Many fish depend primarily on their tail beat for propulsion. Such a tail is commonly modeled as a twodimensional flapping foil. Here we demonstrate a novel experimental setup of such a foil that heaves and pitches in a soap film. The vortical flow field generated by the foil correlates with thickness variations in the soap film, which appear as interference fringes when the film is illuminated...

In this paper, theoretical and experimental implementation of heave compensation on a redundant hydraulically actuated manipulator with 3-dof has been carried out. The redundancy is solved using the pseudo-inverse Jacobian method. Techniques for minimizing velocities and avoiding mechanical joint saturations is implemented in the null space joint motion. Model based feed-forward, combined with ...

In response to the severe floor heave problem of the+1100m track crosscut in Liuyuanzi Coal Mine, it was found that exists a hard top and soft bottom surrounding rock environment. FLAC3D simulation used study stress, plastic zone, displacement when is supported by bolt-mesh+Shotcrete+36U-type steel combined support circular shed support. The results show latter reduces 57%.