This work presents an approach to simultaneously but independently control the compliance of a robotic system transversal and tangential to a given path. A subordinate path following controller transforms the nonlinear dynamics into a linear system with decoupled transversal and tangential dynamics via a coordinate transformation and an exact input-output linearization. The outer control loop u...

Comprehensive unified power flow controller ( UPFC ) technology can calculate voltage control parameters of UPFC, but it increases the nonlinearity Newton calculation. When comprehensive is combined with intelligent algorithm, only be optimized through active and reactive on branch, which makes optimization convergence worse. Therefore, an optimal calculation method for distribution network bas...

Multi-terminal high voltage direct current (HVDC) systems, together with AC transmission systems and source converters (VSCs), form hybrid AC/DC grids complex dynamic transient interactions. VSCs characterization taking into account DC- AC-side dynamics in order to study these interactions is not yet well solved. This paper presents a three-port transfer admittance-based matrix model of that ca...

The consent process for organ and tissue donation is complex, both for families and professionals. To help professionals in broaching this subject we performed a multicenter study. We compared family consent to donation in three hospitals between December 2007 and December 2009. In the intervention hospital, trained donation practitioners (TDP) guided 66 families throughout the time in the ICU ...

the star-mesh transformation allows the reduction of nodes in an electrical circuit. the gauss elimination method allows the reduction of unknowns in a system of linear equations . triangular decomposition can be used to find the inverse of a matrix. in this paper the coherence between these methods are discussed. it is shown that the gauss elimination method gives the same formula for star-mes...

Abstract When using redundant medical robots for hand-guiding heavy endoscopic tools, admittance control allows a completely defined tool and robot null space motion control. Although not novel concept, comparative studies that help to design implement are missing. In user study, we compared four controllers: one zero-torque controller used measured joint torques three others differently mappin...

The Front Cover shows the developed theoretical variance of error on admittance and how this expression captures experimental values standard deviations real imaginary parts admittance. More information can be found in Research Article by R. Chukwu et al.

A multimodal method based on the admittance matrix is used to analyze wave propagation through scatterers of arbitrary shape. Two cases are considered: a waveguide containing scatterers, and the scattering of a plane wave at oblique incidence to an infinite periodic row of scatterers. In both cases, the problem reduces to a system of two sets of first-order differential equations for the modal ...