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Sample records for control interaction force

  1. Experimental study on the control interaction force coefficient; Soju ryutairyoku kansho keisu ni kansuru jikkenteki kenkyu

    Energy Technology Data Exchange (ETDEWEB)

    Nakatake, K; Oda, K; Yoshitake, A; Fujita, K; Nakajima, A [Kyushu University, Fukuoka (Japan). Faculty of Engineering

    1996-04-10

    The interaction force induced to hull by steering is important for prediction of control performance of ships. The control interaction force coefficient dependent on the steering has been investigated through the rudder angle tests using three small model ships with a length of 2.5 m, i.e., mathematical type of ship, cargo type of ship, and tanker type of ship. The interaction forces acting on the hull, propeller, and rudder were determined by measuring the lateral force as well as the forward force of the hydrodynamic forces acting on the rudder. These forces were compared with the theoretically calculated values. Prior to the rudder angle tests, the self propulsion factor and the number of revolution of propeller were determined from the results of the open water tests, resistance tests, and self propulsion tests by the changing load method. The rudder angle tests were conducted under this number of revolution of propeller as a standard condition, and under those increasing and decreasing by 15%. Consequently, the interaction forces determined from the rudder angle tests agreed well with those determined from the other tests. When comparing the control hydrodynamic forces determined from the tests with those theoretically calculated, a similar trend was observed. Effectiveness of the theoretical model was confirmed. 4 refs., 14 figs., 3 tabs.

  2. Automated boundary interaction force control of micromanipulators with in situ applications to microsurgery

    International Nuclear Information System (INIS)

    Eslami, Sohrab; Jalili, Nader

    2012-01-01

    Most recent works on miniature tasks are concentrated on developing tools to take advantage of the visual servoing feedback to control the ultra-small interaction forces. This paper spans an extensive platform for automatic controlling of boundary interaction forces with high precision in the level of micro/nano-Newton with extensive micro/nanoengineering applications such as the microsurgery. To this end, a comprehensive piezoresistive microcantilever (PMC) model considering the shear deformation and rotary inertia effects treating as the distributed-parameters model along with the Hertzian contact force is presented. The purpose of considering the Hertzian contact force model is to investigate the dynamic response of the interaction force between the microcantilever's tip and the specimen. Afterward, a control platform is introduced to automatically manipulate the PMC to follow an ideal micro/nano-interaction force. By using the integrated PMC with the micromanipulator and a digital signal processor, an intuitive programming code is written to incorporate the micromanipulator and the controller in a real-time framework. To calibrate and verify the induced voltage in the PMC, a self-sensing experiment on the piezoelectric microcantilever is carried out to warrant the calibration procedure. Some experiments are established to affirm the validity of the proposed control for the autonomous real-time tasks on the boundary interaction force control. Unlike the conventional research studies, the measured force here contributes as the feedback source in contrast to the vision feedback while force sensors possess more precision, productivity and small size. This technique has several potential applications listed but not limited to the micro/nanomanipulation, developing artificial biological systems (e.g., fabricating hydrogel for the scaffold), and medicine such as microsurgery. As a result, using the proposed platform, we are able to manipulate and control the

  3. Interaction force and motion estimators facilitating impedance control of the upper limb rehabilitation robot.

    Science.gov (United States)

    Mancisidor, Aitziber; Zubizarreta, Asier; Cabanes, Itziar; Bengoa, Pablo; Jung, Je Hyung

    2017-07-01

    In order to enhance the performance of rehabilitation robots, it is imperative to know both force and motion caused by the interaction between user and robot. However, common direct measurement of both signals through force and motion sensors not only increases the complexity of the system but also impedes affordability of the system. As an alternative of the direct measurement, in this work, we present new force and motion estimators for the proper control of the upper-limb rehabilitation Universal Haptic Pantograph (UHP) robot. The estimators are based on the kinematic and dynamic model of the UHP and the use of signals measured by means of common low-cost sensors. In order to demonstrate the effectiveness of the estimators, several experimental tests were carried out. The force and impedance control of the UHP was implemented first by directly measuring the interaction force using accurate extra sensors and the robot performance was compared to the case where the proposed estimators replace the direct measured values. The experimental results reveal that the controller based on the estimators has similar performance to that using direct measurement (less than 1 N difference in root mean square error between two cases), indicating that the proposed force and motion estimators can facilitate implementation of interactive controller for the UHP in robotmediated rehabilitation trainings.

  4. Parabolized Stability Equations analysis of nonlinear interactions with forced eigenmodes to control subsonic jet instabilities

    International Nuclear Information System (INIS)

    Itasse, Maxime; Brazier, Jean-Philippe; Léon, Olivier; Casalis, Grégoire

    2015-01-01

    Nonlinear evolution of disturbances in an axisymmetric, high subsonic, high Reynolds number hot jet with forced eigenmodes is studied using the Parabolized Stability Equations (PSE) approach to understand how modes interact with one another. Both frequency and azimuthal harmonic interactions are analyzed by setting up one or two modes at higher initial amplitudes and various phases. While single mode excitation leads to harmonic growth and jet noise amplification, controlling the evolution of a specific mode has been made possible by forcing two modes (m 1 , n 1 ), (m 2 , n 2 ), such that the difference in azimuth and in frequency matches the desired “target” mode (m 1 − m 2 , n 1 − n 2 ). A careful setup of the initial amplitudes and phases of the forced modes, defined as the “killer” modes, has allowed the minimizing of the initially dominant instability in the near pressure field, as well as its estimated radiated noise with a 15 dB loss. Although an increase of the overall sound pressure has been found in the range of azimuth and frequency analyzed, the present paper reveals the possibility to make the initially dominant instability ineffective acoustically using nonlinear interactions with forced eigenmodes

  5. Parabolized Stability Equations analysis of nonlinear interactions with forced eigenmodes to control subsonic jet instabilities

    Energy Technology Data Exchange (ETDEWEB)

    Itasse, Maxime, E-mail: Maxime.Itasse@onera.fr; Brazier, Jean-Philippe, E-mail: Jean-Philippe.Brazier@onera.fr; Léon, Olivier, E-mail: Olivier.Leon@onera.fr; Casalis, Grégoire, E-mail: Gregoire.Casalis@onera.fr [Onera - The French Aerospace Lab, F-31055 Toulouse (France)

    2015-08-15

    Nonlinear evolution of disturbances in an axisymmetric, high subsonic, high Reynolds number hot jet with forced eigenmodes is studied using the Parabolized Stability Equations (PSE) approach to understand how modes interact with one another. Both frequency and azimuthal harmonic interactions are analyzed by setting up one or two modes at higher initial amplitudes and various phases. While single mode excitation leads to harmonic growth and jet noise amplification, controlling the evolution of a specific mode has been made possible by forcing two modes (m{sub 1}, n{sub 1}), (m{sub 2}, n{sub 2}), such that the difference in azimuth and in frequency matches the desired “target” mode (m{sub 1} − m{sub 2}, n{sub 1} − n{sub 2}). A careful setup of the initial amplitudes and phases of the forced modes, defined as the “killer” modes, has allowed the minimizing of the initially dominant instability in the near pressure field, as well as its estimated radiated noise with a 15 dB loss. Although an increase of the overall sound pressure has been found in the range of azimuth and frequency analyzed, the present paper reveals the possibility to make the initially dominant instability ineffective acoustically using nonlinear interactions with forced eigenmodes.

  6. Imaging contrast and tip-sample interaction of non-contact amplitude modulation atomic force microscopy with Q -control

    International Nuclear Information System (INIS)

    Shi, Shuai; Guo, Dan; Luo, Jianbin

    2017-01-01

    Active quality factor ( Q ) exhibits many promising properties in dynamic atomic force microscopy. Energy dissipation and image contrasts are investigated in the non-contact amplitude modulation atomic force microscopy (AM-AFM) with an active Q -control circuit in the ambient air environment. Dissipated power and virial were calculated to compare the highly nonlinear interaction of tip-sample and image contrasts with different Q gain values. Greater free amplitudes and lower effective Q values show better contrasts for the same setpoint ratio. Active quality factor also can be employed to change tip-sample interaction force in non-contact regime. It is meaningful that non-destructive and better contrast images can be realized in non-contact AM-AFM by applying an active Q -control to the dynamic system. (paper)

  7. Data Driven, Force Based Interaction for Quadrotors

    Science.gov (United States)

    McKinnon, Christopher D.

    Quadrotors are small and agile, and are becoming more capable for their compact size. They are expected perform a wide variety of tasks including inspection, physical interaction, and formation flight. In all of these tasks, the quadrotors can come into close proximity with infrastructure or other quadrotors, and may experience significant external forces and torques. Reacting properly in each case is essential to completing the task safely and effectively. In this thesis, we develop an algorithm, based on the Unscented Kalman Filter, to estimate such forces and torques without making assumptions about the source of the forces and torques. We then show in experiment how the proposed estimation algorithm can be used in conjunction with controls and machine learning to choose the appropriate actions in a wide variety of tasks including detecting downwash, tracking the wind induced by a fan, and detecting proximity to the wall.

  8. Automated force controller for amplitude modulation atomic force microscopy

    Energy Technology Data Exchange (ETDEWEB)

    Miyagi, Atsushi, E-mail: atsushi.miyagi@inserm.fr, E-mail: simon.scheuring@inserm.fr; Scheuring, Simon, E-mail: atsushi.miyagi@inserm.fr, E-mail: simon.scheuring@inserm.fr [U1006 INSERM, Université Aix-Marseille, Parc Scientifique et Technologique de Luminy, 163 Avenue de Luminy, 13009 Marseille (France)

    2016-05-15

    Atomic Force Microscopy (AFM) is widely used in physics, chemistry, and biology to analyze the topography of a sample at nanometer resolution. Controlling precisely the force applied by the AFM tip to the sample is a prerequisite for faithful and reproducible imaging. In amplitude modulation (oscillating) mode AFM, the applied force depends on the free and the setpoint amplitudes of the cantilever oscillation. Therefore, for keeping the applied force constant, not only the setpoint amplitude but also the free amplitude must be kept constant. While the AFM user defines the setpoint amplitude, the free amplitude is typically subject to uncontrollable drift, and hence, unfortunately, the real applied force is permanently drifting during an experiment. This is particularly harmful in biological sciences where increased force destroys the soft biological matter. Here, we have developed a strategy and an electronic circuit that analyzes permanently the free amplitude of oscillation and readjusts the excitation to maintain the free amplitude constant. As a consequence, the real applied force is permanently and automatically controlled with picoNewton precision. With this circuit associated to a high-speed AFM, we illustrate the power of the development through imaging over long-duration and at various forces. The development is applicable for all AFMs and will widen the applicability of AFM to a larger range of samples and to a larger range of (non-specialist) users. Furthermore, from controlled force imaging experiments, the interaction strength between biomolecules can be analyzed.

  9. Acoustic radiation force control: Pulsating spherical carriers.

    Science.gov (United States)

    Rajabi, Majid; Mojahed, Alireza

    2018-02-01

    The interaction between harmonic plane progressive acoustic beams and a pulsating spherical radiator is studied. The acoustic radiation force function exerted on the spherical body is derived as a function of the incident wave pressure and the monopole vibration characteristics (i.e., amplitude and phase) of the body. Two distinct strategies are presented in order to alter the radiation force effects (i.e., pushing and pulling states) by changing its magnitude and direction. In the first strategy, an incident wave field with known amplitude and phase is considered. It is analytically shown that the zero- radiation force state (i.e., radiation force function cancellation) is achievable for specific pulsation characteristics belong to a frequency-dependent straight line equation in the plane of real-imaginary components (i.e., Nyquist Plane) of prescribed surface displacement. It is illustrated that these characteristic lines divide the mentioned displacement plane into two regions of positive (i.e., pushing) and negative (i.e., pulling) radiation forces. In the second strategy, the zero, negative and positive states of radiation force are obtained through adjusting the incident wave field characteristics (i.e., amplitude and phase) which insonifies the radiator with prescribed pulsation characteristics. It is proved that zero radiation force state occurs for incident wave pressure characteristics belong to specific frequency-dependent circles in Nyquist plane of incident wave pressure. These characteristic circles divide the Nyquist plane into two distinct regions corresponding to positive (out of circles) and negative (in the circles) values of radiation force function. It is analytically shown that the maximum amplitude of negative radiation force is exactly equal to the amplitude of the (positive) radiation force exerted upon the sphere in the passive state, by the same incident field. The developed concepts are much more deepened by considering the required

  10. Robust Force Control of Series Elastic Actuators

    Directory of Open Access Journals (Sweden)

    Andrea Calanca

    2014-07-01

    Full Text Available Force-controlled series elastic actuators (SEA are widely used in novel human-robot interaction (HRI applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control approach that guarantees the stability and robustness of the coupled human-robot system, based on sliding-mode control (SMC, considering the human dynamics as a disturbance to reject. We propose a chattering free solution that employs simple task models to obtain high performance, comparable with second order solutions. Theoretical stability is proven within the sliding mode framework, and predictability is reached by avoiding the reaching phase by design. Furthermore, safety is introduced by a proper design of the sliding surface. The practical feasibility of the approach is shown using an SEA prototype coupled with a human impedance in severe stress tests. To show the quality of the approach, we report a comparison with state-of-the-art second order SMC, passivity-based control and adaptive control solutions.

