The underwater hydraulic manipulator's challenging working condition, such as the unknown payload, varying speed, and hydraulic actuator’s dynamics, makes common controller invalid. In this paper, based on the nonlinear control theory, the adaptive robust control method is proposed to enhance the joint tracking accuracy, the controller can also compensate the interactive dynamic effects between...

Pure Niobium is a material of interest for high-energy-physics applications including superconducting accelerators. Cold-rolled sheets Nb exhibit significant plastic anisotropy. Here we report on the mechanical and forming properties 99.95% pure, 1.02 mm thin, cold-rolled sheet. Uniaxial tension, biaxial tension disc compression experiments are performed, first two at multiple angles to rolling...

In recent years, hydroforming process has been applied in different industries such as aerospace, automotive and military industries due to its advantages, such as high dimensional accuracy, capability of forming complicated parts and high drawing ratio. Hydrodynamic deep drawing with radial pressure is one type of hydroforming process. In this paper, forming of cylindrical cups in hydrodynamic...

The hydraulic activities of two arenicolid polychaetes, Abarenicola pacifica and Arenicola marina, result in strikingly similar pressure waveforms. The principal hydraulic activities are defecation, burrowing and feeding/ burrow maintenance. Both the duration and magnitudes of the pressures are very similar. The behavioral periodicities of the two species are also quite similar, although burrow...