In this paper is presented the development of an indirect force control for robot manipulators with elastic joints employed in machining tasks. Based on the study of centralized compliance control for rigid manipulators, it is proposed an extension for robots with torsional flexibility in the joints structured as a cascade control. Additionally, it is proposed a reduced force model, based on ex...

A complete force field (MSXX) for simulation of all nylon polymers is derived from ab initio quantum calculations. Special emphasis is given to the accuracy of the hydrogen bond potential for the amide unit and the torsional potential between the peptide and alkane fragments. The MSXX force field was used to predict the structures, moduli, and detailed geometries of all nine nylons for which th...

This study proposed a prediction formula for the torsional strength enabling to reflect the tensile strength of ultra high performance concrete (UHPC) beams based upon the thin-walled tube theory. The remarkable ductile behavior of UHPC can also be attributed to the steel fiber reinforcement. This feature must be considered to provide rational explanation of the torsional behavior of UHPC struc...

The action of the bow produces torsional oscillations in a string, as well as the normal transverse motion [1]. The torsional modes have frequencies several times higher than, and not harmonically related to, the transverse modes. Via the strongly non-linear bow-string interaction, the torsional modes are driven at a harmonic of the translational modes [2]. The torsional mode frequencies for wo...

AIM To investigate changes in fundus excyclotorsion after inferior oblique myectomy or myotomy. METHODS The records of 21 patients undergoing strabismus surgery by a single surgeon between 2009 and 2012 were examined. Only patients who had undergone an inferior oblique myectomy or myotomy, with or without horizontal rectus muscle surgery, were evaluated. Digital fundus photographs were obtain...

The first precise measurement of the Casimir force between dissimilar metals is reported. The attractive force, between a Cu layer evaporated on a microelectromechanical torsional oscillator and an Au layer deposited on an Al2O3 sphere, was measured dynamically with a noise level of 6 fN/sqrt[Hz]. Measurements were performed for separations in the 0.2-2 micro m range. The results agree to bette...

Many large double-stranded DNA viruses employ high force-generating ATP-driven molecular motors to package to high density their genomes into empty procapsids. Bacteriophage T4 DNA translocation is driven by a two-component motor consisting of the procapsid portal docked with a packaging terminase-ATPase. Fluorescence resonance energy transfer and fluorescence correlation spectroscopic (FRET-FC...

Abstract Seismic behavior analysis of the long-span cable-stayed bridge is a complex process involving different uncertainties. This paper performs sensitivity bridges using finite element method on Midas/Civil. They include types ground motions scaled to peak acceleration (PGA) levels, effect multi-support excitations due time-lag propagation or nonsynchronous excitations, and angle incidence ...

Torsional dynamic analysis of carbon nanotubes under the effect of longitudinal magnetic field is carried out in the present study. Torque effect of an axial magnetic field on a carbon nanotube has been defined using Maxwell’s relation. Nonlocal governing equation and boundary conditions for carbon nanotubes are obtained by using Hamilton’s minimum energy principle. Eringen’s nonlocal stress gr...