The problem of speed control of a permanent magnet synchronous motor (PMSM) with unknown parameters and unknown external load torque is formulated and solved as an adaptive control problem that meets the requirements of asymptotic command following with simultaneous asymptotic disturbance attenuation. The key point is to identify the system without knowledge, estimation or measurement of the un...

Many surgical procedures are now performed using the techniques of minimally invasive surgery (MIS), in which the surgeon manipulates instruments inserted into the patients through small incisions. In MIS, the surgeon has no direct contact with internal body parts. Applying an optimal force and torque via the instruments is necessary to conduct an operation without causing any damage to the int...

Electrons and other fundamental particles have an intrinsic angular momentum called spin. A change in the spin state of such a particle is therefore equivalent to a mechanical torque. This spin-induced torque is central to our understanding of experiments ranging from the measurement of the angular momentum of photons and the g-factor of metals to magnetic resonance and magnetization reversal i...

This work presents a torque measurement method of 3-degree-of-freedom (3-DOF) haptic master featuring controllable electrorheological (ER) fluid. In order to reflect the sense of an organ for a surgeon, the ER haptic master which can generate the repulsive torque of an organ is utilized as a remote controller for a surgery robot. Since accurate representation of organ feeling is essential for t...

The BIPM is undertaking a determination of the Newtonian gravitational constant, G using a torsion balance with a thin, heavily loaded strip as the suspension element. This apparatus uses four 1.2 kg test masses and four 15.5 kg source masses to produce a gravitational torque of 2× 10−8 N m. A preliminary determination of G has been made with a relative standard uncertainty of about 1.7× 10−3, ...

The measurement of time–varying forces and torques applied to flexible mechanical structures cannot be pursued by relying on quasi–static approximations. However the problem can be casted as a problem of system inversion, provided reliable models of the dynamic relationship among force/torques and measurement gauges are available. Within this framework, it is possible in particular to define op...