This paper deals with an efficient application of a model-based predictive control scheme in parallel mechanisms. A predictive functional control strategy based on a simplified dynamic model is implemented. Experimental results are shown for the H4 robot, a fully parallel structure providing 3 degrees of freedom (dof) in translation and 1 dof in rotation. Predictive functional control, computed...

This report describes the kinematic and dynamic modeling of a hexapod robot. The 6-DOF (degrees of freedom) analytical kinematic and dynamic equations of motion are derived following the classical Newtonian mechanics. Under certain task-specific assumption, it is shown that the complex 6-DOF model can be simplified, resulting in an abstract model. Specifically, the motion of the robot on the ho...

A finite-element deformable surface-spine model is developed in this paper to register two surfaces by recovering the nonlinear deformation with respect to each other. The deformable surface-spine model is a dynamic model governed by Lagrangian motion equations. A 9 degree-of-freedom (dof) finite-element surface element and a $-dof spine element are developed to iteratively solve Lagrangian equ...

A new approach to the refixturing-free sculpturing of large, arbitrarily complex shapes has been developed. Based on an enhanced accessibility analysis of the target shape, a reduced set of candidate machining orientations is determined. Then, machining takes place at very close distance between the tooling machinery and the part, thus achieving effective material removal in complex regions. Mi...

We establish the degrees of freedom (DoF) region for the multiple-input multiple-output (MIMO) two-transmitter, two-receiver (2× 2) interference network with a general message set, consisting of nine messages, one for each pair of a subset of transmitters at which that message is known and a subset of receivers where that message is desired. An outer bound on the general nine-message 2× 2 inter...

In this study, we investigated whether the objective depth-of-focus (DOF) is different from the subjective DOF and whether it correlates to accommodative microfluctuations (AMF). The objective DOF and subjective DOF at 1.5 D accommodative stimulus (AS) level were compared in the same group of subjects. The objective DOF and magnitude of AMF were measured at 5 AS levels from 0 D to 4 D. Results ...

a acceleration dof degree of freedom H Frequency response function f Applied force FE Finite Element FRF Frequency Response Function Φc The mode shape matrix of the bare table at dof to be constrained Subscripts c degree of freedom at locations to be constrained f dof at free locations t dof at tip of the slip table s dof at the classic shaker input location on the slip table i any other dof no...

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

We reported on one new series of light-emitting copolymers for polymer light-emitting devices (PLEDs), poly(dioctyl fluorene-codiphenyl oxadiazole)s (P(DOF-DPO)s). The device structure used in this study was composed of: indium tin oxide (ITO) anode/PEDOT:PSS ((polyethvlenedioxythiophene)–poly(styrene sulfonate)) as hole-transporting layer/P(DOF) or P(DOF-DPO) as emissive layer/calcium + alumin...