This thesis demonstrates the successful application of Virtual Model Control (VMC) to a simulated sevenlink planar biped for walking dynamically and steadily over sloped terrain with unknown slope gradients and transition locations. The slope gradients were assumed to be between ± 20; and it had maximum transitional gradient change of less than 20 per step. The developed algorithm for sloped te...

A finite element method is developed to treat the steady-state vibration of two axisymmetric structures—a base substructure and an attached dampersubstructure—that are driven by traveling wave excitation and that couplethrough a spatially distributed hysteretic friction interface. The base substructure is representative of a rotating brake rotor or gear, and the damper is a ring affixed to the ...

semi-active base isolation system has been proposed mainly to mitigate the base drift of isolated structures while in most cases, its application causes the maximum acceleration of superstructure to be increased. in this paper, designing optimal semi-active base isolation system composed of linear base isolation system with low damping and magneto-rheological (mr) damper has been studied for co...

An end milling process is widely used in fabrication of complex contours and shape parts at high spindle speeds. Many researchers try to investigate one of important aspect, which come across during machining is the self exited chatter vibration which causes severe damage of the tool and quality of the machined surface. The present work is focused on the Magneto-Rheological Damping effect on st...

Vibrations is an extremely important issue to consider when designing various systems. It may lead to discomfort and malfunction or in some cases collapse of structures. To compensate for these vibrations different types of damping devices can be applied. The main focus which the following work addresses has been to look at standard methodology which enables determining the hysteresis from defi...

Human gait is characterized by periodic repetitions of two phases: a stance phase in which a foot is in contact with the ground, followed by a swing phase in which the lower limb swings through after toe-off. The functional necessities of above-knee prostheses are to provide knee locking during the stance phase and damping during the swing phase. Most of the conventional above-knee prostheses a...

The simplest model possible for bouncing systems consists of a point mass bouncing passively on a mass-less spring without viscous losses. This type of spring-mass model has been used to describe the stance period of symmetric running gaits. In this study, we investigated the interaction between horse and rider at trot using three models of force-driven spring (-damper)-mass systems. The first ...

This paper proposes a new method for real-time rigid body simulations for haptic interactions based on a penalty method regarding contact volume. Analytical methods for calculation of contact forces require too much time to maintain fast update rates for haptic controls. In addition, they prohibit direct connection of haptic interfaces. Penalty methods, which employ spring-damper models for cal...

Multi-stimuli-responsive/-functional polymeric materials can respond to numerous stimuli and execute multiple tasks, overcoming barriers faced by single-stimuli materials. Herein, the development of hybrid piezoelectric–magnetic self-sensing actuator (HPMSA) that both sense actuate is proposed. This iron oxide/functionalized carbon nanotube/polyvinylidene fluoride film optimizes piezoelectric m...