A 2-axis force/torque sensor has been designed for contact sensing and the localization of 2-D curved shapes. The sensor is an aluminum piece attached with two “chip sensors”, each a half-bridge circuit consisting of two strain gauges. It functions like a “wrist” which uses the two chip sensors to detect bending and twisting moments, respectively. When an external force is exerted on a jaw moun...

Moments of inertia define the amount torque needed to rotate an object at a defined angular acceleration around given axis. With limited information available for multi-rotor unmanned aerial vehicles (UAVs), this paper sets out experimentally determine moments hexarotor UAV with mounted payload. The are calculated in three rotational axes using pendulum and torsion tests. test is performed veri...

The reconfigurable, flapping wings of birds allow for both inertial and aerodynamic modes of reorientation. We found evidence that both these modes play important roles in the low speed turning flight of the rose-breasted cockatoo Eolophus roseicapillus. Using three-dimensional kinematics recorded from six cockatoos making a 90 degrees turn in a flight corridor, we developed predictions of iner...

We outline a phenomenological model to assess friction at the interface between two bodies in mutual contact. Although approach is general, application inspiring discrete element method. The kinematics of process expressed terms relative 3D motion contact point on surfaces produces expressions for three loads: slide force, roll torque, and spin torque. cornerstone methodology tracking evolution...

A possible propulsion mechanism at low Reynolds number is the rotation of a flexible filament, tilted with respect to its rotation axis. Using a simple linear model, we establish the non linear torque-force relations for two torque-driven actuation modes. When the rotation of the filament is induced by two perpendicular transverse oscillating torques, the propulsive force increases monotonicall...

Individual digit-tip forces and moments during torque production on a mechanically fixed circular object were studied. During the experiments, subjects positioned each digit on a 6-dimensional force/moment sensor attached to a circular handle and produced a maximum voluntary torque on the handle. The torque direction and the orientation of the torque axis were varied. From this study, it is con...

We investigated effects of roll (rotation around line of sight) and pitch (rotation around the horizontal axis) components of retinal flow on heading judgement from visual motion information. It was found that performance level of human observers for yaw (rotation around the vertical axis) plus pitch is little different from that for only yaw although there is bias in perceived heading toward t...

in this paper, the design and implementation of adaptive speed controller for a sensorless synchronous reluctance motor (synrm) drive system is proposed. a combination of well-known adaptive input-output feedback linearization (aiofl) and adaptive backstepping (abs) techniques are used for speed tracking control of synrm. the aiofl controller is capable of estimating motor two-axis inductances ...

Rotary Wing UAVs (RWUAV) with control inputs (thrust, pitch torque, roll yaw torque; 4 at total) less than the degree of freedom (3 angular motion, 3 linear motion; 6 can move in X-Y plane by rotating thrust vectors, i.e their bodies. Deflections caused external disturbances like winds are also eliminated positioning which creates tractions against disruptive drag forces. However, fact that vec...

A torque measurement system was added to a widely used hip wear simulator, the biaxial rocking motion device. With the rotary transducer, the frictional torque about the drive axis of the biaxial rocking motion mechanism was measured. The principle of measuring the torque about the vertical axis above the prosthetic joint, used earlier in commercial biaxial rocking motion simulators, was shown ...