Optimal Path Planning for Unmanned Combat Aerial Vehicles to Defeat Radar Tracking

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/76140/1/AIAA-14303-218.pd

Comparative Anatomical Analyses of the Forearm Muscles of Cebus libidinosus (Rylands et al. 2000): Manipulatory Behavior and Tool Use

The present study describes the flexor and extensor muscles in Cebus libidinosus' forearm and compares them with those from humans, chimpanzees and baboons. The data is presented in quantitative anatomical indices for similarity. The capuchin forearm muscles showed important similarities with chimpanzees and humans, particularly those that act on thumb motion and allow certain degree of independence from other hand structures, even though their configuration does not enable a true opposable thumb. The characteristics of Cebus' forearm muscles corroborate the evolutionary convergence towards an adaptive behavior (tool use) between Cebus genus and apes

Patterns of dog gastrointestinal contractile activity monitored in vivo with extraluminal force transducers

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/44363/1/10620_2005_Article_BF02233437.pd

Active Compensation of Flexibility in Belt-Driven Drive Trains

This paper discusses a novel method to compensate the effects of flexibility in belt-driven drive trains. Such drives are found in robot manipulators, for example, where drive flexibility is undesirable. In some situations, bandwidth limitations can make flexibility difficult to compensate using the primary actuator. In others, the control for the primary actuator is pre-defined and cannot be easily altered. We have introduced a second actuator, called a dancer, which applies a force to the belt at a point between the pulleys. Using backstepping to control belt tension with the dancer, the system transfer function from input pulley to output pulley can be made exactly rigid. The performance of the dancer-actuated system compares favourably with a composite controller designed for the original belt drive. 1 Introduction Flexible materials are often used to couple actuators to mechanical systems. For example, the links of a robotic manipulator may be driven by a flexible belt or cable, ..