Related papers: Static and Dynamic Torque Generation Analysis of a…
We propose a novel multi-section cable-driven soft robotic arm inspired by octopus tentacles along with a new modeling approach. Each section of the modular manipulator is made of a soft tubing backbone, a soft silicon arm body, and two…
We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…
The shape of a rotating electric solar wind sail under the centrifugal force and solar wind dynamic pressure is modeled to address the sail attitude maintenance and thrust vectoring. The sail rig assumes centrifugally stretched main tethers…
The effect of viscosity and of converging flows on the formation of blobs in the slow solar wind is analysed by means of resistive MHD simulations. The regions above coronal streamers where blobs are formed (Sheeley et al., 1997) are…
This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attached to three quadrotors, is sought to be horizontally…
This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy can be obtained through contacts. This includes the majority…
Spin state predictions for defunct satellites in geosynchronous earth orbit (GEO) are valuable for active debris removal and servicing missions as well as material shedding studies and attitude-dependent solar radiation pressure (SRP)…
Different magnet applications require compact high current cables. Among the proposed solutions, the Twisted Stacked Tape Cable (TSTC) is easy to manufacture and has very high tape length usage efficiency. In this kind of cables the tapes…
We characterize and analyze rotational torsional oscillations developing in a large-eddy magnetohydrodynamical simulation of solar convection (Ghizaru, Charbonneau, and Smolarkiewicz, Astrophys. J. Lett., 715, L133 (2010); Racine et al.,…
In this paper, written as a general historical and technical introduction to the various review papers collected in the special issue ``Solar and Stellar Dynamo: A New Era'', we review the evolution and current state of dynamo theory and…
Applications of rolling diaphragm transmissions for medical and teleoperated robotics are of great interest, due to the low friction of rolling diaphragms combined with the power density and stiffness of hydraulic transmissions. However,…
Recent studies of a flaring loop oscillation event on 2013 December 28 observed by the Atmospheric Imaging Assembly (AIA) of the Solar Dynamics Observatory (SDO) have revealed the suppression of thermal conduction and significant…
Doubly curved thin concrete shells are very efficient building structures, suitable for light-weight construction because of their high structural stability. In the process of constructing such shells, an efficient innovative flexible…
In cable driven parallel robots (CDPRs), the payload is suspended using a network of cables whose length can be controlled to maneuver the payload within the workspace. Compared to rigid link robots, CDPRs provide better maneuverability due…
Solar flares are explosive releases of magnetic energy stored in the solar corona, driven by magnetic reconnection. These events accelerate electrons, generating hard X-ray emissions and often display Quasi Periodic Pulsations (QPPs) across…
Cable/rope elements are pervasive in deformable-object manipulation, often serving as a deformable force-transmission medium whose routing and contact determine how wrenches are delivered. In cable-towed manipulation, transmission is…
A charged tether or wire experiences Coulomb drag when inserted into flowing plasma. In the solar wind the Coulomb drag can be utilised as efficient propellantless interplanetary propulsion as the electric solar wind sail (electric sail,…
We study the effects of Rashba spin-orbit coupling on the spin torque induced by spin waves, which are the plane wave dynamics of magnetization. The spin torque is derived from linear response theory, and we calculate the dynamic spin…
In this work we study the problem of rope sway dynamics control for elevator systems. We choose to actuate the system with a semi-active damper mounted on the top of the elevator car. We propose nonlinear controllers based on Lyapunov…
Cable-suspended aerial transportation systems are employed extensively across various industries. The capability to flexibly adjust the relative position between the multirotor and the payload has spurred growing interest in the system…