Dynamic simulation of task constrained of a rigid-flexible manipulator

A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. Consequently, losses of the contact and perhaps degradation of the performance may occur as references are changed. When the environment is moving, knowledge of the angle α between the contact surface and the horizontal is required at every instant. In this paper, different profiles for the time varying angle α are proposed to investigate the effect of this change into the contact force and the joint torques of a rigid-flexible manipulator. The coefficients of the equation of the proposed rotating surface are changing with time to determine the new X and Y coordinates of the moving surface as the surface rotates

Optimum joint profile for constrained motion of a planar rigid-flexible manipulator

Dynamic system performance of a constrained rigid-flexible manipulator in contact with a circular surface is considered here. A dynamic model with zero tip deformation constraint is derived using extended Hamilton’s principle. An analytical approach for vibration of the flexible link using the assumed modes technique is presented. The effect the force exerted at the end-effector and the required joint torque is investigated through the solution of the inverse dynamics problem. Optimum system performance is suggested for the circular contact surfaces considered in this study using the minimum energy criteria for three joint motion profiles

Dynamic simulation of task constrained of a rigid-flexible manipulator

A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. Consequently, losses of the contact and perhaps degradation of the performance may occur as references are changed. When the environment is moving, knowledge of the angle ? between the contact surface and the horizontal is required at every instant. In this paper, different profiles for the time varying angle ? are proposed to investigate the effect of this change into the contact force and the joint torques of a rigid-flexible manipulator. The coefficients of the equation of the proposed rotating surface are changing with time to determine the new X and Y coordinates of the moving surface as the surface rotates

Dynamic force/motion simulation of a rigid-flexible manipulator during task constrained

Constrained motion of a rigid-flexible manipulator in contact with a rotating environment is considered. A rigid-flexible manipulator may be assigned tasks in a moving environment where the winds or vibrations affect the position and/or orientation of surface of operation. When the environment is moving, knowledge of the angle a between the contact surface and the horizontal is required at every instant to evaluate the contact force and the rqured torques for a specific atsk. In this paper, different profiles for the time varying angle a are proposed to investigate the interaction between the joints profile and the angular motion of the constrained surface and the effect of this change into the contact force and the joint torques of a rigid-flexible manipulator

Microbial Biofilm Diversity and Prevalence of Antibiotic Resistance Genes in Drinking Water Distribution System of Peshawar, Pakistan

The occurrence of microbial communities harboring antibiotic resistance bacteria and antibiotic resistance genes in the drinking water distribution system pose a significant threat to the aquatic ecosystem and to public health, especially in developing countries. In this study, we have used next-generation sequencing technology to explore bacterial community diversity and the abundance of antibiotic resistance genes in biofilms collected from the drinking water distribution system of Peshawar, the capital city of the Khyber Pakhtunkhwa province of Pakistan. The results showed that Proteobacteria were the most abundant phyla (89.79%) in all biofilm samples, followed by Bacteroidetes (3.48%) and Actinobacteria (2.79%). At genus level, Pseudomonas was the most common (22.45%) in all biofilm samples. Overall, bacterial diversity and richness was higher in biofilm samples collected from the consumer end than the source site. Bacterial diversity was also dependent on the piping material (GI vs. PVC) and water supply (direct vs. indirect). Functional annotation reveals a differential abundance of common metabolic pathways at source and consumer end. Resistome analysis revealed a prevalence of resistance genes against 12 classes of antibiotics in all samples with macrolides resistance being the commonest at the consumer end (42.1%) and fluoroquinolone resistance at the source end (24%). To our knowledge, this is the first study that provides new insight and evidence into the microbial community diversity and antibiotic resistance in the drinking water supply system of Peshawar. These findings may ultimately help the authorities to design and implement effective strategies for controlling biofilms and ensuring a continuous supply of safe drinking water to the community