  11. Designing an experiment to measure cellular interaction forces

    Science.gov (United States)

    McAlinden, Niall; Glass, David G.; Millington, Owain R.; Wright, Amanda J.

    2013-09-01

    Optical trapping is a powerful tool in Life Science research and is becoming common place in many microscopy laboratories and facilities. The force applied by the laser beam on the trapped object can be accurately determined allowing any external forces acting on the trapped object to be deduced. We aim to design a series of experiments that use an optical trap to measure and quantify the interaction force between immune cells. In order to cause minimum perturbation to the sample we plan to directly trap T cells and remove the need to introduce exogenous beads to the sample. This poses a series of challenges and raises questions that need to be answered in order to design a set of effect end-point experiments. A typical cell is large compared to the beads normally trapped and highly non-uniform - can we reliably trap such objects and prevent them from rolling and re-orientating? In this paper we show how a spatial light modulator can produce a triple-spot trap, as opposed to a single-spot trap, giving complete control over the object's orientation and preventing it from rolling due, for example, to Brownian motion. To use an optical trap as a force transducer to measure an external force you must first have a reliably calibrated system. The optical trapping force is typically measured using either the theory of equipartition and observing the Brownian motion of the trapped object or using an escape force method, e.g. the viscous drag force method. In this paper we examine the relationship between force and displacement, as well as measuring the maximum displacement from equilibrium position before an object falls out of the trap, hence determining the conditions under which the different calibration methods should be applied.

  12. Cutaneous mechanisms of isometric ankle force control

    DEFF Research Database (Denmark)

    Choi, Julia T; Jensen, Jesper Lundbye; Leukel, Christian

    2013-01-01

    The sense of force is critical in the control of movement and posture. Multiple factors influence our perception of exerted force, including inputs from cutaneous afferents, muscle afferents and central commands. Here, we studied the influence of cutaneous feedback on the control of ankle force...... of transient stimulation on force error were greater when compared to continuous stimulation and lidocaine injection. Position-matching performance was unaffected by peroneal nerve or plantar nerve stimulation. Our results show that cutaneous feedback plays a role in the control of force output at the ankle...... joint. Understanding how the nervous system normally uses cutaneous feedback in motor control will help us identify which functional aspects are impaired in aging and neurological diseases....

  13. Depletion interaction measured by colloidal probe atomic force microscopy

    NARCIS (Netherlands)

    Wijting, W.K.; Knoben, W.; Besseling, N.A.M.; Leermakers, F.A.M.; Cohen Stuart, M.A.

    2004-01-01

    We investigated the depletion interaction between stearylated silica surfaces in cyclohexane in the presence of dissolved polydimethylsiloxane by means of colloidal probe atomic force microscopy. We found that the range of the depletion interaction decreases with increasing concentration.

  14. Acoustic interaction forces between small particles in an ideal fluid

    DEFF Research Database (Denmark)

    Silva, Glauber T.; Bruus, Henrik

    2014-01-01

    We present a theoretical expression for the acoustic interaction force between small spherical particles suspended in an ideal fluid exposed to an external acoustic wave. The acoustic interaction force is the part of the acoustic radiation force on one given particle involving the scattered waves...... from the other particles. The particles, either compressible liquid droplets or elastic microspheres, are considered to be much smaller than the acoustic wavelength. In this so-called Rayleigh limit, the acoustic interaction forces between the particles are well approximated by gradients of pair...

  15. Telerobotic Control Architecture Including Force-Reflection

    National Research Council Canada - National Science Library

    Murphy, Mark

    1998-01-01

    This report describes the implementation of a telerobotic control architecture to manipulate a standard six-degree-of-freedom robot via a unique seven-degree-of-freedom force-reflecting exoskeleton...

  16. Force control for mechanoinduction of impedance variation in cellular organisms

    International Nuclear Information System (INIS)

    Nam, Joo Hoo; Chen, Peter C Y; Lu, Zhe; Luo, Hong; Lin, Wei; Ge, Ruowen

    2010-01-01

    Constantly exposed to various forms of mechanical forces inherent in their physical environment (such as gravity, stress induced by fluid flow or cell–cell interactions, etc), cellular organisms sense such forces and convert them into biochemical signals through the processes of mechanosensing and mechanotransduction that eventually lead to biological changes. The effect of external forces on the internal structures and activities in a cellular organism may manifest in changes its physical properties, such as impedance. Studying variation in the impedance of a cellular organism induced by the application of an external mechanical force represents a meaningful endeavor (from a biosystems perspective) in exploring the complex mechanosensing and mechanotransduction mechanisms that govern the behavior of a cellular organism under the influence of external mechanical stimuli. In this paper we describe the development of an explicit force-feedback control system for exerting an indentation force on a cellular organism while simultaneously measuring its impedance. To demonstrate the effectiveness of this force-control system, we have conducted experiments using zebrafish embryos as a test model of a cellular organism. We report experimental results demonstrating that the application of a properly controlled external force leads to a significant change in the impedance of a zebrafish embryo. These results offer support for a plausible explanation that activities of pore canals in the chorion are responsible for the observed change in impedance.

  17. [Interaction of mental health and forced married migrants in Germany].

    Science.gov (United States)

    Kizilhan, Jan

    2015-11-01

    The study examines the interaction of the forced married migrants and the frequency of the psychological illness. Forced-married and not forced-married migrants are compared concerning her psychological illness in psychosomatic clinics in Germany. Forced-married women reported significantly more about psychological illness and have undertaken on average at least four times a suicide attempt. Forced-married women suffer lifelong from this event and need, with taking into account cultural migration-specific aspects, special support in the psychosocial consultation and medical-therapeutic treatment. © Georg Thieme Verlag KG Stuttgart · New York.

  18. Controlling Casimir force via coherent driving field

    Science.gov (United States)

    Ahmad, Rashid; Abbas, Muqaddar; Ahmad, Iftikhar; Qamar, Sajid

    2016-04-01

    A four level atom-field configuration is used to investigate the coherent control of Casimir force between two identical plates made up of chiral atomic media and separated by vacuum of width d. The electromagnetic chirality-induced negative refraction is obtained via atomic coherence. The behavior of Casimir force is investigated using Casimir-Lifshitz formula. It is noticed that Casimir force can be switched from repulsive to attractive and vice versa via coherent control of the driving field. This switching feature provides new possibilities of using the repulsive Casimir force in the development of new emerging technologies, such as, micro-electro-mechanical and nano-electro-mechanical systems, i.e., MEMS and NEMS, respectively.

  19. Interaction between production control and quality control

    NARCIS (Netherlands)

    Bij, van der J.D.; Ekert, van J.H.W.

    1999-01-01

    Describes a qualitative study on interaction between systems for production control and quality control within industrial organisations. Production control and quality control interact in a sense. Good performance for one aspect often influences or frustrates the performance of the other. As far as

  20. Analysis of DNA interactions using single-molecule force spectroscopy.

    Science.gov (United States)

    Ritzefeld, Markus; Walhorn, Volker; Anselmetti, Dario; Sewald, Norbert

    2013-06-01

    Protein-DNA interactions are involved in many biochemical pathways and determine the fate of the corresponding cell. Qualitative and quantitative investigations on these recognition and binding processes are of key importance for an improved understanding of biochemical processes and also for systems biology. This review article focusses on atomic force microscopy (AFM)-based single-molecule force spectroscopy and its application to the quantification of forces and binding mechanisms that lead to the formation of protein-DNA complexes. AFM and dynamic force spectroscopy are exciting tools that allow for quantitative analysis of biomolecular interactions. Besides an overview on the method and the most important immobilization approaches, the physical basics of the data evaluation is described. Recent applications of AFM-based force spectroscopy to investigate DNA intercalation, complexes involving DNA aptamers and peptide- and protein-DNA interactions are given.

  1. INCA- INTERACTIVE CONTROLS ANALYSIS

    Science.gov (United States)

    Bauer, F. H.

    1994-01-01

    The Interactive Controls Analysis (INCA) program was developed to provide a user friendly environment for the design and analysis of linear control systems, primarily feedback control systems. INCA is designed for use with both small and large order systems. Using the interactive graphics capability, the INCA user can quickly plot a root locus, frequency response, or time response of either a continuous time system or a sampled data system. The system configuration and parameters can be easily changed, allowing the INCA user to design compensation networks and perform sensitivity analysis in a very convenient manner. A journal file capability is included. This stores an entire sequence of commands, generated during an INCA session into a file which can be accessed later. Also included in INCA are a context-sensitive help library, a screen editor, and plot windows. INCA is robust to VAX-specific overflow problems. The transfer function is the basic unit of INCA. Transfer functions are automatically saved and are available to the INCA user at any time. A powerful, user friendly transfer function manipulation and editing capability is built into the INCA program. The user can do all transfer function manipulations and plotting without leaving INCA, although provisions are made to input transfer functions from data files. By using a small set of commands, the user may compute and edit transfer functions, and then examine these functions by using the ROOT_LOCUS, FREQUENCY_RESPONSE, and TIME_RESPONSE capabilities. Basic input data, including gains, are handled as single-input single-output transfer functions. These functions can be developed using the function editor or by using FORTRAN- like arithmetic expressions. In addition to the arithmetic functions, special functions are available to 1) compute step, ramp, and sinusoid functions, 2) compute closed loop transfer functions, 3) convert from S plane to Z plane with optional advanced Z transform, and 4) convert from Z

  2. Reverse engineering of an affinity-switchable molecular interaction characterized by atomic force microscopy single-molecule force spectroscopy.

    Science.gov (United States)

    Anselmetti, Dario; Bartels, Frank Wilco; Becker, Anke; Decker, Björn; Eckel, Rainer; McIntosh, Matthew; Mattay, Jochen; Plattner, Patrik; Ros, Robert; Schäfer, Christian; Sewald, Norbert

    2008-02-19

    Tunable and switchable interaction between molecules is a key for regulation and control of cellular processes. The translation of the underlying physicochemical principles to synthetic and switchable functional entities and molecules that can mimic the corresponding molecular functions is called reverse molecular engineering. We quantitatively investigated autoinducer-regulated DNA-protein interaction in bacterial gene regulation processes with single atomic force microscopy (AFM) molecule force spectroscopy in vitro, and developed an artificial bistable molecular host-guest system that can be controlled and regulated by external signals (UV light exposure and thermal energy). The intermolecular binding functionality (affinity) and its reproducible and reversible switching has been proven by AFM force spectroscopy at the single-molecule level. This affinity-tunable optomechanical switch will allow novel applications with respect to molecular manipulation, nanoscale rewritable molecular memories, and/or artificial ion channels, which will serve for the controlled transport and release of ions and neutral compounds in the future.

  3. Exploiting impedance shaping approaches to overcome force overshoots in delicate interaction tasks

    Directory of Open Access Journals (Sweden)

    Loris Roveda

    2016-09-01

    Full Text Available The aim of the presented article is to overcome the force overshoot issue in impedance based force tracking applications. Nowadays, light-weight manipulators are involved in high-accurate force control applications (such as polishing tasks, where the force overshoot issue is critical (i.e. damaging the component causing a production waste, exploiting the impedance control. Two main force tracking impedance control approaches are described in literature: (a set-point deformation and (b variable stiffness approaches. However, no contributions are directly related to the force overshoot issue. The presented article extends both such methodologies to analytically achieve the force overshoots avoidance in interaction tasks based on the on-line estimation of the interacting environment stiffness (available through an EKF. Both the proposed control algorithms allow to achieve a linear closed-loop dynamics for the coupled robot-environment system. Therefore, control gains can be analytically on-line calculated to achieve an over-damped closed-loop dynamics of the controlled coupled system. Control strategies have been validated in experiments, involving a KUKA LWR 4+. A probing task has been performed, representative of many industrial tasks (e.g. assembly tasks, in which a main force task direction is defined.

