Tailoring the hydrodynamic boundary condition is essential for both applied and fundamental aspects of drag reduction. Hydrodynamic friction on superhydrophobic substrates providing gas-liquid interfaces can potentially be optimized by controlling the interface geometry. Therefore, establishing stable and optimal interfaces is crucial but rather challenging. Here we present unique superhydropho...

Cylindrical Frictional Damper (CFD) is a new revolutionary frictional based mechanical damper. Unlike the other types of frictional dampers, CFDs do not utilize bolts to produce friction between contact surfaces. These dampers consist of two main parts, the inner shaft and the external cylinder. These two parts are assembled such that one is shrink-fitted inside the other. In this investigation...

Cooperative arms are two or more arms in series which assume the structure of a parallel robot on account of gripping an intermediary object, and are commonly used in accurate assembly industries, coaxialization, movement of object, etc. Gripping an intermediary object is one of the complicated subjects in analysis of cooperative arms, whose analysis is mostly dependent upon the manner the obje...

High-voltage circuit breakers are mechanical switching devices which connect and break current circuits (operating currents and fault currents) and carry the nominal current in closed position. As a result of multi-running, the shaft sleeve in operation mechanism could slip and even strip from the shaft at the hinge joint, which decreases the system reliability. In this work, investigations on ...

The paper presents a cross-coupling controller for a four-wheel steering mobile robot with independently actuated steering and driving of each wheel. The aim of the controller is to minimize slippage during transient states of the vehicle control. Linear approximation of the criterion for no slippage is adopted for the design of the LQR-based cross-coupling controller of steering actuators. Dri...

Future planetary rovers are expected to probe across steep sandy slopes such as crater rims where wheel slippage can be a critical problem. One possible solution is to equip locomotion mechanisms with redundant actuators so that the rovers are able to actively reconfigure themselves to adapt to the target terrain. This study modeled a reconfigurable rover to analyze the effects of reconfigurati...

A computer-controlled vehicle that is part of a mobile nursing robot system is described. The vehicle applies a motion control strategy that attempts to avoid slippage and minimize position errors. A cross-coupling control algorithm that guarantees a zero steady-state orientation error (assuming no slippage) is proposed and a stability analysis of the control system is presented. Results of exp...

One of the crucial actions to be performed during a grasping task is to avoid slippage. The human hand can rapidly correct applied forces and prevent a grasped object from falling, thanks to its advanced tactile sensing. The same capability is hard to reproduce in artificial systems, such as robotic or prosthetic hands, where sensory motor coordination for force and slippage control is very lim...