1. A considerable amount of attention has been devoted to understanding the velocity-position transformation that takes place in the control of eye movements in three dimensions. Much of the work has focused on the idea that rotations in three dimensions do not commute and that a "multiplicative quaternion model" of velocity-position integration is necessary to explain eye movements in three di...

This paper presents analysis and evaluation of classical direct torque control(DTC), for controlling a symmetrical six phase induction motor (SPIM) under open phasefault conditions. The machine has two three-phase windings spatially shifted by 60 electricaldegrees. The strategy of the proposed method consists of choosing the switching modesaccording to the configuration of living phases in such...

Falling parallelograms exhibit coupled motion of autogyration and tumbling, similar to the motion of falling tulip seeds, unlike maple seeds which autogyrate but do not tumble, or rectangular cards which tumble but do not gyrate. This coupled tumbling and autogyrating motion are robust, when card parameters, such as aspect ratio, internal angle, and mass density, are varied. We measure the thre...

The motion of a spherical particle in infinite linear flow and near a plane wall, subject to the slip boundary condition on both the particle surface and the wall, is studied in the limit of zero Reynolds number. In the case of infinite flow, an exact solution is derived using the singularity representation, and analytical expressions for the force, torque, and stresslet are derived in terms of...

This paper carries out the mathematical modeling, simulation, and control law design for a quadrotor with variable-pitch propellers. The use of variable-pitch propeller for thrust variation instead of RPM regulation facilitates generation of negative thrust, thereby augmenting the rate of change of thrust generation amenable for aggressive maneuvering. Blade element theory along with momentum t...

Current commercial force-torque sensors are sensitive and accurate, but are also typically expensive and fragile. These features limit their use in cost-sensitive applications and unstructured environments such as people’s homes. This paper presents a new design for an inexpensive and robust force-torque sensor that uses MEMS barometer transducers. The new design results in a six-axis force-tor...

The purpose of this study was to determine the relationship between average force, average torque, peak force, and peak torque produced by the knee musculature. Twenty women were assessed for isokinetic concentric and eccentric knee extensor and flexor muscular strength at a velocity of 90 deg/sec. Correlational analyses showed relationships ranging from r = 0.89 to r = 0.94 for concentric exte...