Related papers: The Optimization of a Novel Prismatic Drive
Manipulation tasks can often be decomposed into multiple subtasks performed in parallel, e.g., sliding an object to a goal pose while maintaining contact with a table. Individual subtasks can be achieved by task-axis controllers defined…
In this study, the ducted propeller has been numerically investigated under oblique flow, which is crucial and challenging for the design and safe operation of thruster driven vessel and dynamic positioning (DP) system. A Reynolds-Averaged…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
Interactive high-performance computing is doubtlessly beneficial for many computational science and engineering applications whenever simulation results should be visually processed in real time, i.e. during the computation process.…
This paper concerns the forward kinematics and tension distribution of sinking winches mechanism, which is a type of four-cable-driven partly constrained parallel robot. Conventional studies on forward kinematics of cable-driven parallel…
The force transmitted from the front tires to the steering rack of a vehicle, called the rack force, plays an important role in the function of electric power steering (EPS) systems. Estimates of rack force can be used by EPS to attenuate…
This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one…
Due to the complexity of modeling the elastic properties of materials, the use of machine learning algorithms is continuously increasing for tactile sensing applications. Recent advances in deep neural networks applied to computer vision…
Vehicle roll control has been a well studied problem. One of the ubiquitous methods to mitigate vehicle rollover in the automobile industry is via a mechanical anti-roll bar. However with the advent of electric vehicles, rollover mitigation…
Flow control for turbulent skin-friction drag reduction is applied to a transonic airfoil to improve its aerodynamic performance. The study is based on direct numerical simulations (with up to 1.8 billions cells) of the compressible…
Controlling the shape and position of moving and pinned droplets on a solid surface is an important feature often found in microfluidic applications. However, automating them, e.g., for high-throughput applications, does rarely involve…
The origin of the abrupt shear thickening observed in some dense suspensions has been recently argued to be a transition from frictionless (lubricated) to frictional interactions between immersed particles. The Wyart-Cates rheological…
Manipulability ellipsoids efficiently capture the human pose and reveal information about the task at hand. Their use in task-dependent robot teaching - particularly their transfer from a teacher to a learner - can advance emulation of…
In computational engineering, enhancing the simulation speed and efficiency is a perpetual goal. To fully take advantage of neural network techniques and hardware, we present the SLiding-window Initially-truncated Dynamic-response Estimator…
Motivated by the concept of geometrical frustration, we introduce a class of statistical mechanics lattice models for the glass transition. Monte Carlo simulations in three dimensions show that they display a dynamical glass transition…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
Two-dimensional (planar) rigid-body impact mechanics for application in automobile collisions have been described by a number of researchers over the last several decades. Little has been discussed, however, regarding three-dimensional…
The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact…
This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system…
This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity to its dimensional and angular variations. First, a linkage…