in this paper, a new approach to modify cable tension measuring mechanism is described; furthermore, the constructed boards which amplify load cell output are introduced. this approach has some advantages including of providing feedback for motors, evaluating the robot’s ultimate load carrying capacity, improving the motor control system and estimating the vibrating deflections of the end effec...

in this paper robust pid control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. in dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. to develop the idea of control for cable robots with elastic cables, a robust pid control for cable driven robots with ideal rigid cables is firstly de...

In this study, we assessed the relationship between the size of bolts cut from pin oak trees, Quercus palustris Münchhausen (Fagaceae), and eastern white pines, Pinus strobus Linnaeus (Pinaceae), and the number and body size of cerambycid beetles (Coleoptera: Cerambycidae) that develop within them. From oak bolts emerged adult Graphisurus fasciatus (De Geer) (98% of beetles) and Xylotrechus col...

Rock bolts, as a type of reinforcing element, are widely adopted in underground excavations and civil engineering structures. Given the importance of rock bolts, the research outlined in this paper attempts to develop a portable non-destructive evaluation method for assessing the length of installed rock bolts for inspection purposes. Traditionally, piezoelectric elements or hammer impacts were...

Conventional bolt–shotcrete support technology is usually single-layered, which does not meet the requirements of strength and stiffness for roadway support. Therefore, in this paper, new combined technology, including a multiple-layered staggered dense arrangement bolts, laying steel meshes, pouring shotcrete, strengthening long cables, full cross-section grouting, proposed. Specifically, foll...

We construct a family of (p+3)–dimensional brane worlds in which the brane has one compact extra dimension, the bulk has two extra dimensions, and the bulk closes regularly at codimension two submanifolds known as bolts. The (p + 1)–dimensional low energy spacetime Mlow may be any Einstein space with an arbitrary cosmological constant, the value of the bulk cosmological constant is arbitrary, a...

In order to alleviate the relationship between mining and roadway, 3204 working face 3206 roadway in Shanxi Taitou coal mine are taken as an example, width of support parameters while reversing excavation under dynamic pressure optimized. The research includes field investigations, theoretical analysis, numerical simulation, tests. Based on characteristics roof fracture distribution pillar stre...

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 the low nutrient environment of conifer bark, subcortical beetles often carry symbiotic fungi that concentrate nutrients in host tissues. Although bark beetles are known to benefit from these symbioses, whether this is because they survive better in nutrient-rich phloem is unknown. After manipulating phloem nutrition by fertilizing lodgepole pine trees (Pinus contorta Douglas var. latifolia...