Gear mesh compliance modeling

A computer model has been constructed to simulate the compliance and load sharing in a spur gear mesh. The model adds the effect of rim deflections to previously developed state-of-the-art gear tooth deflection models. The effects of deflections on mesh compliance and load sharing are examined. The model can treat gear meshes composed to two external gears or an external gear driving an internal gear. The model includes deflection contributions from the bending and shear in the teeth, the Hertzian contact deformations, and primary and secondary rotations of the gear rims. The model shows that rimmed gears increase mesh compliance and, in some cases, improve load sharing

Large Extra Dimensions, Sterile neutrinos and Solar Neutrino Data

Solar, atmospheric and LSND neutrino oscillation results require a light sterile neutrino, $\nu_B$, which can exist in the bulk of extra dimensions. Solar $\nu_e$, confined to the brane, can oscillate in the vacuum to the zero mode of $\nu_B$ and via successive MSW transitions to Kaluza-Klein states of $\nu_B$. This new way to fit solar data is provided by both low and intermediate string scale models. From average rates seen in the three types of solar experiments, the Super-Kamiokande spectrum is predicted with 73% probability, but dips characteristic of the 0.06 mm extra dimension should be seen in the SNO spectrum.Comment: 4 pages, 2 figure

Sampled Data Control of a Compliant Actuated Joint Using On/Off Solenoid Valves

This paper proposes a new control system design method for a compliant actuated joint using on/off solenoid valves. Themathematical modelling and the system’s hardware are described in detail. The control design method is presented in ageneral manner so it could be applied for any other similar system. For the present system, the designed controller is implementedvia a digital computer and it is characterised by very good performance and simplicity. The success of the proposedmethod is validated via simulations and experiment

Dexterous Grasping by Manipulability Selection for Mobile Manipulator with Visual Guidance

Industry 4.0 demands the heavy usage of robotic mobile manipulators with high autonomy and intelligence. The goal is to accomplish dexterous manipulation tasks without prior knowledge of the object status in unstructured environments. It is important for the mobile manipulator to recognize and detect the objects, determine manipulation pose, and adjust its pose in the workspace fast and accurately. In this research, we developed a stereo vision algorithm for the object pose estimation using point cloud data from multiple stereo vision systems. An improved iterative closest point algorithm method is developed for the pose estimation. With the pose input, algorithms and several criteria are studied for the robot to select and adjust its pose by maximizing its manipulability on a given manipulation task. The performance of each technical module and the complete robotic system is finally shown by the virtual robot in the simulator and real robot in experiments. This study demonstrates a setup of autonomous mobile manipulator for various flexible manufacturing and logistical scenarios

Reconfigurable and Agile Legged-Wheeled Robot Navigation in Cluttered Environments with Movable Obstacles

Legged and wheeled locomotion are two standard methods used by robots to perform navigation. Combining them to create a hybrid legged-wheeled locomotion results in increased speed, agility, and reconfigurability for the robot, allowing it to traverse a multitude of environments. The CENTAURO robot has these advantages, but they are accompanied by a higher-dimensional search space for formulating autonomous economical motion plans, especially in cluttered environments. In this article, we first review our previously presented legged-wheeled footprint reconfiguring global planner. We describe the two incremental prototypes, where the primary goal of the algorithms is to reduce the search space of possible footprints such that plans that expand the robot over the low-lying wide obstacles or narrow into passages can be computed with speed and efficiency. The planner also considers the cost of avoiding obstacles versus negotiating them by expanding over them. The second part of this article presents our new work on local obstacle pushing, which further increases the number of tight scenarios the planner can solve. The goal of the new local push-planner is to place any movable obstacle of unknown mass and inertial properties, obstructing the previously planned trajectory from our global planner, to a location devoid of obstruction. This is done while minimising the distance traveled by the robot, the distance the object is pushed, and its rotation caused by the push. Together, the local and global planners form a major part of the agile reconfigurable navigation suite for the legged-wheeled hybrid CENTAURO robot

Electron Neutrino Mass Measurement by Supernova Neutrino Bursts and Implications on Hot Dark Matter

We present a new strategy for measuring the electron neutrino mass (\mnue) by future detection of a Galactic supernova in large underground detectors such as the Super-Kamiokande (SK). This method is nearly model-independent and one can get a mass constraint in a straightforward way from experimental data without specifying any model parameters for profiles of supernova neutrinos. We have tested this method using virtual data generated from a numerical model of supernova neutrino emission by realistic Monte-Carlo simulations of the SK detection. It is shown that this method is sensitive to \mnue of $\sim$ 3 eV for a Galactic supernova, and this range is as low as the prediction of the cold+hot dark matter scenario with a nearly degenerate mass hierarchy of neutrinos, which is consistent with the current observations of solar and atmospheric neutrino anomalies and density fluctuations in the universe.Comment: 4 pages including 1 figure, accepted by Phys. Rev. Let

Tele-operated high speed anthropomorphic dextrous hands with object shape and texture identification

This paper reports on the development of two number of robotic hands have been developed which focus on tele-operated high speed anthropomorphic dextrous robotic hands. The aim of developing these hands was to achieve a system that seamlessly interfaced between humans and robots. To provide sensory feedback, to a remote operator tactile sensors were developed to be mounted on the robotic hands. Two systems were developed, the first, being a skin sensor capable of shape reconstruction placed on the palm of the hand to feed back the shape of objects grasped and the second is a highly sensitive tactile array for surface texture identification