In this work, redundancy resolution and impedance modulation strategies have been employed to enhance intuitiveness and stability in physical human-robot interaction during co-manipulation tasks. An impedance strategy to control a redundant manipulator is defined in the Cartesian space. Different modulation laws for the impedance parameters are tested in combination with different strategies to...

In order to measure the impedance variation process in electrolyte solutions, a method of triangular waveform voltage excitation is investigated together with principal component analysis (PCA). Using triangular waveform voltage as the excitation signal, the response current during one duty cycle is sampled to construct a measurement vector. The measurement matrix is then constructed by the mea...

Impedance measurements have been widely used with the Nyquist plot to estimate the stability of interconnected power systems. Being a black-box method for equivalent and aggregated impedance estimation, its use for the identification of sub-components bandwidth is not a straightforward task. This paper proposes a simple method that will enable to identify the specific part of the equivalent imp...

C.M. Roland (December 17, 2014) Introduction Impedance spectroscopy and dielectric relaxation measurements yield the same information; however, their purpose and analysis methods differ. Impedance spectroscopy is typically used to probe electrochemical processes, while dielectric relaxation data, almost invariably expressed in the complex permittivity representation, provide information on dyna...

The equivalent circuit concept derives from the Superposition Principle and Ohm’s Law. Two forms of the equivalent circuit, the Thévenin equivalent and the Norton equivalent, distill any linear circuit into a source and an impedance. The development of these equivalents spans almost seventyfive years, with others than the eponymous people assuming equally important roles. This report describes ...

Introduction: Travelling wave MR imaging exploits the waveguide action of the RF shield. The transmitting and receiving patch antenna is placed at the beginning of the bore of the scanner. Different sections of the bore will have different wave impedances due to different loading conditions. This can lead to abrupt changes in impedance causing large reflections and inefficient power transfer to...

The electroacoustic efficiency of high-power actuators used in thermoacoustic coolers may be estimated using a linear model involving a combination of six parameters. A method to identify these equivalent driver parameters from measured total electrical impedance and velocity-voltage transfer function data was developed. A commercially available, moving-magnet driver coupled to a functional the...

This paper describes a subcell modeling technique for metallic resonators where the actual metal traces are replaced by a thin wire having equivalent magnetic and electric radii, as well as an impedance per unit length. The formulas for these quantities in the case of rectangular traces are given. In addition, the gap of a split-ring resonator is replaced by a lumped load. The response of the r...