Dynamic Modeling and Torque Feedforward based Optimal Fuzzy PD control of a High-Speed Parallel Manipulator

Dynamic modeling and control of high-speed parallel manipulators are of importance due to their industrial applications deployed in production lines. However, there are still a number of open problems, such as the development of a precise dynamic model to be used in the model-based control design. This paper presents a four-limb parallel manipulator with Schönflies motion and its simplified dynamic modeling process. Then, in order to fix the issue that computed torque method control (CTC) will spend a lot of time to calculate dynamic parameters in real-time, offline torque feedforward-based PD (TFPD) control law is adopted in the control system. At the same time, fuzzy logic is also used to tune the gains of PD controller to adapt to the variation of external disturbance and compensate the un-modeled uncertainty. Additionally, bottom widths of membership functions of fuzzy controller are optimized by bat algorithm. Finally, three controllers of CTC, TFPD and bat algorithm-based torque feedforwad fuzzy PD controller (BA-TFFPD) are compared in trajectory tracking simulation. Fro the result, compared with TFPD and CTC, BA-TFFPD can lead faster transient response and lower tracking error, which prove the validity of BA-TFFPD

Multiobjective Optimum Design of a 3-RRR Spherical Parallel Manipulator with Kinematic and Dynamic Dexterities

This paper deals with the kinematic synthesis problem of a 3-underlineRRR spherical parallel manipulator, based on the evaluation criteria of the kinematic, kinetostatic and dynamic performances of the manipulator. A multiobjective optimization problem is formulated to optimize the structural and geometric parameters of the spherical parallel manipulator. The proposed approach is illustrated with the optimum design of a special spherical parallel manipulator with unlimited rolling motion. The corresponding optimization problem aims to maximize the kinematic and dynamic dexterities over its regular shaped workspace

Error Modelling and Experimental Validation of a Planar 3-PPR Parallel Manipulator with Joint Clearances

International audienceThis paper deals with the error modelling and analysis of a 3-\underline{P}PR planar parallel manipulator with joint clearances. The kinematics and the Cartesian workspace of the manipulator are analyzed. An error model is established with considerations of both configuration errors and joint clearances. Using this model, the upper bounds and distributions of the pose errors for this manipulator are established. The results are compared with experimental measurements and show the effectiveness of the error prediction model

A new 3-DOF 2T1R parallel mechanism: Topology design and kinematics

This article presents a new three-degree-of-freedom (3-DOF) parallel mechanism (PM) with two translations and one rotation (2T1R), designed based on the topological design theory of the parallel mechanism using position and orientation characteristics (POC). The PM is primarily intended for use in package sorting and delivery. The mobile platform of the PM moves along a translation axis, picks up objects from a conveyor belt, and tilts them to either side of the axis. We first calculate the PM's topological characteristics, such as the degree of freedom (DOF) and the degree of coupling, and provide its topological analytical formula to represent the topological information of the PM. Next, we solve the direct and inverse kinematic models based on the kinematic modelling principle using the topological features. The models are purely analytic and are broken down into a series of quadratic equations, making them suitable for use in an industrial robot. We also study the singular configurations to identify the serial and parallel singularities. Using the decoupling properties, we size the mechanism to address the package sorting and depositing problem using an algebraic approach. To determine the smallest segment lengths, we use a cylindrical algebraic decomposition to solve a system with inequalities.Comment: IDETC-CIE 2023 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, ASME, Aug 2023, Boston, Franc

Beam energy distribution influences on density modulation efficiency in seeded free-electron lasers

The beam energy spread at the entrance of undulator system is of paramount importance for efficient density modulation in high-gain seeded free-electron lasers (FELs). In this paper, the dependences of high harmonic micro-bunching in the high-gain harmonic generation (HGHG), echo-enabled harmonic generation (EEHG) and phase-merging enhanced harmonic generation (PEHG) schemes on the electron energy spread distribution are studied. Theoretical investigations and multi-dimensional numerical simulations are applied to the cases of uniform and saddle beam energy distributions and compared to a traditional Gaussian distribution. It shows that the uniform and saddle electron energy distributions significantly enhance the performance of HGHG-FELs, while they almost have no influence on EEHG and PEHG schemes. A numerical example demonstrates that, with about 84keV RMS uniform and/or saddle slice energy spread, the 30th harmonic radiation can be directly generated by a single-stage seeding scheme for a soft x-ray FEL facility

Staged open reduction and internal fixation with double-locking plates to treat bilateral distal femur periprosthetic fractures after total knee arthroplasty: A case report

BackgroundThe incidence of periprosthetic fractures after total knee arthroplasty (TKA) increases in parallel with the number of procedures. Comminuted fractures along the primary fracture line extending to the edge of the prosthesis are challenging, and bilateral fractures are rarely reported, especially with open injuries.Case presentationA 65-year-old female had undergone bilateral TKA in our hospital 5 years before admission. She was admitted with a traumatic bilateral Rorabeck type II B distal femur periprosthetic fracture (closed right, open left, Gustilo II) and was treated with bilateral staged open reduction and internal fixation (ORIF) with double-locking plates. The patient experienced a prolonged delayed fracture union and finally healed around 21 months postoperatively. The function was satisfactory after 4 years of follow-up.ConclusionORIF with double-locking plates can be used to treat Rorabeck II B periprosthetic fracture where the primary fracture line extends beyond the edge of the prosthesis; however, there may be delayed healing or nonunion. Patients need to undergo long-term rehabilitation and endure long disability times and require good rehabilitation nursing care. Once they achieve bone healing, the treatment achieves bone preservation and substantial prosthesis survival

Simultaneous evolutionary expansion and constraint of genomic heterogeneity in multifocal lung cancer.

Recent genomic analyses have revealed substantial tumor heterogeneity across various cancers. However, it remains unclear whether and how genomic heterogeneity is constrained during tumor evolution. Here, we sequence a unique cohort of multiple synchronous lung cancers (MSLCs) to determine the relative diversity and uniformity of genetic drivers upon identical germline and environmental background. We find that each multicentric primary tumor harbors distinct oncogenic alterations, including novel mutations that are experimentally demonstrated to be functional and therapeutically targetable. However, functional studies show a strikingly constrained tumorigenic pathway underlying heterogeneous genetic variants. These results suggest that although the mutation-specific routes that cells take during oncogenesis are stochastic, genetic trajectories may be constrained by selection for functional convergence on key signaling pathways. Our findings highlight the robust evolutionary pressures that simultaneously shape the expansion and constraint of genomic diversity, a principle that holds important implications for understanding tumor evolution and optimizing therapeutic strategies.Across cancer types tumor heterogeneity has been observed, but how this relates to tumor evolution is unclear. Here, the authors sequence multiple synchronous lung cancers, highlighting the evolutionary pressures that simultaneously shape the expansion and constraint of genomic heterogeneity