  4. Inferring Interaction Force from Visual Information without Using Physical Force Sensors.

    Science.gov (United States)

    Hwang, Wonjun; Lim, Soo-Chul

    2017-10-26

    In this paper, we present an interaction force estimation method that uses visual information rather than that of a force sensor. Specifically, we propose a novel deep learning-based method utilizing only sequential images for estimating the interaction force against a target object, where the shape of the object is changed by an external force. The force applied to the target can be estimated by means of the visual shape changes. However, the shape differences in the images are not very clear. To address this problem, we formulate a recurrent neural network-based deep model with fully-connected layers, which models complex temporal dynamics from the visual representations. Extensive evaluations show that the proposed learning models successfully estimate the interaction forces using only the corresponding sequential images, in particular in the case of three objects made of different materials, a sponge, a PET bottle, a human arm, and a tube. The forces predicted by the proposed method are very similar to those measured by force sensors.

  5. THE DEMOCRATIC CONTROL OF MILITARY FORCES

    Directory of Open Access Journals (Sweden)

    Smail Oštraković

    2011-04-01

    Full Text Available The transition requirement for post communism countries, especially the part that is about military forces is to establish those civil-military relation that will have prepared projects for awareness evolving of society and military about necessity of democratic control over military sector of country through development of many different communication forms and shapes. Before everything, it means the entire freedom and independence of media at access to military forces as the topic and subject of its interests and also the organization of public military communication system as integral part of information-communication system in society

  6. Neuromechanical Control for Dynamic Bipedal Walking with Reduced Impact Forces

    DEFF Research Database (Denmark)

    Widenka, Johannes; Xiong, Xiaofeng; Matthias Braun, Jan

    2016-01-01

    Human walking emerges from an intricate interaction of nervous and musculoskeletal systems. Inspired by this principle, we integrate neural control and muscle-like mechanisms to achieve neuromechanical control of the biped robot RunBot. As a result, the neuromechanical controller enables RunBot t......Bot to perform more human-like walking and reduce impact force during walking, compared to original neural control. Moreover, it also generates adaptive joint motions of RunBot; thereby allowing it to deal with different terrains...

  7. Investigation of specific interactions between T7 promoter and T7 RNA polymerase by force spectroscopy using atomic force microscope.

    Science.gov (United States)

    Zhang, Xiaojuan; Yao, Zhixuan; Duan, Yanting; Zhang, Xiaomei; Shi, Jinsong; Xu, Zhenghong

    2018-01-11

    The specific recognition and binding of promoter and RNA polymerase is the first step of transcription initiation in bacteria and largely determines transcription activity. Therefore, direct analysis of the interaction between promoter and RNA polymerase in vitro may be a new strategy for promoter characterization, to avoid interference due to the cell's biophysical condition and other regulatory elements. In the present study, the specific interaction between T7 promoter and T7 RNA polymerase was studied as a model system using force spectroscopy based on atomic force microscope (AFM). The specific interaction between T7 promoter and T7 RNA polymerase was verified by control experiments, and the rupture force in this system was measured as 307.2 ± 6.7 pN. The binding between T7 promoter mutants with various promoter activities and T7 RNA polymerase was analyzed. Interaction information including rupture force, rupture distance and binding percentage were obtained in vitro , and reporter gene expression regulated by these promoters was also measured according to a traditional promoter activity characterization method in vivo Using correlation analysis, it was found that the promoter strength characterized by reporter gene expression was closely correlated with rupture force and the binding percentage by force spectroscopy. These results indicated that the analysis of the interaction between promoter and RNA polymerase using AFM-based force spectroscopy was an effective and valid approach for the quantitative characterization of promoters. © 2018 The Author(s). Published by Portland Press Limited on behalf of the Biochemical Society.

  8. Monitoring ligand-receptor interactions by photonic force microscopy

    Energy Technology Data Exchange (ETDEWEB)

    Jeney, Sylvia [M E Mueller Institute for Structural Biology, Biozentrum, University of Basel, Klingelbergstrasse 70, Basel, 4056 (Switzerland); Mor, Flavio; Forro, Laszlo [Laboratory of Complex Matter Physics (LPMC), Ecole Polytechnique Federale de Lausanne (EPFL), CH-1015 Lausanne (Switzerland); Koszali, Roland [Institute for Information and Communication Technologies (IICT), University of Applied Sciences of Western Switzerland (HEIG-VD), Rue Galilee 15, CH 1401 Yverdon-les-bains (Switzerland); Moy, Vincent T, E-mail: sylvia.jeney@unibas.ch, E-mail: vmoy@miami.edu [Department of Physiology and Biophysics, University of Miami Miller School of Medicine, 1600 NW 10th Avenue, Miami, FL 33136 (United States)

    2010-06-25

    We introduce a method for the acquisition of single molecule force measurements of ligand-receptor interactions using the photonic force microscope (PFM). Biotin-functionalized beads, manipulated with an optical trap, and a streptavidin-functionalized coverslip were used to measure the effect of different pulling forces on the lifetime of individual streptavidin-biotin complexes. By optimizing the design of the optical trap and selection of the appropriate bead size, pulling forces in excess of 50 pN were achieved. Based on the amplitude of three-dimensional (3D) thermal position fluctuations of the attached bead, we were able to select for a bead-coverslip interaction that was mediated by a single streptavidin-biotin complex. Moreover, the developed experimental system was greatly accelerated by automation of data acquisition and analysis. In force-dependent kinetic measurements carried out between streptavidin and biotin, we observed that the streptavidin-biotin complex exhibited properties of a catch bond, with the lifetime increasing tenfold when the pulling force increased from 10 to 20 pN. We also show that silica beads were more appropriate than polystyrene beads for the force measurements, as tethers, longer than 200 nm, could be extracted from polystyrene beads.

  9. Monitoring ligand-receptor interactions by photonic force microscopy

    International Nuclear Information System (INIS)

    Jeney, Sylvia; Mor, Flavio; Forro, Laszlo; Koszali, Roland; Moy, Vincent T

    2010-01-01

    We introduce a method for the acquisition of single molecule force measurements of ligand-receptor interactions using the photonic force microscope (PFM). Biotin-functionalized beads, manipulated with an optical trap, and a streptavidin-functionalized coverslip were used to measure the effect of different pulling forces on the lifetime of individual streptavidin-biotin complexes. By optimizing the design of the optical trap and selection of the appropriate bead size, pulling forces in excess of 50 pN were achieved. Based on the amplitude of three-dimensional (3D) thermal position fluctuations of the attached bead, we were able to select for a bead-coverslip interaction that was mediated by a single streptavidin-biotin complex. Moreover, the developed experimental system was greatly accelerated by automation of data acquisition and analysis. In force-dependent kinetic measurements carried out between streptavidin and biotin, we observed that the streptavidin-biotin complex exhibited properties of a catch bond, with the lifetime increasing tenfold when the pulling force increased from 10 to 20 pN. We also show that silica beads were more appropriate than polystyrene beads for the force measurements, as tethers, longer than 200 nm, could be extracted from polystyrene beads.

  10. Study of Adhesion Interaction Using Atomic Force Microscopy

    Science.gov (United States)

    Grybos, J.; Pyka-Fosciak, G.; Lebed, K.; Lekka, M.; Stachura, Z.; Styczeñ, J.

    2003-05-01

    An atomic force microscope is a useful tool to study the interaction forces at molecular level. In particular the atomic force microscope can measure an unbinding force needed to separate the two single molecule complexes. Recent studies have shown that such unbinding force depends linearly on the logarithm of the applied loading rate, defined as a product of scanning velocity and the spring constant characterizing the investigated system (cantilever vs. surface). This dependence can be used to study the energy landscape shape of a molecular complex by the estimation of energy barrier locations and the related dissociation rates. In the present work the complex consisting of ethylene(di)aminetetraacetic acid and the bovine serum albumin was measured. The dependence between the unbinding force and the logarithm of the loading rate was linear. Using the Bell model describing the dissociation of the above molecules caused by the action of the external bond breaking force, two parameters were estimated: the dissociation rate and the position of the energy barrier needed to overcome during a transition from a bound to unbound state. The obtained results are similar to those obtained for a typical ligand--receptor interaction.

  11. Scalar self-interactions loosen constraints from fifth force searches

    International Nuclear Information System (INIS)

    Gubser, Steven S.; Khoury, Justin

    2004-01-01

    The mass of a scalar field mediating a fifth force is tightly constrained by experiments. We show, however, that adding a quartic self-interaction for such a scalar makes most tests much less constraining: the nonlinear equation of motion masks the coupling of the scalar to matter through the chameleon mechanism. We discuss consequences for fifth force experiments. In particular, we find that, with quartic coupling of order unity, a gravitational strength interaction with matter is allowed by current constraints. We show that our chameleon scalar field results in experimental signatures that could be detected through modest improvements of current laboratory set-ups

  12. Optical Near-field Interactions and Forces for Optoelectronic Devices

    Science.gov (United States)

    Kohoutek, John Michael

    Throughout history, as a particle view of the universe began to take shape, scientists began to realize that these particles were attracted to each other and hence came up with theories, both analytical and empirical in nature, to explain their interaction. The interaction pair potential (empirical) and electromagnetics (analytical) theories, both help to explain not only the interaction between the basic constituents of matter, such as atoms and molecules, but also between macroscopic objects, such as two surfaces in close proximity. The electrostatic force, optical force, and Casimir force can be categorized as such forces. A surface plasmon (SP) is a collective motion of electrons generated by light at the interface between two mediums of opposite signs of dielectric susceptibility (e.g. metal and dielectric). Recently, surface plasmon resonance (SPR) has been exploited in many areas through the use of tiny antennas that work on similar principles as radio frequency (RF) antennas in optoelectronic devices. These antennas can produce a very high gradient in the electric field thereby leading to an optical force, similar in concept to the surface forces discussed above. The Atomic Force Microscope (AFM) was introduced in the 1980s at IBM. Here we report on its uses in measuring these aforementioned forces and fields, as well as actively modulating and manipulating multiple optoelectronic devices. We have shown that it is possible to change the far field radiation pattern of an optical antenna-integrated device through modification of the near-field of the device. This modification is possible through change of the local refractive index or reflectivity of the "hot spot" of the device, either mechanically or optically. Finally, we have shown how a mechanically active device can be used to detect light with high gain and low noise at room temperature. It is the aim of several of these integrated and future devices to be used for applications in molecular sensing

  13. Interactive Controls Analysis (INCA)

    Science.gov (United States)

    Bauer, Frank H.

    1989-01-01

    Version 3.12 of INCA provides user-friendly environment for design and analysis of linear control systems. System configuration and parameters easily adjusted, enabling INCA user to create compensation networks and perform sensitivity analysis in convenient manner. Full complement of graphical routines makes output easy to understand. Written in Pascal and FORTRAN.

  14. Interaction with control agencies

    International Nuclear Information System (INIS)

    Robertson, J.S.

    1983-01-01

    In addition to the licensing and inspections that apply to all departments in a hospital, certain special requirements apply to the uses of radioactive materials in diagnosis, therapy, and research involving human subjects. In part this chapter discusses these special requirements and how they can be met. Some official sources of information pertinent to the measurement and safe handling of radioactive materials also are mentioned. Aspects of the legal control of the manufacture and transportation of radioactive substances that usually involve hospitals only indirectly will not be covered comprehensively. However, if physicians, clinics, or hospitals develop programs under which they supply radioactive substances to other individuals or institutions, they become subject to further controls, rules, and regulations concerning the manufacture and transportation of radioactive substances. Regulation of drug production and testing is the responsibility of the U.S. Food and Drug Administration (FDA). Shipment of radioactive materials is regulated by the U.S. Department of Transportation

  15. Controller Synthesis for Periodically Forced Chaotic Systems

    Science.gov (United States)

    Basso, Michele; Genesio, Roberto; Giovanardi, Lorenzo

    Delayed feedback controllers are an appealing tool for stabilization of periodic orbits in chaotic systems. Despite their conceptual simplicity, specific and reliable design procedures are difficult to obtain, partly also because of their inherent infinite-dimensional structure. This chapter considers the use of finite dimensional linear time invariant controllers for stabilization of periodic solutions in a general class of sinusoidally forced nonlinear systems. For such controllers — which can be interpreted as rational approximations of the delayed ones — we provide a computationally attractive synthesis technique based on Linear Matrix Inequalities (LMIs), by mixing results concerning absolute stability of nonlinear systems and robustness of uncertain linear systems. The resulting controllers prove to be effective for chaos suppression in electronic circuits and systems, as shown by two different application examples.

