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Due to the complexity of the mathematical and computational reproduction of collision movements performed by solids objects in the real world, alternately a common approach is to use dynamic models compound of elastic (spring) and dissipative (damper) forces with the theory of rigid bodies. In this paper, the modeling of translational and rotational movement of a solid cube in free fall colliding...
This paper investigates an electromagnetic worm-like locomotion system (WLLS) with simple design and control. The WLLS consists of two elastically connected ring-like segments that form two coupled electromagnetic actuators. The actuators generate longitudinal and transverse displacements that lead to locomotion due to changes of normal pressure and friction forces. The paper presents the electromagnetic...
The aircraft braking is a complex dynamic and kinematic process, involving the brake wheel and runway status, loaded state and anti-skid control strategy and other aspects, including sophisticated uncertainties and nonlinear factors. This paper aiming at the nonlinear tire model with unknown parameters, combined with the empirical fitting slip rate coefficient curve based on the linear identification...
Automation systems, as well as process control, has played a key role in the industry nowadays. For good system performance, it is necessary that mathematical model is closest to the real model, which is detailed in this work. The objective of this study is to present a modeling (considering the viscous friction), stability analysis and simple PID controller tuning using as an example, an arm with...
An important goal for the Japanese economy involves increasing the export of fruits. Especially, the export of peaches to Taiwan is an important part of trade for Japan. However, the peach fruit moth poses a serious problem. The moth is not native to Taiwan. Therefore, the moths that are exported with peaches may cause ecological damage in Taiwan. We are in the process of developing a peach fruit...
In this paper, three different models of friction in presliding regime on linear motor platform are deduced according to basic physical laws, which are named as the Kelvin model, the modified Kelvin model and the four-element model. To validate the effectiveness of these models, the particle swarm optimization is applied to determine the coefficients in each model. Then experiments of ramp input force...
In-circuit tests play a key role in manufacturing electronic devices with a high level of reliability. One of the most flexible technology for the tests is based on flying probes, in which a set of conductive needles is automatically positioned on multiple test points of the device under test. The probes are controlled at high speed within the working space, to increase the production rate, Position...
There are BBots (BristleBots) consist of a single and double vibration motor design. A single-actuated robot agent is more preferable due to its lower cost and energy consumption. Some studies reporting and modeling the linear motion single-actuated BBots are present in the literature. On the other hand, few of them included an explanation on its rotational motion. In this study, the planar motion...
To solve the problem of joint speed and strength of electricity controlled flexible clutch system (DMT) in the buses, the paper proposed a control method of pulse width modulation (PWM) based on the Freescale of 16-bit MC9S12XEP100 microcontroller. Designed the DMT control circuit and used the PID control of exciting current. The test results show that PWM control solved the rapid joint lead to overshoot,...
This paper presents a reliable but low-cost way for industrial digital microscopy to implement μm-level precision of X/Y stage motion control. Other than the prevailing designs using stepper motors with open-loop control algorithms, the proposed method uses DC motors with closed-loop sliding mode control (SMC) to save the cost and allow a smooth switching between manual and motorized mode for stage...
We explored the affordances of using visuo-haptic simulations to improve conceptual understanding and representational competence of the concept of friction. Visuohaptic simulations are computer-based simulations that encode mathematical and physical models of certain phenomena and provide visual and tactile feedback. Users can see the simulation and feel the friction with their hand by using a special...
In this paper, a nonlinear dynamic model is developed considering backlash, time-varying mesh stiffness (TVMS), and sliding friction. Friction is firstly introduced to a spur gear pair nonlinear dynamic model under random load. Transient characteristics of the spur gear transmission system are studied. The results show that random load causes longer duration of transient state and stronger vibration...
This study demonstrates that the simultaneous use of two types of representative principles for tactile texture displays, vibrotactile and electrostatic friction stimulation surpasses either type of stimulation. We used a set of sinusoidal grating scales with different surface spatial periods as simulated textured surfaces for testing the quality of texture displays. Experimental participants judged...
Smart Objects, the constituent elements of the Internet of Things, are computationally enhanced everyday objects such as shoes, fridges, tools, and more. In education, they have the potential to boost exploratory learning of engineering concepts by providing real-time information to students during their learning activities. With this goal in mind, we developed the Smart Cube: a Smart Object for physics...
The reducing of energy consumption for transportation and manipulation of industrial objects is a topical issue. The objects of manipulation are gripped with the use of industrial robot and transported from one position to another. In gripping devices, the lifting force is created on the basis of the aerodynamic effect of lifting appearing due to the use of compressed air. The efficiency of functioning...
This paper presents three contributions in the filed of medical imaging applications using hand-held ultrasound probe: 1) a new type of belt-driven mechanism for force-controlled ultrasound probe (FCUS) and 2) a safe and precise position controller and 3) a new algorithm for endpoint avoidance in the limited motion range. To enhance the image quality, the probe-patient contact force is controlled...
Periodic speed errors can occur in permanent magnet linear synchronous machines for two reasons: 1) a periodic reference signal; 2) cogging force and friction. For reducing such periodic errors, iterative learning control or repetitive control approaches, used in conjunction with more common control actions, can be strongly effective. However, the design of the stability filter, robustness filter...
The circuit breaker is an important part of control and protection in the power system. Mechanical failure is the main fault of circuit breakers, and the loosening of fasteners is one of the typical mechanical faults. The self-loosening of bolted joints is closely related to the vibration, especially transverse vibration. There is strong vibration while the circuit breakers are opened and closed....
In this paper, the emergency braking of high speed train is studied, and the relationship between the braking force, resistance, speed and deceleration is discussed. According to the Newton's second law of motion, by discretizing the speed and displacement, the emergency braking model of high speed train is established. Further, the unobserved braking parameters of model are identified by the iterative...
This paper presents a method to deliver soft tactile textures on a hard touch panel, using an electrostatic tactile feedback display, which produces high-frequency frictional textures with extremely low-frequency friction stimuli. Through experiments involving several participants, we found that low frequency signals are effective at transmitting soft sensations. Although the underlying mechanism...
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