this paper proposes a control strategy for a cable-suspended robot based on sliding mode approach (smc) which is faced to external disturbances and parametric uncertainties. this control algorithm is based on lyapunov technique which is able to provide the stability of the end-effecter during tracking a desired path with an acceptable precision. the main contribution of the paper is to calculat...

We construct a four-parameter family of smooth, horizonless, stationary solutions of ungauged five-dimensional supergravity by using the four-dimensional Euclidean Schwarzschild metric as a base space and “magnetizing” its bolt. We then generalize this to a five-parameter family based upon the Euclidean Kerr-Taub-Bolt. These “running Bolt” solutions are necessarily non-static. They also have th...

in this paper coupled nonlinear equations of motion of a suspended cable with time dependent tension and velocity are derived by using hamilton’s principal. a modal analysis for a stationary sagged cable is initially carried out in order to identify the dynamic system. the natural solution is directed to compute the natural frequencies and mode shapes of the free vibration of a suspended cable....

Homes are increasingly filled with connected devices such as wireless door locks, remotely controllable thermostats, and security cameras. Home automation systems, which used to be prohibitively expensive to average consumers, are now offered at an affordable price, accelerating the adoption of “smart” devices in the home. The advances in devices also enable researchers and practitioners to dev...

Modeling and Wrench feasible workspace analysis of a spatial cable suspended robots is presented. A six-cable spatial cable robot is used the same as Stewart robots. Due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. Various workspaces are defined and the results of simulation are presented on the basis of various workspaces and app...

Cross-bracing (X-bracing) is one of the most popular methods of seismic retrofitting, and has been shown to significantly increase the structural stiffness and strength of buildings. Conventional steel X-bracing methods typically exhibit brittle failure at the connection between the brace and the building, or buckling failure of the braces. This study investigated the structural properties of a...

In this study, analytical models considering different material and geometry for ‎both single and double-lap bolted joints were reviewed for better understand how to ‎select the proper model for a particular application. The survey indicades that the ‎analytic models selected for the adhesively single or double bolted lap joints, as well ‎as T, scarf, and stepped joints, with linear material pr...

This paper deals with modeling and simulation of sparking occurrence in fastening assemblies. The principle consists to calculate in three dimensions the distributions of current density and temperature in the structure over time, and to derive some physical criteria to estimate the possibility of sparking occurrence. Simulations are performed with a Finite Volume Method in time domain and an u...