The problem of coordinating two arms for the manipulation of exible materials is studied through the bending of a exible beam. The solution proposed in this paper is based on a hybrid position/force approach. The choice of controlled variables in each direction is determined by minimum-eeort optimality criteria. The bending eeort is deened as the overall bending moment and force applied by the ...

Central difference method (CDM) that is explicit for pseudo dynamic testing is also supposed to be explicit for real-time substructure testing (RST). However, to obtain correct velocity dependent restoring force of the physical substructure being tested, the target velocity is required to be calculated as well as displacement. The standard CDM provides only explicit target displacement but not ...

We study the effects of temperature and sliding velocity on superlubricity in numerical simulations of the Frenkel-Kontorova model. We show that resonant excitations of the phonons in an incommensurate sliding body lead to an effective friction and to thermal equilibrium with energy distributed over the internal degrees of freedom. For finite temperature, the effective friction can be described...

This paper presents a model based experimental investigation to demonstrate the usefulness of an active damping strategy to manage fluid sloshing motion in spacecraft tanks. The active damping strategy is designed to reduce the degrading impact on maneuvering and pointing performance via a force feedback strategy. Many problems have been encountered until now, such as instability of the closed ...

Equations describing the evolution of particles, solitons, or localized structures, driven by a zero-average, periodic, external force, and invariant under time reversal and a half-period time shift, exhibit a ratchet current when the driving force breaks these symmetries. The biharmonic force f(t)=1 cos(qomegat+phi1)+2 cospomegat+phi2) does it for almost any choice of vphi1 and phi2, provided ...

In a previous study, we found the perception of force magnitude to be anisotropic in the horizontal plane. In the current study, we investigated this anisotropy in three dimensional space. In addition, we tested our previous hypothesis that the perceptual anisotropy was directly related to anisotropies in arm dynamics. In experiment 1, static force magnitude perception was studied using a free ...

In this paper, a new control strategy is developed to improve comfort and roadholding of a ground vehicle equipped with an industrial damper. This damper can be controlled by means of a small servomechanism which adjusts the damping rate. The main controller is a linear parameter varying (LPV ) static state-feedback controller synthesized in the H∞/LPV framework to compute the required damping ...

This paper presents a new interaction control structure that generates a family of explicit force regulators for robot manipulators. The proposed structure includes a term of a class of proportional-type functions in terms of force error; the force error is defined as the difference between a desired force and the actual force measured with a force sensor located at the end-effector. Also, the ...

Sayed, Shehrin. M.S.E.C.E., Purdue University, December 2013. Performance-onDemand MEMS (PODMEMS): Electrical Control of Effective Mass, Damping, and Stiffness. Major Professor: Jason V. Clark. We propose the use of electrostatic force feedback to control the stiffness, damping, or mass of MEMS. If feedback forces are proportional to sensed displacement, velocity, or acceleration of a MEMS proo...

The design of metals and alloys resistant to radiation damage involves the physics of electronic excitations and the creation of defects and microstructure. During irradiation damage of metals by high energy particles, energy is exchanged between ions and electrons. Such "nonadiabatic" processes violate the Born-Oppenheimer approximation, on which all conservative classical interatomic potentia...