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This paper presents the utilization of inertial effect in damping-based posture control of a mobile manipulator. As a measure for redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. By changing the effective inertia property via null-motion, we can get the reduced inertial property of the mobile manipulat...

We explore analytically, numerically, and experimentally the spectral properties of the flexural vibrations of micron scale cantilevers in a viscous fluid that are driven externally or by Brownian motion. Although the physical origins of driven and thermal cantilever dynamics are quite different, we show that in each case the dynamics can be calculated deterministically using an impulse or step...

Identification of non-linear finite impulse response (N-FIR) models is studied. In particular the selection of model structure, i.e., to find the best regressors, is examined. In this paper it is shown that a statistical method, the analysis of variance, is a better alternative than exhaustive search among all possible regressors, in the identification of the structure of non-linear FIR-models....

INTRODUCTION This study aimed to use video analysis techniques to determine the velocity, impact force, angle of impact, and impulse to fracture involved in a video-recorded bicycle accident resulting in facial fractures. Computed tomographic images of the resulting facial injury are presented for correlation with data and calculations. To our knowledge, such an analysis of an actual recorded t...

As a consequence of performing plyometric type exercises, such as depth jumps, impact forces placed on the musculoskeletal system during landing can lead to a potential for injury. A reduction of impact forces upon landing could therefore contribute to reduce the risk of injury. Twenty subjects performed a series of loaded jumps for maximal height, with and without a brake mechanism designed to...

Closed-form solutions for the transient dynamic problems of a suddenly applied anti-plane concentrated force and concentrated impulse near a crack are obtained. The various wave signals comprising the solutions are identified, and their behavior noted. The concentrated force solution is then employed as a Green's function to solve the important problem of arbitrary screw dislocation motion near...

This study examined the pharmacokinetics and analgesic effect of oral meloxicam (MEL) administered alone or in combination with gabapentin (GABA) in an experimental bovine lameness model. Eighteen male British × Continental beef calves aged 4 to 6 mo and weighing 297 to 392 kg were randomly assigned to receive either 1) 0.5 mg/kg lactose monohydrate placebo (PLBO; n = 6), 2) 0.5 mg/kg MEL (n = ...

Muscular forces generated during locomotion depend on an animal's speed, gait, and size and underlie the energy demand to power locomotion. Changes in limb posture affect muscle forces by altering the mechanical advantage of the ground reaction force (R) and therefore the effective mechanical advantage (EMA = r/R, where r is the muscle mechanical advantage) for muscle force production. We used ...