In this paper, we introduce a method that provides a nonlinear noncollocated output for trajectory tracking of a flexible one-link robot. The link is modeled as a finite-order Lagrangian system obtained from truncated modal analysis. This noncollocated output is derived based on viewing a flexible link robot arm as an underactuated mechanical system and then applying an appropriate change of co...

An approximate numerical mthod is presented for analysis and determination of modal characteristics in straight, pretwisted non-unifom helicopter blades. The analysis considers the coupled flapwise bending (out of plane), chordwise bending (in plane), and torsion vibration of both rotating and non-rotating blades. The proposed method is based on the integral expansion of Green functions (struct...

Operational Modal Analysis, also known as Output Only Modal Analysis, has in the recent years, been used for determination of modal parameters of civil engineering structures and is now becoming widely used also for mechanical structures. The advantage of the method is that no artificial excitation needs to be applied to the structure, or force signals to be measured. In this paper, the non-par...

for the first time in the history of logic, abd al razzaq al-jili (d. 570/1174), in the treatise al-lame fi al-shakl al-rabe, dealt with the modal syllogisms of the fourth figure. previous to him, dinha, the priest, and ibn salah al-hamadani had discussed the non-modal moods of the fourth figure. jili’s treatise deals only with simple modalities and ignores the complex ones. his pupil, fakhr al...

An approximate numerical mthod is presented for analysis and determination of modal characteristics in straight, pretwisted non-unifom helicopter blades. The analysis considers the coupled flapwise bending (out of plane), chordwise bending (in plane), and torsion vibration of both rotating and non-rotating blades. The proposed method is based on the integral expansion of Green functions (struct...

Differential mode delay (DMD) modelling and measurements provide a means to characterise the modal structure of graded-index multimode fibres. In order to compute DMD output time pulses, we need to solve the modal propagation coefficients, modal group velocities and modal chromatic dispersion, compute the weighted modal amplitudes which are dependent on the excitation, and construct time pulses...

By the past two decades IPMCs have been intensively studied because of their special capabilities for actuation and sensing.This paper presents a theoretical physics based model for analyzing the behavior of IPMC sensors in fluid environments. The mechanical vibration of the IPMC strip is described by the classical Euler–Bernoulli beam theory. The model also takes in to account the physical pro...

A rigorous analysis of the unstable Bessel resonator with convex output coupler is presented. The Huygens-Fresnel self-consistency equation is solved to extract the first eigenmodes and eigenvalues of the cavity, taking into account the finite apertures of the mirrors. Attention was directed to the dependence of the output transverse profiles; the losses; and the modal-frequency changes on the ...