Continuum manipulators offer many advantages compared to their rigid-linked counterparts, such as increased degrees of freedom and workspace volume. Inspired by biological systems, such as elephant trunks and octopus tentacles, many continuum manipulators are made of multiple segments that allow large-scale deformations to be distributed throughout the body. Most continuum manipulators currentl...

Cable termination faults are problematic in electrical networks almost always. Technology has solved problems somewhat, but there are many annual reports about damaged cable terminations. For analyzing the problems, faults in two regional electricity companies are studied. At first step, damaged cable terminations are analyzed statistically and grouped according to their problems. Then, some of...

In this study, nonlinear vibration of a composite cable is investigated by considering nonlinear stress-strain relations. The composite cable is composed of an aluminum wire as reinforcement and a rubber coating as matrix. The nonlinear governing equations of motion are derived about to an initial curve and based on the fundamentals of continuum mechanics and the nonlinear Green-Lagrangian stra...

N, Cable Driven Parallel Robots (CDPRs), the moving platform is connected to the base platform by a number of cables. CDPRs have several advantages compared to traditional serial or parallel robots. They have high ratio of payload to robot weight and a much larger workspace which make them appropriate for high speed applications [1], lifting heavy loads [2], camera positioning in sports stadium...

The ongoing activity of neurons generates a spatially and time-varying field of extracellular voltage (Ve). This Ve field reflects population-level neural activity, but does it modulate neural dynamics and the function of neural circuits? We provide a cable theory framework to study how a bundle of model neurons generates Ve and how this Ve feeds back and influences membrane potential (Vm). We ...

workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎however, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

This paper investigates the effect of metallic sheaths on losses and temperature of medium voltage power cables. Two grounding methods of sheaths, including both ends bonding and single point bonding that causes different situations on cable ampacity, are considered. Electrical losses of cables that are main sources of heat are calculated in both conductor and metallic sheath of the cables. She...

In this paper, robust control of a large cable-driven robot is presented (LCDR). In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motions. The mechanism has potentials for large scale manipulation and robotics in harsh environments. In this case study, sliding mode control via double integrator sliding surface is pre...

We consider a generalization of the connected facility location problem where the clients must be connected to the open facilities via shared capacitated (tree) networks instead of independent shortest paths. This problem arises in the planning of fiber optic telecommunication access networks, for example. Given a set of clients with positive demands, a set of potential facilities with opening ...