Experimental investigations of the effects of cutting angle on chattering of a flexible manipulator

When a machine tool is mounted at the tip of a robotic manipulator, the manipulator becomes more flexible (the natural frequencies are lowered). Moreover, for a given flexible manipulator, its compliance will be different depending on feedback gains, configurations, and direction of interest. Here, the compliance of a manipulator is derived analytically, and its magnitude is represented as a compliance ellipsoid. Then, using a two-link flexible manipulator with an abrasive cut off saw, the experimental investigation shows that the chattering varies with the saw cutting angle due to different compliance. The main work is devoted to finding a desirable cutting angle which reduces the chattering

Tradeoffs in manipulator structure and control. Part 4: Flexible manipulator analysis program

The Flexible Manipulator Analysis Program (FMAP) is a collection of FORTRAN coding to allow easy analysis of the flexible dynamics of mechanical arms. The user specifies the arm configuration and parameters and any or all of several frequency domain analyses to be performed, while the time domain impulse response is obtained by inverse Fourier transformation of the frequency response. A detailed explanation of how to use FMAP is provided

Study of design and control of remote manipulators. Modeling manipulator arms with distributed flexibility for design and control

The interactions of control system and distributed flexible structural dynamics is explored for mechanical arms. A modeling process using 4 x 4 transfer matrices is described which permits the closed loop response of many current arm configurations to be evaluated. Root locus, frequency response, modal shapes, and time impulse response have all been obtained from the digital computer implementation of this model, which is oriented to arm design and allows for easy variation of the arm configuration through data cards. The model corresponds with experimentally observed natural frequencies with an average error of less than 5% in the first three flexible modes in the seven cases considered. The model was used to explore the limits imposed by structural flexibility on a nondimensionalized two link arm with one and two joints for planar motion

Tradeoffs in manipulator structure and control. Part 1: Summary

The study of various aspects of manipulator design and control is summarized, focusing on the interaction of the structure's flexible dynamics and the dynamics of the joint control system, including specific information on modeling and design, modal analysis and control, and the flexible manipulator analysis computer program, FMAP

Vertical structure of bottom Ekman tidal flows: Observations, theory, and modeling from the northern Adriatic

From September 2002 to May 2003, fifteen bottom‐ mounted, acoustic Doppler current profilers measured currents of the northern Adriatic basin. Tidal fluctuations at all seven of the major Adriatic frequencies were synthesized from a response tidal analysis of these measurements. Most observed tidal current ellipses were nearly reversing, but near the bottom, tidal current ellipses all shortened and broadened, semidiurnal currents led upper water column currents, and diurnal tidal current ellipse orientations rotated counterclockwise toward the bottom. Theoretical solutions for a tidally forced, bottom Ekman layer with vertical eddy viscosity of the form A z = β z + k were least squares fit to the observations. Average values were β = 3 · 10− 4 m/s and k = 5 · 10− 4 m2/s. The value of k was important in matching tidal orientation and phase changes, and a nonzero β was important in matching tidal amplitude changes. The Navy Coastal Ocean Model (NCOM) and the Quoddy model were also compared to the observations. The average RMS errors for the bottom Ekman layer were 0.22 cm/s for the best fit theory, 0.35 cm/s for NCOM, and 0.36 cm/s for Quoddy. A z structures from NCOM and Quoddy show that time variation in A z is relatively unimportant for Adriatic tides. The bottom shear stresses from theory were larger in magnitude than those from the bottom drag formulations in NCOM and Quoddy

An investigation of a passively controlled haptic interface

Haptic interfaces enhance cooperation between humans and robotic manipulators by providing force and tactile feedback to the human user during the execution of arbitrary tasks. The use of active actuators in haptic displays presents a certain amount of risk since they are capable of providing unacceptable levels of energy to the systems upon which they operate. An alternative to providing numerous safeguards is to remove the sources of risk altogether. This research investigates the feasibility of trajectory control using passive devices, that is, devices that cannot add energy to the system. Passive actuators are capable only of removing energy from the system or transferring energy within the system. It is proposed that the utility of passive devices is greatly enhanced by the use of redundant actuators. In a passive system, once motion is provided to the system, presumably by a human user, passive devices may be able to modify this motion to achieve a desired resultant trajectory. A mechanically passive, 2-Degree-of-Freedom (D.O.F.) manipulator has been designed and built. It is equipped with four passive actuators: two electromagnetic brakes and two electromagnetic clutches. This paper gives a review of the literature on passive and robotics and describes the experimental test bed used in this research. Several control algorithms are investigated, resulting in the formulation of a passive control law

Integrating Blood Collection Within Household Surveys: Lessons Learned From Nesting a Measles and Rubella Serological Survey Within a Post-Campaign Coverage Evaluation Survey in Southern Province, Zambia

Age-specific population immunity to many vaccine-preventable diseases can be measured using serological surveys. However, stand-alone serological surveys are infrequently conducted in low- and middle-income countries because of costs, operational challenges, and potential high refusal rates for blood collection. Nesting a serosurvey within a household cluster survey may overcome some of these challenges. We share lessons learned from nesting a serosurvey within a measles and rubella vaccination post-campaign coverage evaluation survey (PCES). In 15 of the 26 PCES clusters in Southern Province, Zambia, we collected dried blood spots from 581 participants aged 9 months and older. Household participation rates for the main PCES were higher in the serosurvey clusters (86%) than PCES-only clusters (71%), suggesting that a serosurvey can be successfully integrated without adversely affecting PCES participation. Among households that participated in the PCES, 80% also participated in the serosurvey and 86% of individuals available in the household provided a blood sample for the serosurvey. Substantial planning and coordination, additional staff training, and community mobilization were critical to the success of the serosurvey. Most challenges stemmed from using different data collecting tools and teams for the serosurvey and PCES. A more efficient design would be to fully integrate the serosurvey by adding blood collection and additional questions to the PCES

Silent Transitions in Automata with Storage

We consider the computational power of silent transitions in one-way automata with storage. Specifically, we ask which storage mechanisms admit a transformation of a given automaton into one that accepts the same language and reads at least one input symbol in each step. We study this question using the model of valence automata. Here, a finite automaton is equipped with a storage mechanism that is given by a monoid. This work presents generalizations of known results on silent transitions. For two classes of monoids, it provides characterizations of those monoids that allow the removal of \lambda-transitions. Both classes are defined by graph products of copies of the bicyclic monoid and the group of integers. The first class contains pushdown storages as well as the blind counters while the second class contains the blind and the partially blind counters.Comment: 32 pages, submitte

IMECE2003-43729 HARDWARE-IN-THE-LOOP SIMULATION FOR CONTROL DEVELOPMENT IN EHPV APPLICATIONS

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