The present work aims at reducing the friction of rubber soles sliding on ceramic floorings. Fitting bored cylindrical protrusions with different diameters on rubber soles was proposed. Experiments were carried out to evaluate the performance of the proposed protrusions in increasing friction coefficient at dry and contaminated floorings. It was found that, at dry sliding, friction coefficient ...

BACKGROUND The aim of this study was to determine whether toe sliding is more likely to cause knee injuries than flatfoot sliding in curling. METHODS Twelve curlers participated in the study, each delivering 12 stones. Six stones per volunteer were delivered using a flatfoot slide and six were delivered using a toe slide. The Pedar-X in-shoe pressure system recorded the plantar pressure durin...

Designing a robust tracking control for a non-linear MIMO system with uncertainty is one of the most complicated control problems. In this paper, sliding mode changed to non-linear controllable canonical form by input-output linearization. This, sliding surfaces can be defined in a way that we can de-couple equations and indicate the sliding conditions of multi-variable controller system. The u...

This article develops a new output feedback tracking control scheme for uncertain robot manipulators with only position measurements. Unlike the conventional sliding mode controller, a quasi-continuous second-order sliding mode controller (QC2C) is first designed. Although the QC2C produces continuous control and less chattering than conventional sliding mode and other high-order sliding mode c...

this paper addresses the design of an observer-based fault diagnosis scheme, which is applied to some of the sensors and actuators of a wind turbine benchmark model. the methodology is based on a modified sliding mode observer (smo) that allows accurate reconstruction of multiple sensor or actuator faults occurring simultaneously. the faults are reconstructed using the equivalent output error i...

in this paper, we discuss the dynamical properties of a chemical reactor model including lyapunov exponents, bifurcation, stability of equilibrium and chaotic attractors as well as necessary conditions for this system to generate chaos. we study the synchronization of chemical reactors model via sliding mode control scheme. the stability of proposed method is proved by barbalate’s lemma. numeri...

A liquid drop that partially wets a solid surface will slide down the plane when it is tilted beyond a critical inclination. Here we report the study of the sliding velocity of such a drop. Experiments for measuring the steady sliding velocity of different liquids of drops are performed. We then construct a scaling law that predicts the sliding velocity given the physical properties, wetting ch...

One approach to a fundamental study of the wear of a material is to investigate the frictional behavior and surface failure of a simplified system, such as single crystals, under conditions of single-pass sliding. Such an approach has been used to study the influence of sliding direction and environment on the surface failure of fluorapatite single crystals.1.2 A useful extension of this single...

A new sliding mode control approach is introduced in this work with the dedicated mathematical tools. A timedelay modification/approximation of sign function is proposed, and it is shown that by substituting this new “sign” realization in the conventional sliding mode algorithms the main advantages of the sliding mode tools are preserved (like rejection of matched disturbances and hyper-exponen...

This 'paper presents the development of a Proportional-Integral sliding mode controller for tracking problem of robot manipulators. A robust sliding mode controller is derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the highly non-linear and coupled dynamics. The proposed controller is designed using the centralized and decentralized approaches...