  16. Distinguishing magnetic and electrostatic interactions by a Kelvin probe force microscopy–magnetic force microscopy combination

    Directory of Open Access Journals (Sweden)

    Miriam Jaafar

    2011-09-01

    Full Text Available The most outstanding feature of scanning force microscopy (SFM is its capability to detect various different short and long range interactions. In particular, magnetic force microscopy (MFM is used to characterize the domain configuration in ferromagnetic materials such as thin films grown by physical techniques or ferromagnetic nanostructures. It is a usual procedure to separate the topography and the magnetic signal by scanning at a lift distance of 25–50 nm such that the long range tip–sample interactions dominate. Nowadays, MFM is becoming a valuable technique to detect weak magnetic fields arising from low dimensional complex systems such as organic nanomagnets, superparamagnetic nanoparticles, carbon-based materials, etc. In all these cases, the magnetic nanocomponents and the substrate supporting them present quite different electronic behavior, i.e., they exhibit large surface potential differences causing heterogeneous electrostatic interaction between the tip and the sample that could be interpreted as a magnetic interaction. To distinguish clearly the origin of the tip–sample forces we propose to use a combination of Kelvin probe force microscopy (KPFM and MFM. The KPFM technique allows us to compensate in real time the electrostatic forces between the tip and the sample by minimizing the electrostatic contribution to the frequency shift signal. This is a great challenge in samples with low magnetic moment. In this work we studied an array of Co nanostructures that exhibit high electrostatic interaction with the MFM tip. Thanks to the use of the KPFM/MFM system we were able to separate the electric and magnetic interactions between the tip and the sample.

  17. Magnetostatic interactions and forces between cylindrical permanent magnets

    International Nuclear Information System (INIS)

    Vokoun, David; Beleggia, Marco; Heller, Ludek; Sittner, Petr

    2009-01-01

    Permanent magnets of various shapes are often utilized in magnetic actuators, sensors or releasable magnetic fasteners. Knowledge of the magnetic force is required to control devices reliably. Here, we introduce an analytical expression for calculating the attraction force between two cylindrical permanent magnets on the assumption of uniform magnetization. Although the assumption is not fulfilled exactly in cylindrical magnets, we obtain a very good agreement between the calculated and measured forces between two identical cylindrical magnets and within an array of NdFeB cylindrical magnets.

  18. 14 CFR 23.155 - Elevator control force in maneuvers.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Elevator control force in maneuvers. 23.155 Section 23.155 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Controllability and Maneuverability § 23.155 Elevator control force in maneuvers. (a) The elevator control force...

  19. Development of isometric force and force control in children

    NARCIS (Netherlands)

    Smits-Engelsman, B.C.M.; Westenberg, Y.; Duysens, J.E.J.

    2004-01-01

    Fifty-six children between 5 and 12 years of age and 15 adults performed a task (pressing on a lever with the index finger of the preferred hand), in which a force had to be maintained constant at five levels with on-line visual feedback. Since this is a simple isometric task, the hypothesis is that

  20. Development of isometric force and force control in children.

    NARCIS (Netherlands)

    Smits-Engelsman, B.C.M.; Westenberg, Y.; Duysens, J.E.J.

    2003-01-01

    Fifty-six children between 5 and 12 years of age and 15 adults performed a task (pressing on a lever with the index finger of the preferred hand), in which a force had to be maintained constant at five levels with on-line visual feedback. Since this is a simple isometric task, the hypothesis is that

  1. Predictability, Force and (Anti-)Resonance in Complex Object Control.

    Science.gov (United States)

    Maurice, Pauline; Hogan, Neville; Sternad, Dagmar

    2018-04-18

    Manipulation of complex objects as in tool use is ubiquitous and has given humans an evolutionary advantage. This study examined the strategies humans choose when manipulating an object with underactuated internal dynamics, such as a cup of coffee. The object's dynamics renders the temporal evolution complex, possibly even chaotic, and difficult to predict. A cart-and-pendulum model, loosely mimicking coffee sloshing in a cup, was implemented in a virtual environment with a haptic interface. Participants rhythmically manipulated the virtual cup containing a rolling ball; they could choose the oscillation frequency, while the amplitude was prescribed. Three hypotheses were tested: 1) humans decrease interaction forces between hand and object; 2) humans increase the predictability of the object dynamics; 3) humans exploit the resonances of the coupled object-hand system. Analysis revealed that humans chose either a high-frequency strategy with anti-phase cup-and-ball movements or a low-frequency strategy with in-phase cup-and-ball movements. Counter Hypothesis 1, they did not decrease interaction force; instead, they increased the predictability of the interaction dynamics, quantified by mutual information, supporting Hypothesis 2. To address Hypothesis 3, frequency analysis of the coupled hand-object system revealed two resonance frequencies separated by an anti-resonance frequency. The low-frequency strategy exploited one resonance, while the high-frequency strategy afforded more choice, consistent with the frequency response of the coupled system; both strategies avoided the anti-resonance. Hence, humans did not prioritize interaction force, but rather strategies that rendered interactions predictable. These findings highlight that physical interactions with complex objects pose control challenges not present in unconstrained movements.

  2. Special Forces Command and Control in Afghanistan

    National Research Council Canada - National Science Library

    Rhyne, Richard

    2004-01-01

    .... The author examines how Special Forces and conventional forces worked together in the past in Vietnam, Panama, Somalia, Haiti, Bosnia-Herzegovina, and Operations Desert Storm and Desert Shield...

  3. Gemstone Grinding Process Improvement by using Impedance Force Control

    Directory of Open Access Journals (Sweden)

    Hamprommarat Chumpol

    2015-01-01

    Full Text Available Chula Automatic Faceting Machine has been developed by The Advance Manufacturing Research Lab, Chulalongkorn University to support Thailand Gems-Industry. The machine has high precision motion control by using position and force control. A contact stiffness model is used to estimate grinding force. Although polished gems from the Faceting Machine have uniform size and acceptable shape, the force of the grinding and polishing process cannot be maintain constant and has some fluctuation due to indirect force control. Therefor this research work propose a new controller for this process based on an impedance direct force control to improve the gemstone grinding performance during polishing process. The grinding force can be measured through motor current. The results show that the polished gems by using impedance direct force control can maintain uniform size as well as good shape and high quality surface.

  4. Interactions between Rotavirus and Suwannee River Organic Matter: Aggregation, Deposition, and Adhesion Force Measurement

    KAUST Repository

    Gutierrez, Leonardo; Nguyen, Thanh H.

    2012-01-01

    M, rotavirus suspension remained stable for over 4 h. Atomic force microscopy (AFM) measurement for interaction force decay length at different ionic strengths showed that nonelectrostatic repulsive forces were mainly responsible for eliminating aggregation

  5. Using optical tweezers for measuring the interaction forces between human bone cells and implant surfaces: System design and force calibration

    International Nuclear Information System (INIS)

    Andersson, Martin; Madgavkar, Ashwin; Stjerndahl, Maria; Wu, Yanrong; Tan, Weihong; Duran, Randy; Niehren, Stefan; Mustafa, Kamal; Arvidson, Kristina; Wennerberg, Ann

    2007-01-01

    Optical tweezers were used to study the interaction and attachment of human bone cells to various types of medical implant materials. Ideally, the implant should facilitate cell attachment and promote migration of the progenitor cells in order to decrease the healing time. It is therefore of interest, in a controlled manner, to be able to monitor the cell adhesion process. Results from such studies would help foresee the clinical outcome of integrating medical implants. The interactions between two primary cell culture models, human gingival fibroblasts and bone forming human osteoblast cells, and three different implant materials, glass, titanium, and hydroxyapatite, were studied. A novel type of optical tweezers, which has a newly designed quadrant detector and a powerful 3 W laser was constructed and force calibrated using two different methods: one method in which the stiffness of the optical trap was obtained by monitoring the phase lag between the trap and the moved object when imposing a forced oscillation on the trapped object and another method in which the maximum trapping force was derived from the critical velocity at which the object escapes the trap. Polystyrene beads as well as cells were utilized for the calibrations. This is the first time that cells have been used directly for these types of force calibrations and, hence, direct measurements of forces exerted on cells can be performed, thus avoiding the difficulties often encountered when translating the results obtained from cell measurements to the calibrations obtained with reference materials. This more straightforward approach represents an advantage in comparison to established methods

  6. Motivating forces of human actions. Neuroimaging reward and social interaction.

    Science.gov (United States)

    Walter, Henrik; Abler, Birgit; Ciaramidaro, Angela; Erk, Susanne

    2005-11-15

    In neuroeconomics, reward and social interaction are central concepts to understand what motivates human behaviour. Both concepts are investigated in humans using neuroimaging methods. In this paper, we provide an overview about these results and discuss their relevance for economic behaviour. For reward it has been shown that a system exists in humans that is involved in predicting rewards and thus guides behaviour, involving a circuit including the striatum, the orbitofrontal cortex and the amygdala. Recent studies on social interaction revealed a mentalizing system representing the mental states of others. A central part of this system is the medial prefrontal cortex, in particular the anterior paracingulate cortex. The reward as well as the mentalizing system is engaged in economic decision-making. We will discuss implications of this study for neuromarketing as well as general implications of these results that may help to provide deeper insights into the motivating forces of human behaviour.

  7. Parallel force assay for protein-protein interactions.

    Science.gov (United States)

    Aschenbrenner, Daniela; Pippig, Diana A; Klamecka, Kamila; Limmer, Katja; Leonhardt, Heinrich; Gaub, Hermann E

    2014-01-01

    Quantitative proteome research is greatly promoted by high-resolution parallel format assays. A characterization of protein complexes based on binding forces offers an unparalleled dynamic range and allows for the effective discrimination of non-specific interactions. Here we present a DNA-based Molecular Force Assay to quantify protein-protein interactions, namely the bond between different variants of GFP and GFP-binding nanobodies. We present different strategies to adjust the maximum sensitivity window of the assay by influencing the binding strength of the DNA reference duplexes. The binding of the nanobody Enhancer to the different GFP constructs is compared at high sensitivity of the assay. Whereas the binding strength to wild type and enhanced GFP are equal within experimental error, stronger binding to superfolder GFP is observed. This difference in binding strength is attributed to alterations in the amino acids that form contacts according to the crystal structure of the initial wild type GFP-Enhancer complex. Moreover, we outline the potential for large-scale parallelization of the assay.

  8. Parallel force assay for protein-protein interactions.

    Directory of Open Access Journals (Sweden)

    Daniela Aschenbrenner

    Full Text Available Quantitative proteome research is greatly promoted by high-resolution parallel format assays. A characterization of protein complexes based on binding forces offers an unparalleled dynamic range and allows for the effective discrimination of non-specific interactions. Here we present a DNA-based Molecular Force Assay to quantify protein-protein interactions, namely the bond between different variants of GFP and GFP-binding nanobodies. We present different strategies to adjust the maximum sensitivity window of the assay by influencing the binding strength of the DNA reference duplexes. The binding of the nanobody Enhancer to the different GFP constructs is compared at high sensitivity of the assay. Whereas the binding strength to wild type and enhanced GFP are equal within experimental error, stronger binding to superfolder GFP is observed. This difference in binding strength is attributed to alterations in the amino acids that form contacts according to the crystal structure of the initial wild type GFP-Enhancer complex. Moreover, we outline the potential for large-scale parallelization of the assay.

