An equine fetlock joint pendulum test was studied and the influence of post mortem time and intra-articular lipid solvent on the viscous frictional response examined. Fresh equine digits (group 1, n=6 controls; group 2, n=6 lipid solvent) were mounted on a pendulum tribometer. Assuming that pendular joint damping could be modelled by a harmonic oscillator fluid damping (HOFD), damping time (τ),...

Galileo noted in the 16 century that the period of oscillation of a pendulum is almost independent of the amplitude. However, such a pendulum is damped by air friction. The latter may be viewed as resulting from air molecules getting in contact with the pendulum. It follows that air friction, not only damps the oscillation, but also introduces randomness. In the so-called “grand-mother” clock, ...

School of Astronautics Department of Astronautics Engineering and Mechanics Bachelor of Engineering Non-smooth Approach for Contact Dynamics and Impulse-based Control of Frictional Furuta Pendulum by Hantian Zhang In this thesis, a non-penetrated and physically consistent non-smooth numerical approach has been proposed, by employing the Prox formulation and Moreau’s mid-point time-stepping rule...

Galileo noted in the 16 century that the period of oscillation of a pendulum is almost independent of the amplitude. However, such a pendulum is damped by air friction. The latter may be viewed as resulting from air molecules getting in contact with the pendulum. It follows that air friction, not only damps the oscillation, but also introduces randomness. In the so-called “grand-mother” clock, ...

Swinging up an inverted pendulum is a common benchmark task for the investigation of automatic control techniques. In this paper we introduce a new Fuzzy Sliding Mode (FSM) technique for swinging-up an inverted pendulum and controlling the connected cart, while minimizing the swing-up time, the cart travel and the required control action. The FSM technique adopted is based on a piecewise linear...

A modern goal of walking robots is to achieve motion while maintaining relatively low energy costs. Traditional robots are capable of level ground walking, but they are generally not energy efficient. The Extended Body Rimless (EBR) wheel is a robotic walking device which employs torsional springs and a rotating pendulum to prevent energy from being lost due to foot collisions. In simulations w...

Various kinds of motion of a rigid pendulum (including swinging with arbitrarily large amplitudes and complete revolutions) are investigated both analytically and with the help of computerized simulations. The simulation experiments reveal many interesting peculiarities of this famous physical model and complement the analytical study of the subject in a manner that is mutually reinforcing. 1. ...