conclusions use of flexible joint in the exhaust system leads to conversion of linear vibration to non-linear one, resulting in significant reduction of noise levels. results by using this new exhaust at speed levels of 1000, 2000, 3000, 4000, and 5000 rpm, we had respectively 3.9, 6.8, 7.4, 5.6, and 5 dba decreases in total sound level pressure. objectives this study aimed to reduce motorcycle...

This chapter focuses on the dynamic control issues of lightweight robots as well as flexible joint robots. The goal is to increase the bandwidth and the accuracy of the trajectory tracking control. Besides the joint flexibility, the control design considers the dynamics of the electric motor in AC-form i.e. the three phase permanent magnet synchronous motor (PMSM). The final system model is a f...

we present a case report of acute spontaneous knee hemarthosis due to erosion of the nail through the knee joint capsule in a boy, seven months following retrograde flexible nailing for fractured femur. careful positioning of the location of the insertion site of flexible nails and proper nail tip management are important to avoid this rare late complication.

In this paper, the problem of achieving high accuracy positioning of a medical robot is studied. The Northeast Proton Therapy Center, at the Massachusetts General Hospital, is a new cancer research and treatment facility. A major component of the center is a robotic patient positioning system that will carry and position patients in a proton beam. The desired positioning accuracy of the robot i...

the main objective of this article is to optimize the walking pattern of a 2d humanoid robot with heel-off and toe-off motions in order to minimize the energy consumption and maximize the stability margin. to this end, at first, a gait planning method is introduced based on the ankle and hip joint position trajectories. then, using these trajectories and the inverse kinematics, the position tra...

T h i s work is a computer simulation of the control of flexi ble robot arm. The dynamic equations for a single-link flexible robot arm have been derived rigorously. Th is arm has two degrees of freedom in rotation and one in translation so that the workspdce i s three-dimensional. The payload is simulated by attaching additional mass to the arm at a specified location. The governing equations ...

In this paper, recurrent neural network is used for path planning in the joint space of the robot with obstacle in the workspace of the robot. To design the neural network, first a performance index has been defined as sum of square of error tracking of final executor. Then, obstacle avoidance scheme is presented based on its space coordinate and its minimum distance between the obstacle and ea...

Recording the variation of joint angles as a feedback to the control unit is frequent in articulated arms. In this paper, magnetic sensor AS5045, which is a contactless encoder, is employed to measure joint angles of 6R robot and the performance of that is examined. The sensor has a low volume, two digital outputs and provides a high resolution measurement for users; furthermore its zero positi...

Actuators of robot operate in the joint-space while the end-effect or of robot is controlled in the task-space. Therefore, designing a control system for a robotic system in the task-space requires the jacobian matrix information for transforming joint-space to task-space, which suffers from uncertainties. This paper deals with the robust task-space control of electrically driven robot manipula...

Developing a robust, flexible, closed-loop walking algorithm for a humanoid robot is a challenging task due to the complex dynamics of the general biped walk. Common analytical approaches to biped walk use simplified models of the physical reality. Such approaches are partially successful as they lead to failures of the robot walk in terms of unavoidable falls. Instead of further refining the a...