independent generalized coordinates. A modified arc-length continuation method with a scaling strategy is used for calculating response curves and conducting parameter studies. Three examples are used to show the performance and capability of the current method. Periodic solutions of DAEs from the EGA-IHB method show excellent agreement with those from numerical integration methods. Amplitude-frequency and amplitude-parameter response curves are generated, and stability and period-doubling bifurcations are analyzed. The EGA-IHB method can be used as a universal solver and nonlinear analyzer for obtaining steady-state periodic responses of DAEs for general multibody systems.

World Modeling, Integrated Information, and the Physical Substrates of Consciousness; Hidden Sources of the Stream of Experience?

In this brief commentary on The Hidden Spring: A Journey to the Source of Consciousness, I describe ways in which Mark Solms’ account of the origins of subjective experience relates to Integrated World Modeling Theory (IWMT). IWMT is a synthetic theory that brings together different perspectives, with the ultimate goal of solving the enduring problems of consciousness, including the Hard problem. I describe points of compatibility and incompatibility between Solms’ proposal and IWMT, with particular emphasis on how a Bayesian interpretation of Integrated Information Theory and Global (Neuronal) Workspace Theory may help identify the physical and computational substrates of consciousness.