In this paper an automatic examination robot was developed to improve the process of cancer detection, tumor localization and geometrical shape diagnosis. A uniformly distributed compressive load was applied to the top tissue surface and the resultant mechanical stress was measured that was employed for the tumor diagnosis task. The experimental examinations were performed on the soft tissue of...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

this paper aims to assess the application of support vector machine (svm) regression in order to analysis flexible pavements. to this end, 10000 four-layer flexible pavement sections consisted of asphalt concrete layer, granular base layer, granular subbase layer, and subgrade soil were analyzed under the effect of standard axle loading using multi-layered elastic theory and pavement critical r...

Thorough understanding of steel rail response to wheel load is a key step towards design and evaluation of the railway track structure. In current practice, maximum vertical deflection and bending moment are calculated using the theory of infinite beam on continuous elastic foundation (Winkler model), in which the foundation stiffness is assumed as constant. However, variation of track modulus ...

The complete 3D nonlinear dynamic problem of extensible, flexible risers conveying fluid is considered. For describing the dynamics of the system, the Newtonian derivation procedure is followed. The velocity field inside the pipe formulated using hydrostatic and Bernoulli equations. The hydrodynamic effects of external fluids are taken into consideration through the nonlinear drag forces in var...

in this article, we tried to emphasis in how the range of torsionally stiff and flexible single story buildings works. the designed base was according to provisions of the canadian standard, 2005 nbcc. the behavior of nonlinear dynamic time history of eight building models subjected to seven horizontal bi-directional ground motions compatible with design spectra are investigated. these models c...

In this paper, we introduce a method that provides a nonlinear noncollocated output for trajectory tracking of a flexible one-link robot. The link is modeled as a finite-order Lagrangian system obtained from truncated modal analysis. This noncollocated output is derived based on viewing a flexible link robot arm as an underactuated mechanical system and then applying an appropriate change of co...

In this paper, an algorithm is proposed to improve the Maximum Load Carrying Capacity (MLCC) of exible robot manipulators. The maximum allowable load which can be achieved by a exible manipulator along a given trajectory is limited by the joints' actuator capacity and the end e ector accuracy constraint. In an open-loop approach, the end e ector deviation from the prede ned path is signi cant a...

A simple collision detection method for a flexible link manipulator is proposed. The method only requires two strain measurements to determine the position of a collision with the flexible link. Equations which relate the force and position of contact to the strain at two points in the flexible link are derived assuming the link is at static equilibrium. Since the flexible robot is actually in ...