  9. Driving force for hydrophobic interaction at different length scales.

    Science.gov (United States)

    Zangi, Ronen

    2011-03-17

    We study by molecular dynamics simulations the driving force for the hydrophobic interaction between graphene sheets of different sizes down to the atomic scale. Similar to the prediction by Lum, Chandler, and Weeks for hard-sphere solvation [J. Phys. Chem. B 1999, 103, 4570-4577], we find the driving force to be length-scale dependent, despite the fact that our model systems do not exhibit dewetting. For small hydrophobic solutes, the association is purely entropic, while enthalpy favors dissociation. The latter is demonstrated to arise from the enhancement of hydrogen bonding between the water molecules around small hydrophobes. On the other hand, the attraction between large graphene sheets is dominated by enthalpy which mainly originates from direct solute-solute interactions. The crossover length is found to be inside the range of 0.3-1.5 nm(2) of the surface area of the hydrophobe that is eliminated in the association process. In the large-scale regime, different thermodynamic properties are scalable with this change of surface area. In particular, upon dimerization, a total and a water-induced stabilization of approximately 65 and 12 kJ/mol/nm(2) are obtained, respectively, and on average around one hydrogen bond is gained per 1 nm(2) of graphene sheet association. Furthermore, the potential of mean force between the sheets is also scalable except for interplate distances smaller than 0.64 nm which corresponds to the region around the barrier for removing the last layer of water. It turns out that, as the surface area increases, the relative height of the barrier for association decreases and the range of attraction increases. It is also shown that, around small hydrophobic solutes, the lifetime of the hydrogen bonds is longer than in the bulk, while around large hydrophobes it is the same. Nevertheless, the rearrangement of the hydrogen-bond network for both length-scale regimes is slower than in bulk water. © 2011 American Chemical Society

  10. Force-sensed interface for control and training space robot

    Science.gov (United States)

    Moiseev, O. S.; Sarsadskikh, A. S.; Povalyaev, N. D.; Gorbunov, V. I.; Kulakov, F. M.; Vasilev, V. V.

    2018-05-01

    A method of positional and force-torque control of robots is proposed. Prototypes of the system and the master handle have been created. Algorithm of bias estimation and gravity compensation for force-torque sensor and force-torque trajectory correction are described.

  11. Dynamics modeling for parallel haptic interfaces with force sensing and control.

    Science.gov (United States)

    Bernstein, Nicholas; Lawrence, Dale; Pao, Lucy

    2013-01-01

    Closed-loop force control can be used on haptic interfaces (HIs) to mitigate the effects of mechanism dynamics. A single multidimensional force-torque sensor is often employed to measure the interaction force between the haptic device and the user's hand. The parallel haptic interface at the University of Colorado (CU) instead employs smaller 1D force sensors oriented along each of the five actuating rods to build up a 5D force vector. This paper shows that a particular manipulandum/hand partition in the system dynamics is induced by the placement and type of force sensing, and discusses the implications on force and impedance control for parallel haptic interfaces. The details of a "squaring down" process are also discussed, showing how to obtain reduced degree-of-freedom models from the general six degree-of-freedom dynamics formulation.

  12. Force Reflection Algorithms for Exoskeleton Controllers

    National Research Council Canada - National Science Library

    Bryfogle, Mark

    1991-01-01

    This research effort investigated the kinematics and dynamics of open chain, serial linkage mechanisms with specific emphasis placed upon the application of this linkage as a force reflecting exoskeleton mechanism...

  13. Computer-Controlled Force Generator, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — TDA Research, Inc. is developing a compact, low power, Next-Generation Exercise Device (NGRED) that can generate any force between 5 and 600 lbf. We use a closed...

  14. High Cable Forces Deteriorate Pinch Force Control in Voluntary-Closing Body-Powered Prostheses.

    Directory of Open Access Journals (Sweden)

    Mona Hichert

    Full Text Available It is generally asserted that reliable and intuitive control of upper-limb prostheses requires adequate feedback of prosthetic finger positions and pinch forces applied to objects. Body-powered prostheses (BPPs provide the user with direct proprioceptive feedback. Currently available BPPs often require high cable operation forces, which complicates control of the forces at the terminal device. The aim of this study is to quantify the influence of high cable forces on object manipulation with voluntary-closing prostheses.Able-bodied male subjects were fitted with a bypass-prosthesis with low and high cable force settings for the prehensor. Subjects were requested to grasp and transfer a collapsible object as fast as they could without dropping or breaking it. The object had a low and a high breaking force setting.Subjects conducted significantly more successful manipulations with the low cable force setting, both for the low (33% more and high (50% object's breaking force. The time to complete the task was not different between settings during successful manipulation trials.High cable forces lead to reduced pinch force control during object manipulation. This implies that low cable operation forces should be a key design requirement for voluntary-closing BPPs.

  15. The effect of force feedback delay on stiffness perception and grip force modulation during tool-mediated interaction with elastic force fields.

    Science.gov (United States)

    Leib, Raz; Karniel, Amir; Nisky, Ilana

    2015-05-01

    During interaction with objects, we form an internal representation of their mechanical properties. This representation is used for perception and for guiding actions, such as in precision grip, where grip force is modulated with the predicted load forces. In this study, we explored the relationship between grip force adjustment and perception of stiffness during interaction with linear elastic force fields. In a forced-choice paradigm, participants probed pairs of virtual force fields while grasping a force sensor that was attached to a haptic device. For each pair, they were asked which field had higher level of stiffness. In half of the pairs, the force feedback of one of the fields was delayed. Participants underestimated the stiffness of the delayed field relatively to the nondelayed, but their grip force characteristics were similar in both conditions. We analyzed the magnitude of the grip force and the lag between the grip force and the load force in the exploratory probing movements within each trial. Right before answering which force field had higher level of stiffness, both magnitude and lag were similar between delayed and nondelayed force fields. These results suggest that an accurate internal representation of environment stiffness and time delay was used for adjusting the grip force. However, this representation did not help in eliminating the bias in stiffness perception. We argue that during performance of a perceptual task that is based on proprioceptive feedback, separate neural mechanisms are responsible for perception and action-related computations in the brain. Copyright © 2015 the American Physiological Society.

  16. Soft matter interactions at the molecular scale: interaction forces and energies between single hydrophobic model peptides.

    Science.gov (United States)

    Stock, Philipp; Utzig, Thomas; Valtiner, Markus

    2017-02-08

    In all realms of soft matter research a fundamental understanding of the structure/property relationships based on molecular interactions is crucial for developing a framework for the targeted design of soft materials. However, a molecular picture is often difficult to ascertain and yet essential for understanding the many different competing interactions at play, including entropies and cooperativities, hydration effects, and the enormous design space of soft matter. Here, we characterized for the first time the interaction between single hydrophobic molecules quantitatively using atomic force microscopy, and demonstrated that single molecular hydrophobic interaction free energies are dominated by the area of the smallest interacting hydrophobe. The interaction free energy amounts to 3-4 kT per hydrophobic unit. Also, we find that the transition state of the hydrophobic interactions is located at 3 Å with respect to the ground state, based on Bell-Evans theory. Our results provide a new path for understanding the nature of hydrophobic interactions at the single molecular scale. Our approach enables us to systematically vary hydrophobic and any other interaction type by utilizing peptide chemistry providing a strategic advancement to unravel molecular surface and soft matter interactions at the single molecular scale.

  17. Force Control Strategies in Hydraulically Actuated Legged Robots

    Directory of Open Access Journals (Sweden)

    Hector Montes

    2016-03-01

    Full Text Available In this contribution, several strategies of force control have been proposed to be implemented and evaluated in ROBOCLIMBER, a quadruped robot of large dimensions. A first group of strategies proposed in this paper is based on impedance control, which is intended to adapt the foot-ground contact forces according to the experimentally specified damping ratio and the undamped natural frequency. A second control strategy of interest for many practical cases is called the parallel force/position control, which has one inner loop position control and two external control loops, one of force and another of position. A third group of control strategies is the posture stabilization for ROBOCLIMBER using the feedback of the ZMP calculation and the position of its legs. Finally, a control strategy for the control of a quasi-static gait using ZMP feedback is proposed and tested by simulation.

  18. Learning to push and learning to move: The adaptive control of contact forces

    Directory of Open Access Journals (Sweden)

    Maura eCasadio

    2015-11-01

    Full Text Available To be successful at manipulating objects one needs to apply simultaneously well controlled movements and contact forces. We present a computational theory of how the brain may successfully generate a vast spectrum of interactive behaviors by combining two independent processes. One process is competent to control movements in free space and the other is competent to control contact forces against rigid constraints. Free space and rigid constraints are singularities at the boundaries of a continuum of mechanical impedance. Within this continuum, forces and motions occur in compatible pairs connected by the equations of Newtonian dynamics. The force applied to an object determines its motion. Conversely, inverse dynamics determine a unique force trajectory from a movement trajectory. In this perspective, we describe motor learning as a process leading to the discovery of compatible force/motion pairs. The learned compatible pairs constitute a local representation of the environment's mechanics. Experiments on force field adaptation have already provided us with evidence that the brain is able to predict and compensate the forces encountered when one is attempting to generate a motion. Here, we tested the theory in the dual case, i.e. when one attempts at applying a desired contact force against a simulated rigid surface. If the surface becomes unexpectedly compliant, the contact point moves as a function of the applied force and this causes the applied force to deviate from its desired value. We found that, through repeated attempts at generating the desired contact force, subjects discovered the unique compatible hand motion. When, after learning, the rigid contact was unexpectedly restored, subjects displayed after effects of learning, consistent with the concurrent operation of a motion control system and a force control system. Together, theory and experiment support a new and broader view of modularity in the coordinated control of forces and

  19. Multi-Axis Force Sensor for Human-Robot Interaction Sensing in a Rehabilitation Robotic Device.

    Science.gov (United States)

    Grosu, Victor; Grosu, Svetlana; Vanderborght, Bram; Lefeber, Dirk; Rodriguez-Guerrero, Carlos

    2017-06-05

    Human-robot interaction sensing is a compulsory feature in modern robotic systems where direct contact or close collaboration is desired. Rehabilitation and assistive robotics are fields where interaction forces are required for both safety and increased control performance of the device with a more comfortable experience for the user. In order to provide an efficient interaction feedback between the user and rehabilitation device, high performance sensing units are demanded. This work introduces a novel design of a multi-axis force sensor dedicated for measuring pelvis interaction forces in a rehabilitation exoskeleton device. The sensor is conceived such that it has different sensitivity characteristics for the three axes of interest having also movable parts in order to allow free rotations and limit crosstalk errors. Integrated sensor electronics make it easy to acquire and process data for a real-time distributed system architecture. Two of the developed sensors are integrated and tested in a complex gait rehabilitation device for safe and compliant control.

  20. Unlocking higher harmonics in atomic force microscopy with gentle interactions.

    Science.gov (United States)

    Santos, Sergio; Barcons, Victor; Font, Josep; Verdaguer, Albert

    2014-01-01

    In dynamic atomic force microscopy, nanoscale properties are encoded in the higher harmonics. Nevertheless, when gentle interactions and minimal invasiveness are required, these harmonics are typically undetectable. Here, we propose to externally drive an arbitrary number of exact higher harmonics above the noise level. In this way, multiple contrast channels that are sensitive to compositional variations are made accessible. Numerical integration of the equation of motion shows that the external introduction of exact harmonic frequencies does not compromise the fundamental frequency. Thermal fluctuations are also considered within the detection bandwidth of interest and discussed in terms of higher-harmonic phase contrast in the presence and absence of an external excitation of higher harmonics. Higher harmonic phase shifts further provide the means to directly decouple the true topography from that induced by compositional heterogeneity.

  1. The Effects of Noncellulosic Compounds on the Nanoscale Interaction Forces Measured between Carbohydrate-Binding Module and Lignocellulosic Biomass.

