A detailed design methodology of a micro-scale 2-DOF energy harvesting device that can harvest human motion energy of low frequency and wide bandwidth is developed. Based on the concept of the 2-DOF vibration absorber, device parameters are selected to harvest energy at low frequency of 1 10 Hz and wide bandwidth with ±20% of the mean frequency, which matches the human motion. The device dimens...

In this paper a new procedure for type synthesis of low-DoF parallel robots based on screw theory is presented. The motivation of these work is that for many industrial applications, in particular in the machine-tool field, less than 6 degree of freedom (6-DoF) may be needed to complete the task. For example, for milling operation in the machine-tool domain, the rotation of the platform around ...

In this research, an automatic control system is designed for landing of a small helicopter on a 4 DOF moving platform. The platform has three translational and one directional degree of freedom. The controller design approach is based on development of helicopter nonlinear dynamic model into the SDC (State Dependent Coefficient) form and real time solving of state dependent Riccati equation (S...

The prediction of flutter instability is of major concern for design of flexible structures. This necessitates the identification of aeroelastic parameters, known as flutter derivatives from wind tunnel experiments. The extraction of flutter derivatives becomes more challenging when the number of degrees of freedom (DOF) increases from two to three. Since the work in the field of identifying al...

? In the adaptive scheme presented by Slotine and Benedetto (1990) for attitude tracking control of rigid spacecraft, the spacecraft is parameterized in terms of the inertial frame. This paper shows how a pa-rameterization in body coordinates considerably simpliies the representation of the adaption scheme. The new symbolic expression for the regressor matrix is easy to nd even for 6 degrees of...

The workspace of a spatial 6‐DOF electro‐ hydraulic parallel manipulator is strongly coupled, due to its multi‐closed‐loop kinematic structure and the coupling complicates motion planning and control of the parallel manipulator. This paper clearly analyses the strong dynamic coupling property in the workspace of a spatial 6‐DOF parallel manipulator, using modal decouplin...

The paper deals with a novel control algorithm for simultaneous stabilization and trajectory tracking of underactuated nonlinear mechanical systems (UNMS) with included actuators dynamics. Simultaneous stabilization and trajectory tracking refer to arbitrary chosen actuated and unactuated degrees of freedom (DOF) of the system. The proposed control approach can be applied both to the second-ord...

Purpose: To measure the subjective depth of focus (DOF) in keratoconic eyes andcompare it to that of normal eyes. Methods: We measured the subjective DOF in two groups of subjects with a dual-Badal-channel optical system. The first group consisted of 10 normal subjects and the secondgroup consisted of 5 keratoconic subjects. We measured DOF of the normal subjectsunder conditions...

Continuum robots are increasingly being used in industrial and medical applications due to their high number of degrees freedom (DoF), large workspace ability operate dexterously. However, the positional accuracy conventional continuum with a backbone structure is usually low stiffness often-lengthy driving cables/tendons. Here, this problem has been solved by integrating additional mechanisms ...

Humanoid biped robots are typically complex in design, having numerous Degrees‐of‐Freedom (DOF) due to the ambitious goal of mimicking the human gait. The paper proposes a new architecture for a biped robot with seven DOF per each leg and one DOF corresponding to the toe joint. Furthermore, this work presents close equations for the forward and inverse kinematics by divid...