since knowledge on hydrodynamic torque of a butterfly valve is very important for butterfly valve design, its hydrodynamic torque is investigated in this paper. in reality, the investigation of the loss coefficient and torque from some experiments will take a long time and a lot of money. this paper presents a statistical study of the flow past the butterfly valve in a static analysis using com...

This paper presents an approach for stiffness modelling of the lower mobility parallel manipulators using the generalized Jacobian. The approach can be implemented by two steps:(1) The first order deflection analysis by decomposing twist space of the end-effector into a pair of complementary twist subspaces associated with the permitted and restricted instantaneous motions, (2) The kinestatic a...

In this paper a unified contact force control approach for cable-driven parallel robots (CDPR) is proposed. The contact force controller is governed by two control loops: 1) An inner impedance control loop enforcing a dynamical relationship between the internal forces and the end-effector velocities to maintain a desired tension level in the cable system. 2) An outer admittance control loop con...

axial flux permanent magnet (afpm) machines are attractive candidates for electric vehicles (evs) applications due to their axial compact structure, high efficiency, high power and torque density. this paper presents general design characteristics of afpm machines. moreover, torque density of the machine which is selected as main objective function, is enhanced by using genetic algorithm (ga) a...

The contribution of this paper is the expansion of the range of possibilities in the analysis, planning, and control of contact tasks. The successful execution of any contact task fundamentally requires the application of wrenches (forces and moments) consistent with the task. We develop an algorithm for computing the entire set of external wrenches consistent with achieving a given augmented c...

One of this year’s Oscar-winning movies, The Big Short, tells the entertaining story of a ragtag bunch who foresaw and capitalized on the housing bubble of the mid-2000s. The factors contributing to economic bubbles and their collapses are complex and heavily debated, but getting a clearer picture of how they arise and how we might avoid them in the future would seem particularly important as o...