Using contact dynamics simulations, we compare the effect of rolling resistance at the contacts in granular systems composed of disks with the effect of angularity in granular systems composed of regular polygonal particles. In simple shear conditions, we consider four aspects of the mechanical behavior of these systems in the steady state: shear strength, solid fraction, force and fabric aniso...

S. H. Chang, S. H. Hsiao, National I-Lan University, Taiwan Cold-rolled and annealed Ti50Ni40Cu10 shape memory alloy possesses a major (110)[001] texture along the rolling direction and a minor {111} γ-fiber texture along the normal direction. The damping capacity of the B2→B19 and B19→B2 martensitic transformation internal friction peaks for the Ti50Ni40Cu10 shape memory alloy was more pr...

Shape is an important quality index of cold rolling strip. Up to now, many problems in the shape control domain have not been solved satisfactorily, and a review on the research progress in the shape control domain can help to seek new breakthrough directions. In the past 10 years, researches and applications of shape control models, shape control means, shape detection technology, and shape co...

Modeling, control, and stabilization of dynamics of two-dimensional object grasping by using a pair of multijoint robot fingers are investigated under rolling contact constraints and an arbitrary geometry of the object and fingertips. First, a fundamental testbed problem of modeling and control of rolling motion between 2-D rigid bodies with an arbitrary shape is treated under the assumption th...

This study reports on the inter- and intrarater reliability of physical features observation. Study subjects were 176 Chinese adult persons, consisting of 89 males and 87 females. Three trained research assistants responded simultaneously and respectively to 12 items regarding the subject's physical features including 'hair', 'Mongoloid folds', left and right 'ear lobes', 'earwax', 'nostril sha...

We present the results of a combined experimental and theoretical investigation of rolling elastic ribbons. Particular attention is given to characterizing the steady shapes that arise in static and dynamic rolling configurations. In both cases, above a critical value of the forcing (either gravitational or centrifugal), the ribbon assumes a two-lobed, peanut shape similar to that assumed by ro...

Abstract We have developed a self-reconfigurable robot which can form a 5R closed kinematic chain, only two of whose joints are actuated. This paper discusses its dynamic rolling. When it rolls, it has one DOF of its absolute orientation besides two DOFs of its shape. We show that the absolute orientation is subject to an acceleration constraint, not a velocity constraint. Therefore, the dynami...

This paper presents a framework for optimizing both the shape and the motion of a planar rigid end-effector to satisfy a desired manipulation task. We frame this design problem as a nonlinear optimization program, where shape and motion are decision variables represented as splines. The task is represented as a series of constraints, along with a fitness metric, which force the solution to be c...