Background. One ofthe key components ofpostural control is the motor system's ability to produce appropriate torques to counteract perturbations that may lead to a loss of balance. Evidence exists to show that there is an age-related decline in absolute strength and in the ability to rapidly produce torque. The relationship between age-related decreases in these voluntary torque production capa...

In this article, the workspace of planar wire-actuated parallel manipulators is studied. The investigation is based on two methods: an analytical method which formulates the workspace envelope by means of Cramer’s rule pertaining to the Jacobian matrix and the null space method from static analysis of manipulator. The workspace envelope method is extended to analyzing redundant planar manipulat...

Based on the screw theory and Lie group notations, this paper presents a modeling method for a kind of wheeled humanoid robot whose upper human-like body is mounted on the top of a mobile platform with three wheels. By combining the reciprocal product of the twist and wrench with Jourdain variation principle, a general formulation method is proposed to model the whole system's dynamics that rep...

the efficiency of induction motors decreases at light loads. efficiency optimizer control systemsadjust the motor flux value to achieve the best efficiency in a wide range of load variations. reduced fluxoperation has some other benefits such as power factor improvement and torque ripple reduction. the latter isan important issue in a direct torque controlled induction motor drive. in this pape...

Robotic failure is all too common in unstructured robot tasks. Despite well designed controllers, robots often fail due to unexpected events. How do robots measure unexpected events? Many do not. Most robots are driven by the senseplan-act paradigm, however more recently robots are working with a sense-plan-act-verify paradigm. In this work we present a principled methodology to bootstrap robot...

In this paper, we aim to use a continuous formulation efficiently calculate the well-known wrench-based grasp metric proposed by Ferrari and Canny which is minimum distance from wrench space origin boundary of space. Considering L∞ nonlinear friction cone model, challenge calculating determine Instead relying on convex hull construction, propose formulate as functions. By doing so, problem qual...

the direct torque control (dtc) of interior permanent magnet synchronous motor (ipmsm) offers simple structure and fast torque response. the conventional switching table-based dtc (st-dtc) presents some disadvantages like high torque and flux ripple and also variable switching frequency. this paper investigates the improved st-dtc strategies to reduce both torque and flux ripple in dtc of ipmsm...

The dimeric ring-shaped sliding clamp of E. coli DNA polymerase III (beta subunit, homolog of eukaryotic PCNA) is loaded onto DNA by the clamp loader gamma complex (homolog of eukaryotic Replication Factor C, RFC). The delta subunit of the gamma complex binds to the beta ring and opens it. The crystal structure of a beta:delta complex shows that delta, which is structurally related to the delta...

Cartesian control algorithms are presented for 6-dof force-reflecting hand-controllers (FRHCs) used for simultaneous operator pose (position and orientation) or rate commands to a telerobotic system and wrench (force/moment) reflection to the operator. The master and slave need not be kinematically-similar because the information is transferred in Cartesian space. The task wrench dominates whil...

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