    Science.gov (United States)

    Arslan, Baran; Colpan, Mert; Ju, Xiaohui; Zhang, Xiao; Kostyukova, Alla; Abu-Lail, Nehal I

    2016-05-09

    The lack of fundamental understanding of the types of forces that govern how cellulose-degrading enzymes interact with cellulosic and noncellulosic components of lignocellulosic surfaces limits the design of new strategies for efficient conversion of biomass to bioethanol. In a step to improve our fundamental understanding of such interactions, nanoscale forces acting between a model cellulase-a carbohydrate-binding module (CBM) of cellobiohydrolase I (CBH I)-and a set of lignocellulosic substrates with controlled composition were measured using atomic force microscopy (AFM). The three model substrates investigated were kraft (KP), sulfite (SP), and organosolv (OPP) pulped substrates. These substrates varied in their surface lignin coverage, lignin type, and xylan and acetone extractives' content. Our results indicated that the overall adhesion forces of biomass to CBM increased linearly with surface lignin coverage with kraft lignin showing the highest forces among lignin types investigated. When the overall adhesion forces were decoupled into specific and nonspecific component forces via the Poisson statistical model, hydrophobic and Lifshitz-van der Waals (LW) forces dominated the binding forces of CBM to kraft lignin, whereas permanent dipole-dipole interactions and electrostatic forces facilitated the interactions of lignosulfonates to CBM. Xylan and acetone extractives' content increased the attractive forces between CBM and lignin-free substrates, most likely through hydrogen bonding forces. When the substrates treated differently were compared, it was found that both the differences in specific and nonspecific forces between lignin-containing and lignin-free substrates were the least for OPP. Therefore, cellulase enzymes represented by CBM would weakly bind to organosolv lignin. This will facilitate an easy enzyme recovery compared to other substrates treated with kraft or sulfite pulping. Our results also suggest that altering the surface hydrophobicity

  2. Surface force analysis of molecular interfacial interactions of proteins and lipids with polymeric biomaterials

    International Nuclear Information System (INIS)

    Hamilton-Brown, P.; Griesser, H.J.; Meagher, L.

    2001-01-01

    Full text: Adverse biological responses to biomedical devices are often caused by the irreversible accumulation of biological deposits onto the surfaces of devices. Such deposits cause blocking of artificial blood vessels, fibrous encapsulation of soft tissue regenerative devices, 'fouling' of contact lenses, secondary cataracts on intraocular lenses, and other undesirable events that interfere with the intended functions of biomedical devices. The formation of deposits is triggered by an initial stage in which various proteins and lipids rapidly adsorb onto the synthetic material surface; further biological molecules and ultimately cellular entities (e.g., host cells, bacteria) then settle onto the initial adsorbed layer. Hence, to avoid or control the accumulation of biological deposits, molecular understanding is required of the initial adsorption processes. Such adsorption is caused by attractive interfacial forces, which we are characterising by the use of a novel method. In the present study, polymeric thin film coatings, polyethylene oxide (PEO), and polysaccharide coatings have been analysed in terms of their surface forces and the ensuing propensity for protein and lipid adsorption. Interfacial forces are measured using atomic force microscopy (AFM) with a colloid-modified tip in a liquid cell using solutions of physiological pH and ionic strength. The chemical composition and uniformity of the coatings was characterised by X-ray Photon Spectroscopy (XPS). For a polymeric solid coating, repulsive forces have been measured against a silica colloid probe, and the dominant surface force is electrostatic. For the highly hydrated, 'soft' PEO and polysaccharide coatings, on the other hand, steric/entropic forces are also significant and contribute to interfacial interactions with proteins and lipids. In one system we have observed a time dependence of the electrostatic surface potential, which affects interaction with charged proteins. Force measurements were

  3. Autogenic and Allogenic: Emergent Coastline Patterns Interact With Forcing Variations

    Science.gov (United States)

    Murray, A. B.; Alvarez Antolinez, J. A.; Mendez, F. J.; Moore, L. J.; Wood, J.; Farley, G.

    2017-12-01

    A range of coastline shapes can emerge from large-scale morphodynamic interactions. Coastline shape determines local wave influences. Local wave influences (fluxes of alongshore momentum), determine sediment fluxes, and gradients in these sediment fluxes, in turn, alter coastline shape. Modeling studies show that such feedbacks lead to an instability, and to subsequent finite-amplitude interactions, producing self-organized patterns and emergent structures including sandwaves, capes, and spits (e.g. Ashton and Murray, 2006; Ashton et al., 2015); spiral bays on rocky coastlines (e.g. Barkwith et al., 2014); and convex, spit-bounded coastlines (Ells et al., in prep.). Coastline shapes depend sensitively on wave climate, defined as the angular distribution of wave influences on alongshore sediment transport. Therefore, shifts in wave climate arising from shifts in storms (decadal scale fluctuations or longer-term trends) will tend to change coastline shape. Previous efforts have detected changing coastline shape, likely related to changing influence from hurricane-generated waves, as expressed in changes in the location and intensity of coastal erosion zones along the cuspate capes in North Carolina, USA (Moore et al., 2013). These efforts involved the assumption that coastline response to changing forcing occurs in a quasi-equilibrium manner. However, in some cases coastline responses can exhibit long-term memory and path dependence (Thomas et al., 2016). Recently, we have hindcast the wave climate affecting the North Carolina coast since 1870, using a series of statistical analyses to downscale from basin-scale surface pressure fields to regional deep-water wave climate, and then a numerical transformation to local offshore wave climate. We used this wave climate as input for the Coastline Evolution Model (CEM). The results show that the emergent coastline features respond to decadal-scale shifts in wave climate, but with time lags that complicate the relationship

  4. Tip-surface interactions at redox responsive poly(ferrocenylsilane) (PFS) interface by AFM-based force spectroscopy

    International Nuclear Information System (INIS)

    Chung Hongjing; Song Jing; Vancso, G. Julius

    2009-01-01

    Poly(ferrocenylsilanes) (PFS) belong to the class of redox responsive organometallic polymers. Atomic force microscopy (AFM)-based single molecule force spectroscopy (SMFS) was used earlier to study single chain PFS response and redox energy driven single chain PFS molecular motors. Here we present further AFM investigations of force interactions between tip and a grafted PFS surface under potential control in electrochemical redox cycles. Typical tip-Au interaction is considered as reference in the force measurements. First the electrostatic component in the diffused double layer (DL) in NaClO 4 electrolyte environment was considered for a 'grafted to' PFS, which dominated the interplay between the tip and sample surface. The DL forces can also hinder the physisorption of PFS chain onto the tip when the voltage was applied at -0.1 V. On the other hand, if the tip contacted the PFS surface prior to the electrochemical process, physisorption of PFS chains governed the overall interaction regardless of subsequently applied surface potential. In addition, prolonged contact time, t c , may also contribute to the stability of tip-PFS bridging and detection of electrostatic forces between the tip-PFS interface. The results showed that tip-substrate interaction forces without PFS grafts have negligibly small force contributions under similar, electrochemically controlled, conditions used in single PFS chain based molecular motors.

  5. Neural control of muscle force: indications from a simulation model

    Science.gov (United States)

    Luca, Carlo J. De

    2013-01-01

    We developed a model to investigate the influence of the muscle force twitch on the simulated firing behavior of motoneurons and muscle force production during voluntary isometric contractions. The input consists of an excitatory signal common to all the motor units in the pool of a muscle, consistent with the “common drive” property. Motor units respond with a hierarchically structured firing behavior wherein at any time and force, firing rates are inversely proportional to recruitment threshold, as described by the “onion skin” property. Time- and force-dependent changes in muscle force production are introduced by varying the motor unit force twitches as a function of time or by varying the number of active motor units. A force feedback adjusts the input excitation, maintaining the simulated force at a target level. The simulations replicate motor unit behavior characteristics similar to those reported in previous empirical studies of sustained contractions: 1) the initial decrease and subsequent increase of firing rates, 2) the derecruitment and recruitment of motor units throughout sustained contractions, and 3) the continual increase in the force fluctuation caused by the progressive recruitment of larger motor units. The model cautions the use of motor unit behavior at recruitment and derecruitment without consideration of changes in the muscle force generation capacity. It describes an alternative mechanism for the reserve capacity of motor units to generate extraordinary force. It supports the hypothesis that the control of motoneurons remains invariant during force-varying and sustained isometric contractions. PMID:23236008

  6. 3D force control for robotic-assisted beating heart surgery based on viscoelastic tissue model.

    Science.gov (United States)

    Liu, Chao; Moreira, Pedro; Zemiti, Nabil; Poignet, Philippe

    2011-01-01

    Current cardiac surgery faces the challenging problem of heart beating motion even with the help of mechanical stabilizer which makes delicate operation on the heart surface difficult. Motion compensation methods for robotic-assisted beating heart surgery have been proposed recently in literature, but research on force control for such kind of surgery has hardly been reported. Moreover, the viscoelasticity property of the interaction between organ tissue and robotic instrument further complicates the force control design which is much easier in other applications by assuming the interaction model to be elastic (industry, stiff object manipulation, etc.). In this work, we present a three-dimensional force control method for robotic-assisted beating heart surgery taking into consideration of the viscoelastic interaction property. Performance studies based on our D2M2 robot and 3D heart beating motion information obtained through Da Vinci™ system are provided.

  7. Precision Force Control for an Electro-Hydraulic Press Machine

    Directory of Open Access Journals (Sweden)

    Hong-Ming Chen

    2014-08-01

    Full Text Available This thesis is primarily intended to design a PC-based control system to control the force of an electro-hydraulic servo press system for implementing precision force control. The main feature is to develop a composite control by using the relief valve and the flow servo valve. Using feedback from a force sensor, a fuzzy controller was designed with LabVIEW software as the system control core for achieving a precision force control for the hydraulic cylinder on its travel and output. The weakness of hydraulic systems is that hydraulic oil is compressible and prone to leaking, and its characteristics can vary with oil temperature, thus making it difficult for a general linear controller to achieve accurate control. Therefore, a fuzzy controller was designed with LabVIEW along with a NI-PCI_6221 interface card and a load cell to control the servo valve flow and the relief valve to control the pressure source. The testing results indicate that accurate force control output of an electro-hydraulic servo press system can be obtained.

  8. A methodology for controlling motion and constraint forces in holonomically constrained systems

    International Nuclear Information System (INIS)

    Sapio, Vincent De; Srinivasa, Narayan

    2015-01-01

    Holonomic constraints are ubiquitous in multibody systems. We present an approach to effectively address the control of holonomically constrained systems using a novel decomposition of task, constraint, and posture space. In addition to providing a natural approach for motion control in the presence of constraints, this scheme also allows for concurrent specification of desired constraint forces, given sufficient actuation. It does this by exposing both motion coordinates and constraint forces within the control formalism, allowing for substantial flexibility in control synthesis. Implementations are presented based on a partitioning of the constraint forces into controlled and uncontrolled subsets, as well as a specification of implicit conditions on the constraint forces. A number of examples demonstrate the practical efficacy of the approach. Finally, a system-level methodology for constraint management during robot interactions with the environment is presented

  9. A methodology for controlling motion and constraint forces in holonomically constrained systems

    Energy Technology Data Exchange (ETDEWEB)

    Sapio, Vincent De, E-mail: vdesapio@hrl.com; Srinivasa, Narayan, E-mail: nsrinivasa@hrl.com [HRL Laboratories, LLC, Information and Systems Sciences Laboratory (United States)

    2015-02-15

    Holonomic constraints are ubiquitous in multibody systems. We present an approach to effectively address the control of holonomically constrained systems using a novel decomposition of task, constraint, and posture space. In addition to providing a natural approach for motion control in the presence of constraints, this scheme also allows for concurrent specification of desired constraint forces, given sufficient actuation. It does this by exposing both motion coordinates and constraint forces within the control formalism, allowing for substantial flexibility in control synthesis. Implementations are presented based on a partitioning of the constraint forces into controlled and uncontrolled subsets, as well as a specification of implicit conditions on the constraint forces. A number of examples demonstrate the practical efficacy of the approach. Finally, a system-level methodology for constraint management during robot interactions with the environment is presented.

