his article describes a nonlinear proportional and derivative T ( N P D ) controller and its use for both non-contact transient force control (NCTFC) (zero velocity when contact occurs) and contact transient force control (CTFC) (non-zero velocity when contact occurs). The key advantages of NPD control are its high disturbance rejection and robustness to time delay. We present a gain design met...

In impedance control for contact force tracking, it is well known that the reference trajectory of the robot is calculated from known environment stiiness 1]. Here we present a simple technique for determining the reference trajectory under the condition that the environment stiiness is unknown. The technique is developed based on the replacement of the unknown stiiness with a function of the m...

Contact electrification measurements using atomic force microscopy techniques were performed using micrometer-sized spheres made of polystyrene and flat substrates of either freshly cleaved, highly oriented pyrolytic graphite ~HOPG! or a 0.2-mm-thick Au@111# film grown on mica. The polystyrene/HOPG interaction exhibited significant electrostatic charging when compared to the polystyrene/Au syst...

Temper rolling or skin pass rolling is one of cold rolling processes composed of a horizontal pass cold rolling mill stand. In this process, the thick strip is subjected to very light reduction (0.5–4%) in thickness in the presence of high friction amplitudes. One of the basic parameters of strip rolling processes is temper rolling force. A new rolling force model has been proposed for temper r...

In this paper we present experimental results that investigate the integration of two disparate sensing modalities, force and vision, for sensor-based microassembly. By integrating these sensing modes, we are able to provide feedback in a task-oriented frame of reference over a broad range of motion with an extremely high precision. An optical microscope is used to provide visual feedback down ...

The dynamics of particle–particle collisions in a viscous fluid are numerically investigated. A distributed-Lagrange-multiplier-based computational method in a solid-fluid system is developed and a collision strategy for general shape objects is presented. In earlier methods, a repulsive force is applied to the particles when their separation is less than a critical value and, depending on the ...

Temper rolling or skin pass rolling is one of cold rolling processes composed of a horizontal pass cold rolling mill stand. In this process, the thick strip is subjected to very light reduction (0.5–4%) in thickness in the presence of high friction amplitudes. One of the basic parameters of strip rolling processes is temper rolling force. A new rolling force model has been proposed for temper r...