the purpose of this study is to improve the aerodynamic performance of wind turbine blades, using the ball-spine inverse design method. the inverse design goal is to calculate a geometry corresponds to a given pressure distribution on its boundaries. by calculating the difference between the current and target pressure distributions, geometric boundaries are modified so that the pressure differ...

Based on flexible pneumatic bending joint and flexible pneumatic spherical joint, a kind of flexible pneumatic 5-DOF finger is proposed, which is composed of two bending joints and a spherical joint. The mathematic model of flexible pneumatic spherical joint is further analyzed. On the researching foundation of flexible pneumatic bending joint and flexible pneumatic spherical joint, the kinemat...

In this paper, a tracking controller is formulated for a quadrotor to track a moving ground target. The quadrotor exhibits distinct hierarchical dynamics that allows its position to be controlled by its attitude. This motivates the use of backstepping control on the underactuated quadrotor. Most backstepping architecture controls the quadrotor position and attitude independently, and couples th...

This paper discusses the steering kinematics for a center-articulated mobile robot. Several models have been recently proposed in the literature and we use experimental data to compare and validate these models. The vehicle heading response to steering command is shown to include a dominant zero due a nonholonomic constraint, and this is verified by experiments conducted using a 30-t mobile veh...

This contribution presents a new approach of estimating the joint torques for an active orthosis. The new approach combines inverse dynamics and measured ground reaction forces. The joint torques can easily be computed from the ground reaction forces, but the measurement is usually flawed. An obsererver is employed to estimate the disturbance of the measurements and restore the original joint t...

This paper describes a general approach to the kinematics modeling of all-terrain rovers traversing uneven terrain. The model is derived for full six degree of freedom motion enabling movements in x, y, z directions, as well as pitch, roll, and yaw rotations. Differential kinematics is derived for the individual wheel motions in contact with the terrain. The resulting equations of the individua...

The ion mechanism for membrane potential of higher plant was discussed in this paper. A modified Hodgkin and Huxley model was developed for description of the electrical signals in plant. Three individual components of ionic current were formulated in terms of Hodgkin and Huxley model. It include potassium current IK, calcium current ICa, and anion current ICl-. It model will provide a useful t...

Rovers will continue to play an important role in planetary exploration. Plans include the use of the rocker-bogie rover configuration. Here, models of the mechanics of this configuration are presented. Methods for solving the inverse kinematics of the system and quasi-static force analysis are described. Also described is a simulation based on the models of the rover’s performance. Experimenta...

Humanoid robot requires a robust prevention system against external disturbances to protect itself from falling to the ground and to perform its tasks completely. In this paper, a Falling Prevention System for humanoid robot is proposed to avoid falling from the disturbances, and helps humanoid robot recover its balance from external force by taking a step. The algorithm for the Falling Prevent...

In this paper, the inverse kinematics and inverse dynamics analysis of a parallel mechanism is presented. The mechanism consists of three fixed-length legs each supported by a three-wheeled mobile robot. The three legs support a platform, which acts as the end-effector of the mechanism. Two different designs are evaluated: one with ball joints at the top ends of the legs and revolute joints at ...