  10. A novel adaptive force control method for IPMC manipulation

    International Nuclear Information System (INIS)

    Hao, Lina; Sun, Zhiyong; Su, Yunquan; Gao, Jianchao; Li, Zhi

    2012-01-01

    IPMC is a type of electro-active polymer material, also called artificial muscle, which can generate a relatively large deformation under a relatively low input voltage (generally speaking, less than 5 V), and can be implemented in a water environment. Due to these advantages, IPMC can be used in many fields such as biomimetics, service robots, bio-manipulation, etc. Until now, most existing methods for IPMC manipulation are displacement control not directly force control, however, under most conditions, the success rate of manipulations for tiny fragile objects is limited by the contact force, such as using an IPMC gripper to fix cells. Like most EAPs, a creep phenomenon exists in IPMC, of which the generated force will change with time and the creep model will be influenced by the change of the water content or other environmental factors, so a proper force control method is urgently needed. This paper presents a novel adaptive force control method (AIPOF control—adaptive integral periodic output feedback control), based on employing a creep model of which parameters are obtained by using the FRLS on-line identification method. The AIPOF control method can achieve an arbitrary pole configuration as long as the plant is controllable and observable. This paper also designs the POF and IPOF controller to compare their test results. Simulation and experiments of micro-force-tracking tests are carried out, with results confirming that the proposed control method is viable. (paper)

  11. Anticipatory synergy adjustments reflect individual performance of feedforward force control.

    Science.gov (United States)

    Togo, Shunta; Imamizu, Hiroshi

    2016-10-06

    We grasp and dexterously manipulate an object through multi-digit synergy. In the framework of the uncontrolled manifold (UCM) hypothesis, multi-digit synergy is defined as the coordinated control mechanism of fingers to stabilize variable important for task success, e.g., total force. Previous studies reported anticipatory synergy adjustments (ASAs) that correspond to a drop of the synergy index before a quick change of the total force. The present study compared ASA's properties with individual performances of feedforward force control to investigate a relationship of those. Subjects performed a total finger force production task that consisted of a phase in which subjects tracked target line with visual information and a phase in which subjects produced total force pulse without visual information. We quantified their multi-digit synergy through UCM analysis and observed significant ASAs before producing total force pulse. The time of the ASA initiation and the magnitude of the drop of the synergy index were significantly correlated with the error of force pulse, but not with the tracking error. Almost all subjects showed a significant increase of the variance that affected the total force. Our study directly showed that ASA reflects the individual performance of feedforward force control independently of target-tracking performance and suggests that the multi-digit synergy was weakened to adjust the multi-digit movements based on a prediction error so as to reduce the future error. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

  12. Exact expressions for colloidal plane-particle interaction forces and energies with applications to atomic force microscopy

    International Nuclear Information System (INIS)

    Zypman, F R

    2006-01-01

    We begin by deriving a general useful theoretical relationship between the plane-particle interaction forces in solution, and the corresponding plane-plane interaction energies. This is the main result of the paper. It provides a simple tool to obtain closed-form particle-plane forces from knowledge of plane-plane interaction energies. To illustrate the simplicity of use of this general formalism, we apply it to find particle-plane interactions within the Derjaguin-Landau-Verwey-Overbeek (DLVO) framework. Specifically, we obtain analytical expressions for forces and interaction energies in the van der Waals and the electrical double layer cases. The van der Waals expression is calculated here for benchmarking purposes and is compared with well-established expressions from Hamaker theory. The interactions for the electric double layer situation are computed in two cases: the linear superposition approximation and the constant surface potential. In both cases, our closed-form expressions were compared with existent numerical results. We also use the main result of this paper to generate an analytical force-separation expression based on atomic force microscope experiments for a tip and surface immersed in an aqueous solution, and compare it with the corresponding numerical results. Finally, based on our main result, we generalize the Derjaguin approximation by calculating the next order of approximation, thus obtaining a formula valuable for colloidal interaction estimations

  13. Research on Grinding and Polishing Force Control of Compliant Flange

    Directory of Open Access Journals (Sweden)

    Li Chuang

    2015-01-01

    Full Text Available The automation of the grinding and polishing process is important to improve the production efficiency of the part surfaces. In this paper, a new compliant flange mounted on the end of the industrial robots for the robotic grinding and polishing force control is developed. With regard to the non-linear and time-varying problem of the contact force, the mathematical model of the new force control system was presented and the fuzzy PID control strategy was used to drive the proposed system. Especially, the air spring and electric proportional valve is studied to establish the model. The simulation results show that the selected control strategy has quick response and good robustness, which satisfies the real-time requirements of the grinding and polishing force control in processing.

  14. Force characteristics in continuous path controlled crankpin grinding

    Science.gov (United States)

    Zhang, Manchao; Yao, Zhenqiang

    2015-03-01

    Recent research on the grinding force involved in cylindrical plunge grinding has focused mainly on steady-state conditions. Unlike in conventional external cylindrical plunge grinding, the conditions between the grinding wheel and the crankpin change periodically in path controlled grinding because of the eccentricity of the crankpin and the constant rotational speed of the crankshaft. The objective of this study is to investigate the effects of various grinding conditions on the characteristics of the grinding force during continuous path controlled grinding. Path controlled plunge grinding is conducted at a constant rotational speed using a cubic boron nitride (CBN) wheel. The grinding force is determined by measuring the torque. The experimental results show that the force and torque vary sinusoidally during dry grinding and load grinding. The variations in the results reveal that the resultant grinding force and torque decrease with higher grinding speeds and increase with higher peripheral speeds of the pin and higher grinding depths. In path controlled grinding, unlike in conventional external cylindrical plunge grinding, the axial grinding force cannot be disregarded. The speeds and speed ratios of the workpiece and wheel are also analyzed, and the analysis results show that up-grinding and down-grinding occur during the grinding process. This paper proposes a method for describing the force behavior under varied process conditions during continuous path controlled grinding, which provides a beneficial reference for describing the material removal mechanism and for optimizing continuous controlled crankpin grinding.

  15. Modeling and boundary force control of microcantilevers utilized in atomic force microscopy for cellular imaging and characterization

    Science.gov (United States)

    Eslami, Sohrab

    the proposed Euler-Bernoulli model, a more comprehensive model is developed by modeling the probe dynamics and including the effects of the rotary inertia and shear deformation under the same proposed tip-sample interaction force. An extensive comparative study between the Euler-Bernoulli and Timoshenko beam assumptions is conducted for different conditions including different base-excitation amplitudes and higher modes. The results underline that the comprehensive Timoshenko model unveils the effects of the nonlinear interaction force better than the Euler-Bernoulli beam model. In addition to extensive modeling efforts on the microcantilever and its interaction with sample, an adaptive control framework is developed in order to make the microcantilever's tip follow a desired trajectory. This trajectory can further be considered as an important path acquired by the path planning techniques to manipulate the nanoparticles. There is a base excitation considered for this model and can be considered as an input force control to excite the probe by taking advantage of flexibility of the cantilever despite its complexity and under existence of the external nonlinear interaction forces between the tip and sample's surface. When building such complicated controller on top of the proposed comprehensive model, the results could be extended to study a macro-micro hybrid rigid-flexible model of a microrobot to mimic the realistic behavior of the MM3ARTM microrobot. The MM3ARTM microrobot is equipped with a piezoresistive layer which functions as a force sensor and is capable of measuring very slight forces as small as micro to nano-Newton. Two types of controllers are investigated for the case of the tip force control. Lyapunov-based PD and robust adaptive controllers are developed for this purpose and their performances and stabilities are compared. In the experimental part, a platform for performing the automated nanomanipulation and real-time cellular imaging is developed by

  16. Polarization phenomena of nuclear force and weak interaction

    International Nuclear Information System (INIS)

    Konuma, Michitsugu

    1982-01-01

    As one of the projects at the National Laboratory of High Energy Physics (KEK), the measurement of parity non-conservation component in nuclear force was proposed. The theoretical survey of this proposal is reported. The non-relativistic parity non-conserving potential between nucleons can be obtained from the interaction between a quark and a gauge boson. The wave function of a nucleus, which includes the inverse components of the parity, can be written. A practical experiment was designed. The mixing of the inverse components and the interference of an inverse component in the 1042 keV and 1081 keV levels of F 18 may produce the parity non-conservation. The processes which suggest the existence of parity non-conservation were studied. The processes are the circular polarization of gamma-ray emitted from a nucleus, the angular distribution of gamma-ray emitted from polarized nuclei, the collision of the proton beam with helicity of plus and minus on other nuclei, the spin rotation of neutrons, and the alpha decay of the parity non-conservation. The preliminary results of the experiment on the effects of parity non-conservation in the collision process of polarized proton beam have been reported, and the theoretical analyses were performed. The violation of parity conservation in large momentum collision is discussed. The comparison of the theoretical results with the experimental ones is presented. (Kato, T.)

  17. Control of force during rapid visuomotor force-matching tasks can be described by discrete time PID control algorithms.

    Science.gov (United States)

    Dideriksen, Jakob Lund; Feeney, Daniel F; Almuklass, Awad M; Enoka, Roger M

    2017-08-01

    Force trajectories during isometric force-matching tasks involving isometric contractions vary substantially across individuals. In this study, we investigated if this variability can be explained by discrete time proportional, integral, derivative (PID) control algorithms with varying model parameters. To this end, we analyzed the pinch force trajectories of 24 subjects performing two rapid force-matching tasks with visual feedback. Both tasks involved isometric contractions to a target force of 10% maximal voluntary contraction. One task involved a single action (pinch) and the other required a double action (concurrent pinch and wrist extension). 50,000 force trajectories were simulated with a computational neuromuscular model whose input was determined by a PID controller with different PID gains and frequencies at which the controller adjusted muscle commands. The goal was to find the best match between each experimental force trajectory and all simulated trajectories. It was possible to identify one realization of the PID controller that matched the experimental force produced during each task for most subjects (average index of similarity: 0.87 ± 0.12; 1 = perfect similarity). The similarities for both tasks were significantly greater than that would be expected by chance (single action: p = 0.01; double action: p = 0.04). Furthermore, the identified control frequencies in the simulated PID controller with the greatest similarities decreased as task difficulty increased (single action: 4.0 ± 1.8 Hz; double action: 3.1 ± 1.3 Hz). Overall, the results indicate that discrete time PID controllers are realistic models for the neural control of force in rapid force-matching tasks involving isometric contractions.

  18. Remodeling Air Force Cyber Command and Control

    Science.gov (United States)

    2017-10-10

    Internet, telecommunications networks, computer systems , and embedded processors and controllers .” That last phrase includes processors and controllers ...embedded” into weapons systems , including aircraft and spacecraft. Many weapon systems were built and connected before cyberspace became a...problems for systemic improvement of mission assurance. The benefit of a centralized environment could also extend to improving enterprise-level patch

  19. Controlling Force and Depth in Friction Stir Welding

    Science.gov (United States)

    Adams, Glynn; Loftus, Zachary; McCormac, Nathan; Venable, Richard

    2005-01-01

    Feedback control of the penetration force applied to a pin tool in friction stir welding has been found to be a robust and reliable means for controlling the depth of penetration of the tool. This discovery has made it possible to simplify depth control and to weld with greater repeatability, even on workpieces with long weld joints. Prior to this discovery, depths of penetration in friction stir welding were controlled by hard-tooled roller assemblies or by depth actuators controlled by feedback from such external sensors as linear variable-differential transformers or laser-based devices. These means of control are limited: A hard-tooled roller assembly confines a pin tool to a preset depth that cannot be changed easily during the welding process. A measurement by an external sensor is only an indirect indicative of the depth of penetration, and computations to correlate such a measurement with a depth of penetration are vulnerable to error. The present force-feedback approach exploits the proportionality between the depth and the force of penetration Unlike a depth measurement taken by an external sensor, a force measurement can be direct because it can be taken by a sensor coupled directly to the pin tool. The reading can be processed through a modern electronic servo control system to control an actuator to keep the applied penetration force at the desired level. In comparison with the older depth-control methods described above, this method offers greater sensitivity to plasticizing of the workpiece metal and is less sensitive to process noise, resulting in a more consistent process. In an experiment, a tapered panel was friction stir welded while controlling the force of penetration according to this method. The figure is a plot of measurements taken during the experiment, showing that force was controlled with a variation of 200 lb (890 N), resulting in control of the depth of penetration with a variation of 0.004 in. (0.1 mm).

