Alone Together

Les bibliothèques – et les Archives – françaises se sont modernisées. Elles ont gagné en efficacité, mais peut-être perdu en « sociabilité », une notion centrale dans la culture anglo-saxonne. L’environnement matériel induit-il certaines pratiques de recherche ? Habituée de la BnF et des recherches en archives, une historienne américaine nous livre ses impressions à coeur ouvert

Analysis of the Compliance Properties of an Industrial Robot with the Mozzi Axis Approach

In robotic processes, the compliance of the robot arm plays a very important role. In some conditions, for example, in robotic assembly, robot arm compliance can compensate for small position and orientation errors of the end-effector. In other processes, like machining, robot compliance may generate chatter vibrations with an impairment in the quality of the machined surface. In industrial robots, the compliance of the end-effector is chiefly due to joint compliances. In this paper, joint compliances of a serial six-joint industrial robot are identified with a novel modal method making use of specific modes of vibration dominated by the compliance of only one joint. Then, in order to represent the effect of the identified compliances on robot performance in an intuitive and geometric way, a novel kinematic method based on the concept of \u201cMozzi axis\u201d of the end-effector is presented and discusse

On the decay of turbulence in plane Couette flow

The decay of turbulent and laminar oblique bands in the lower transitional range of plane Couette flow is studied by means of direct numerical simulations of the Navier--Stokes equations. We consider systems that are extended enough for several bands to exist, thanks to mild wall-normal under-resolution considered as a consistent and well-validated modelling strategy. We point out a two-stage process involving the rupture of a band followed by a slow regression of the fragments left. Previous approaches to turbulence decay in wall-bounded flows making use of the chaotic transient paradigm are reinterpreted within a spatiotemporal perspective in terms of large deviations of an underlying stochastic process.Comment: ETC13 Conference Proceedings, 6 pages, 5 figure

Vibrations of cable-suspended rehabilitation robots

Rehabilitation robots help the treatment of diseases by performing cyclic exercises for a long period of time. These exercises must perform movements of the patient's limbs; thus, the robots are required to be flexible and safe. Among rehabilitation robots, cable robots are widely used due to their unique properties, such as being lightweight and the possibility of being equipped with magnetic hooks to improve both safety and ease of use. However, the elasticity and flexibility of cables result in vibrations of the payload and hooks. In this paper, the forced vibrations due to rehabilitation exercises are studied. Since the previous studies of the authors showed a weak coupling between longitudinal and transverse vibrations, a two-cable planar model for the study of transverse vibrations is developed. The model makes it possible to study the forced transverse vibrations due to both cable motion and robot motion. Stiffness and damping of the patient's arm are considered. Results show that the cable system exhibits a simple linear behavior when excited by robot motion and a non-linear behavior when excited by cable motion

Transition from the Couette-Taylor system to the plane Couette system

We discuss the flow between concentric rotating cylinders in the limit of large radii where the system approaches plane Couette flow. We discuss how in this limit the linear instability that leads to the formation of Taylor vortices is lost and how the character of the transition approaches that of planar shear flows. In particular, a parameter regime is identified where fractal distributions of life times and spatiotemporal intermittency occur. Experiments in this regime should allow to study the characteristics of shear flow turbulence in a closed flow geometry.Comment: 5 pages, 5 figure

Convective and absolute Eckhaus instability leading to modulated waves in a finite box

We report experimental study of the secondary modulational instability of a one-dimensional non-linear traveling wave in a long bounded channel. Two qualitatively different instability regimes involving fronts of spatio-temporal defects are linked to the convective and absolute nature of the instability. Both transitions appear to be subcritical. The spatio-temporal defects control the global mode structure.Comment: 5 pages, 7 figures (ReVTeX 4 and amsmath.sty), final versio