Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

In this study, a longitudinal joint connection was proposed for the short-span slab-type modular bridges with rapid construction. The slab-type modular bridge consists of a number of precast slab modules and has the joint connection between the modules in the longitudinal direction of the bridge. A finite element based parameter analysis was conducted to design the shape and the dimensions of t...

in this paper, a new approach based on game theory has been proposed to multi responses problem optimization. game theory is a useful tool for decision making in the conflict of interests between intelligent players in order to select the best joint strategy for them through selecting the best joint desirability. present research uses the game theory approach via definition of each response as ...

Composites are being used extensively in several engineering applications. However, the efficiency of the joints used in joining composites and metals can be improved. To move towards a sustainable and environment friendly future, natural fibre composite material was used. Towards the above objective, research work was carried out for the assembly between a composite and aluminium. Three differ...

fracture mapping of late permian-early triassic flat-lying sedimentary rocks in the sydney basin,new south wales, australia, shows that joints developed originally in extension were faulted in subsequentevents. joints with a regional distribution fall into two (early and late) formed groups. group i joints propagatedhorizontally and never interfered with each other. these joints were subsequent...

in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

in the present research, friction stir welding (fsw) process was used for butt joining of pure copper plate to 316l stainless steel plate. mechanical properties and microstructural characteristics of the joint were evaluated by microhardness and tensile tests as well as optical and scanning electron microscope (sem). it was found that microstructure of the weld nugget (wn) has fine grains where...

This paper studies how joint training of multiple support vector machines (SVMs) can improve the effectiveness and efficiency of automatic image annotation. We cast image annotation as an output-related multi-task learning framework, with the prediction of each tag’s presence as one individual task. Evidently, these tasks are related via correlations between tags. The proposed joint learning fr...

This investigation deals with the mechanical efficiency of Cardan joints. The model includes also the effects due to manufacturing and mounting errors and the influence of rotation speed and angular configuration of the Cardan joint on the efficiency. The joint has been modeled as an RCCC spatial linkage and the full dynamic analysis has been performed. The equations of motion have been deduced...