The nonholonomy exhibited by kinematic systems consisting of bodies rolling on top of each other can be used to the purpose of building dexterous mechanisms with a minimum hardware complication. Such desirable an engineering feature can be fully exploited, however, only if the capability of planning and controlling rolling motions of arbitrary objects is achieved. In this paper we present recen...

In this paper, a kinematic optimal design of a new parallel-type rolling mill based upon Stewart platform manipulator is investigated. The objective of this new parallel-type rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of the rolls, and tension of the strip. A manipulability measure, as the ratio of the manipulability el...

In this paper, we describe a robot system which can track a given path on a 3D terrain using the inclination of the robot in real time. We designed a model of 3D terrain between two ridges based on some measured shape, and made a desired path on the lowest portion of the field furrow. We newly designed a mobile robot system which can track the path using the a method proposed in the second repo...

This paper describes the design, implementation and testing of an intelligent knowledgebased supervisory control (IKBSC) system for a hot rolling mill process. A novel architecture is used to integrate an expert system with an existing supervisory control system and a new optimization methodology for scheduling the soaking pits in which the material is heated prior to rolling. The resulting IKB...

In this paper, we compare the effect of rolling resistance at the contacts in granular systems composed of disks with the effect of angularity in granular systems composed of regular polygonal particles. For this purpose, we use contact dynamics simulations. By means of a simple shear numerical device, we investigate the mechanical behavior of these materials in the steady state in terms of she...

This communication describes a novel strategy to achieve programmable shape transformation of hybrid hydrogel sheets by modulating both the in-plane and out-of-plane mismatches in mechanical properties. Both our experimental and computational results demonstrate that the shape transformation of hybrid hydrogel sheets shows rich features (e.g., rolling direction, axis, chirality, etc.) and versa...