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The safety of navigation of ro-ro passenger ships has been perplexing the shipping circles, while the problem of vehicle safe stowing and securing is an important factor that affects the safe transportation of ro-ro passenger ships. Some specifications are put forward in home and abroad on the research of safe stowing and securing of vehicle on board ro-ro passenger ships. However, it is lacking in...
A review of literature about the effect of various Reynolds numbers, being based on kinematic viscosity and sliding velocities each other, on improvement of sliding elements tribological performance is shown. This is accomplished by the computational fluid dynamic approach where the momentum and continuity equations are solved separately, one of low Reynolds number (LRN) turbulence models-Abid index...
This paper discusses `the physical Karnopp model' and `the modified Karnopp model' that were proposed for dynamic simulation, friction compensation, and haptic rendering of surface friction, and shows that when these models are used for haptic display of virtual surface friction, the transparency can be deteriorated. Also, to remedy this problem, we propose a `more physically oriented Karnopp model',...
Wearable robots can assist people with disabilities to perform their daily tasks. However, the size, weight and wearability are important factors in the design because it is worn by the person controlling it. Various disabilities can be assisted with wearable robot technology, from the lower to upper body. The hand is an important part of the body for the disabled to perform their daily tasks. However,...
The Casimir force has been found to be the cause of stiction problems in MEMS devices resulting in permanent adhesion of close adjacent surfaces. However, it has also been proposed that the Casimir force can be harnessed to achieve non-contact actuation in MEMS sensors. One way of achieving this is to use the lateral component of the Casimir force through suitably constrained moving parts and designed...
This paper presents the detection of slipping with integrated piezoelectric vibration tactile sensors. A tactile sensor is important for robotics to find a mechanical pressure and contact condition between grippers and objects. We have proposed the integrated piezoelectric vibration-type tactile sensors to realize a high sensitivity and a wide measurement range. Previous sensors were only applied...
The objective of our research is to investigate the performance evaluation of traveling-wave ultrasonic motor with two-degree of freedom (2DOF-USM). The space structure of 2DOF-USM is introduced briefly. The mathematic model of the motor is established based on friction drive mechanism. Through relation of space location, calculating the driving force and friction force at arbitrary point of contact...
A synthesis compensation approach of iterative learning control (ILC) is applied to minimization of periodic force ripples in a permanent magnet linear synchronous motor (PMLSM). Based on position, speed and time axes, the synthesis approach enables powerfully to compensate periodic force ripples along three axes with feedforward approach in PMLSMs, meanwhile stochastic disturbances are restrained...
Three Degree-of-Freedom (3DOF) traveling wave type ultrasonic motor (USM) can move at three degrees. The principle and basic structure of 3DOF traveling-wave type USM are presented in this paper firstly. Then through coordinate conversion the distribution of the force on the contact area of rotor and stators can be obtained when the rotor rotates. Thus the motorpsilas driving and friction force can...
A novel idea employing Tubular Linear Permanent Magnet Synchronous Motors (TLPMSM) with two gas springs is presented in this paper. The mathematical model of TLPMSM is developed for the aim of controlling the stroke length of TLPMSM for drilling application. The control strategy based on transfer function model is designed. The simulation result of the control system shows the validity of design of...
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