Series Elastic Actuators have linear springs intentionally placed in series between the motor and actuator output. The spring strain is measured to get an accurate estimate of force. Despite using a transmission to achieve high force/mass and high power/mass, the spring allows for good force control, high force fidelity, minimum impedance, and large dynamic range. A second order linear actuator...

recently, a large amount of studies have been related to nonlinear systems with multi-degrees of freedom as well as continuous systems. the purpose of this paper is to optimize passive vibration absorbers in linear and nonlinear states for an euler-bernoulli beam with a nonlinear vibratory behavior under concentrated moving load. the goal parameter in the optimization is maximum deflection of t...

Trotting and hopping animals use muscles, tendons and ligaments to store and return elastic energy as they bounce along the ground. We examine how the musculoskeletal spring system operates at different speeds and in animals of different sizes. We model trotting and hopping as a simple spring-mass system which consists of a leg spring and a mass. We find that the stiffness of the leg spring (k(...

We present an open source physics engine specialised for multi-cellular artificial organisms simulations. It is computationally efficient in comparison to gas-based and finite element models and more realistic than standard mass-springdamper systems. Introduction Morphogenetic engineering can often make good use of some biologically plausible improvements. Mechanics, in particular, are quite im...

This article examines the static and dynamic deformation of stem an ear wheat individual grain. The purpose is to determine factors influence on isolate Two stages grain ripening are considered: in early stage, attached spike by stem; second, there no stem, scales. fluctuations considered within Euler–Bernoulli bar theory. developed model divides study dynamics into two stages. first stage stud...

Background and purpose:Moving Bed Biofilm Reactor is an aerobic attached growth with better biofilm thickness control, lack of plugging and lower head loss. Consequently, this system is greatly used by different wastewater treatment plants. High TDS wastewater produced petrochemical, leather tanning, sea food processing, cannery, pickling and dairy industries. The aim of this study was to evalu...

ÐThe emergence of network-attached disks provides the possibility of transferring data between the storage system and the client directly. This offers new possibilities in building a distributed storage system. In this paper, we examine different storage organizations based on network-attached disks and compare the performance of these systems to a traditional system. Trace-driven simulations a...