To simulate body organ motion due to breathing, heart beats, or peristaltic movements, we designed a lowcost, miniaturized SPRK (Stewart Platform Research Kit) to translate and rotate phantom tissue. This platform is 20cm× 20cm×10cm to fit in the workspace of a da Vinci Research Kit (DVRK) surgical robot and costs $250, two orders of magnitude less than a commercial Stewart platform. The platfo...

1. INTRODUCTION An important parameter regarding structural safety is the height from the still water level (accounting for tide and storm surge) to the lowest deck level of the platform. Standard practise, at least for structures at the Norwegian Continental Shelf, is to require that this height is larger than the wave crest height occurring with an annual probability of occurrence of 10-4 aft...

The paper presents a DSP-based design and control of three-axis servo motion system that effectively divides tasks between the master terminal four slave drives. proposed architecture enhances immediacy platform positioning integration software hardware. utilizes high-accuracy encoder as reference value for accuracy improvement integrates firmware via embedded execution program, thereby reducin...

Hydrodynamic coefficient estimation is crucial to the shape design, dynamic modeling, and control of underwater vehicles. In this paper, we conduct a numerical study on hydrodynamic an underactuated vehicle (actuated only in surge, heave, yaw degrees freedom) by adopting computational fluid dynamics (CFD) approach. Firstly, mechanical structure briefly introduced, model with effects established...

Abstract: Aerodynamics and motion performance of the floating vertical wind turbine (VAWT) were studied in this paper, where the wind turbine was H-type and the floating foundation was truss spar type. Based on the double-multiple-stream-tube theory, the formulae were deduced to calculate the aerodynamic loads acting on the wind turbine considering the motions of the floating foundation. The su...