  20. Performance evaluation on force control for ITER blanket installation

    Energy Technology Data Exchange (ETDEWEB)

    Aburadani, A., E-mail: aburadani.atsushi@jaea.go.jp [Japan Atomic Energy Agency, Mukouyama 801-1, Naka, Ibaraki 311-0193 (Japan); Takeda, N.; Shigematsu, S.; Murakami, S.; Tanigawa, H.; Kakudate, S. [Japan Atomic Energy Agency, Mukouyama 801-1, Naka, Ibaraki 311-0193 (Japan); Nakahira, M.; Hamilton, D.; Tesini, A. [ITER Organization, Route de Vinon sur Verdon, 13115 Saint Paul Lez Durance (France)

    2013-10-15

    Highlights: ► It is crucial issues to avoid any jamming between the blanket modules and the keys. ► Force control for AC servo motor was developed to reduce excessive loads. ► This jam prevention force control method is directly measured and controlled by AC servo motor controllers. ► In the recent test, the module was passively positioned onto keys using the torque control method. -- Abstract: The most critical issue for the ITER blanket installation is to avoid any jamming between the blanket modules and the keys as a result of excessive loading during the module installation process. This is complicated by the limited clearance of 0.5 mm between the modules and the keys. To solve these technical issues, force control, such as controlling the torque for the AC servo motors, was developed to reduce excessive loads which may have an impact on the end-effector and to defer the forces acting on the groove of the blanket. This jam prevention force control method is directly measured and controlled by AC servo motor controllers. The AC servo motors are equipped to move the manipulator and end-effector during module installation.

  1. Performance evaluation on force control for ITER blanket installation

    International Nuclear Information System (INIS)

    Aburadani, A.; Takeda, N.; Shigematsu, S.; Murakami, S.; Tanigawa, H.; Kakudate, S.; Nakahira, M.; Hamilton, D.; Tesini, A.

    2013-01-01

    Highlights: ► It is crucial issues to avoid any jamming between the blanket modules and the keys. ► Force control for AC servo motor was developed to reduce excessive loads. ► This jam prevention force control method is directly measured and controlled by AC servo motor controllers. ► In the recent test, the module was passively positioned onto keys using the torque control method. -- Abstract: The most critical issue for the ITER blanket installation is to avoid any jamming between the blanket modules and the keys as a result of excessive loading during the module installation process. This is complicated by the limited clearance of 0.5 mm between the modules and the keys. To solve these technical issues, force control, such as controlling the torque for the AC servo motors, was developed to reduce excessive loads which may have an impact on the end-effector and to defer the forces acting on the groove of the blanket. This jam prevention force control method is directly measured and controlled by AC servo motor controllers. The AC servo motors are equipped to move the manipulator and end-effector during module installation

  2. Force analysis of magnetic bearings with power-saving controls

    International Nuclear Information System (INIS)

    Johnson, D.; Brown, G.V.; Inman, D.J.

    1992-01-01

    Most magnetic bearing control schemes use a bias current with a superimposed control current to linearize the relationship between the control current and the force it delivers. For most operating conditions, the existence of the bias current requires more power than alternative methods that do not use conventional bias. Two such methods are examined which diminish or eliminate bias current. In the typical bias control scheme it is found that for a harmonic control force command into a voltage limited transconductance amplifier, the desired force output is obtained only up to certain combinations of force amplitude and frequency. Above these values, the force amplitude is reduced and a phase lag occurs. The power saving alternative control schemes typically exhibit such deficiencies at even lower command frequencies and amplitudes. To assess the severity of these effects, a time history analysis of the force output is performed for the bias method and the alternative methods. Results of the analysis show that the alternative approaches may be viable. The various control methods examined were mathematically modeled using nondimensionalized variables to facilitate comparison of the various methods

  3. The Air Force Center for Optimal Design and Control

    National Research Council Canada - National Science Library

    Burns, John

    1997-01-01

    This report contains a summary and highlights of the research funded by the Air Force under AFOSR URI Grant F49620-93-1-0280, titled 'Center for Optimal Design and Control of Distributed Parameter Systems' (CODAC...

  4. Complimentary Force Allocation Control for a Dual-Mover Linear Switched Reluctance Machine

    Directory of Open Access Journals (Sweden)

    J. F. Pan

    2017-12-01

    Full Text Available This paper inspects the complementary force allocation control schemes for an integrated, dual-mover linear switched reluctance machine (LSRM. The performance of the total force is realized by the coordination of the two movers. First, the structure and characteristics of the LSRM are investigated. Then, a complimentary force allocation control scheme for the two movers is proposed. Next, three force allocation methods—constant proportion, constant proportion with a saturation interval and error compensation, and the variable proportion allocation strategies—are proposed and analyzed, respectively. Experimental results demonstrate that the complimentary force interaction between the two movers can effectively reduce the total amount of force ripples from each method. The results under the variable proportion method also show that dynamic error values falling into 0.044 mm and −0.04 mm under the unit ramp force reference can be achieved. With the sinusoidal force reference with an amplitude of 60 N and a frequency of 0.5 Hz, a dynamic force control precision of 0.062 N and 0.091 N can also be obtained.

  5. Quantifying the human-robot interaction forces between a lower limb exoskeleton and healthy users.

    Science.gov (United States)

    Rathore, Ashish; Wilcox, Matthew; Ramirez, Dafne Zuleima Morgado; Loureiro, Rui; Carlson, Tom

    2016-08-01

    To counter the many disadvantages of prolonged wheelchair use, patients with spinal cord injuries (SCI) are beginning to turn towards robotic exoskeletons. However, we are currently unaware of the magnitude and distribution of forces acting between the user and the exoskeleton. This is a critical issue, as SCI patients have an increased susceptibility to skin lesions and pressure ulcer development. Therefore, we developed a real-time force measuring apparatus, which was placed at the physical human-robot interface (pHRI) of a lower limb robotic exoskeleton. Experiments captured the dynamics of these interaction forces whilst the participants performed a range of typical stepping actions. Our results indicate that peak forces occurred at the anterior aspect of both the left and right legs, areas that are particularly prone to pressure ulcer development. A significant difference was also found between the average force experienced at the anterior and posterior sensors of the right thigh during the swing phase for different movement primitives. These results call for the integration of instrumented straps as standard in lower limb exoskeletons. They also highlight the potential of such straps to be used as an alternative/complementary interface for the high-level control of lower limb exoskeletons in some patient groups.

  6. Hybrid viscous damper with filtered integral force feedback control

    DEFF Research Database (Denmark)

    Høgsberg, Jan; Brodersen, Mark L.

    2016-01-01

    In hybrid damper systems active control devices are usually introduced to enhance the performance of otherwise passive dampers. In the present paper a hybrid damper concept is comprised of a passive viscous damper placed in series with an active actuator and a force sensor. The actuator motion...... is controlled by a filtered integral force feedback strategy, where the main feature is the filter, which is designed to render a damper force that in a phase-plane representation operates in front of the corresponding damper velocity. It is demonstrated that in the specific parameter regime where the damper...

  7. Force interaction and 3D pole movement in double poling.

    Science.gov (United States)

    Stöggl, T; Holmberg, H-C

    2011-12-01

    The aim of this study was to analyze double poling using combined kinetic and 3D kinematic analysis at high skiing speeds as regards pole force components, pole angles and pole behavior during the poling and swing phase. The hypothesis was that a horizontal pole force is more predictive for maximal skiing speed (V(max)) than the resultant pole force. Sixteen elite skiers performed a double-poling V(max) test while treadmill roller skiing. Pole forces and 3D kinematics of pole movement at a speed of 30 km/h were analyzed and related to V(max). The duration of the "preparation phase" showed the strongest relationship with V(max) (r=0.87, Pmax) compared with the resultant pole force. Impact force was not related to V(max). At high skiing speeds, skiers should aim to combine high pole forces with appropriate timing of pole forces and appropriate pole and body positions during the swing and poling phase. The emphasis in training should be on the development of specific strength capacities for pole force production and the utilization of these capacities in double-poling training sessions. © 2011 John Wiley & Sons A/S.

  8. Theoretical analysis of steady state operating forces in control valves

    Directory of Open Access Journals (Sweden)

    Basavaraj Hubballi

    2018-01-01

    Full Text Available The controlling components, such as valves are used to regulate controlled fluid power. It is not always possible to calculate valve forces accurately, and with some types of valves even the existence of certain types of forces cannot be predicted with certainty. In many cases, however, the analysis can be made fairly completely and accurately. The assumption of steady state conditions is valid for the valve alone, but transient effects in the rest of the system may be large. These effects are particularly important with regard to the instability of valves, where the system may react on the valve in such a way as to make it squeal or oscillate, sometimes with large amplitude. The origin of the steady state flow force understood from a brief qualitative explanation. The following paper will summarize much of what is known about valve forces in the spool type controlling element.

  9. Environmental forcing, invasion and control of ecological and epidemiological systems.

    Science.gov (United States)

    Greenman, J V; Norman, R A

    2007-08-07

    Destabilising a biological system through periodic or stochastic forcing can lead to significant changes in system behaviour. Forcing can bring about coexistence when previously there was exclusion; it can excite massive system response through resonance, it can offset the negative effect of apparent competition and it can change the conditions under which the system can be invaded. Our main focus is on the invasion properties of continuous time models under periodic forcing. We show that invasion is highly sensitive to the strength, period, phase, shape and configuration of the forcing components. This complexity can be of great advantage if some of the forcing components are anthropogenic in origin. They can be turned into instruments of control to achieve specific objectives in ecology and disease management, for example. Culling, vaccination and resource regulation are considered. A general analysis is presented, based on the leading Lyapunov exponent criterion for invasion. For unstructured invaders, a formula for this exponent can typically be written down from the model equations. Whether forcing hinders or encourages invasion depends on two factors: the covariances between invader parameters and resident populations and the shifts in average resident population levels brought about by the forcing. The invasion dynamics of a structured invader are much more complicated but an analytic solution can be obtained in quadratic approximation for moderate forcing strength. The general theory is illustrated by a range of models drawn from ecology and epidemiology. The relationship between periodic and stochastic forcing is also considered.

  10. Long range forces and limits on unparticle interactions

    International Nuclear Information System (INIS)

    Deshpande, N.G.; Hsu, Stephen D.H.; Jiang Jing

    2008-01-01

    Couplings between standard model particles and unparticles from a nontrivial scale invariant sector can lead to long range forces. If the forces couple to quantities such as baryon or lepton (electron) number, stringent limits result from tests of the gravitational inverse square law. These limits are much stronger than from collider phenomenology and astrophysics

  11. Stochastic motion from a forced plasma-maser interaction

    International Nuclear Information System (INIS)

    Honjo, Haruo; Nambu, Mitsuhiro

    1986-01-01

    A model of forced plasma-maser effects is examined numerically. The model represents a conservative system and reduces to the forced type of the original Lotka-Volterra equation. A stochastic motion is found to occur when the density of a cold ion beam becomes larger. (author)

  12. Force Feedback Control Method of Active Tuned Mass Damper

    Directory of Open Access Journals (Sweden)

    Xiuli Wang

    2017-01-01

    Full Text Available Active tuned mass dampers as vibration-control devices are widely used in many fields for their good stability and effectiveness. To improve the performance of such dampers, a control method based on force feedback is proposed. The method offers several advantages such as high-precision control and low-performance requirements for the actuator, as well as not needing additional compensators. The force feedback control strategy was designed based on direct-velocity feedback. The effectiveness of the method was verified in a single-degree-of-freedom system, and factors such as damping effect, required active force, actuator stroke, and power consumption of the damper were analyzed. Finally, a simulation study was performed by configuring a main complex elastic-vibration-damping system. The results show that the method provides effective control over modal resonances of multiple orders of the system and improves its dynamics performance.

  13. Prosthetic Leg Control in the Nullspace of Human Interaction.

    Science.gov (United States)

    Gregg, Robert D; Martin, Anne E

    2016-07-01

    Recent work has extended the control method of virtual constraints, originally developed for autonomous walking robots, to powered prosthetic legs for lower-limb amputees. Virtual constraints define desired joint patterns as functions of a mechanical phasing variable, which are typically enforced by torque control laws that linearize the output dynamics associated with the virtual constraints. However, the output dynamics of a powered prosthetic leg generally depend on the human interaction forces, which must be measured and canceled by the feedback linearizing control law. This feedback requires expensive multi-axis load cells, and actively canceling the interaction forces may minimize the human's influence over the prosthesis. To address these limitations, this paper proposes a method for projecting virtual constraints into the nullspace of the human interaction terms in the output dynamics. The projected virtual constraints naturally render the output dynamics invariant with respect to the human interaction forces, which instead enter into the internal dynamics of the partially linearized prosthetic system. This method is illustrated with simulations of a transfemoral amputee model walking with a powered knee-ankle prosthesis that is controlled via virtual constraints with and without the proposed projection.

  14. Interactivity in automatic control: foundations and experiences

    OpenAIRE

    Dormido Bencomo, Sebastián; Guzmán Sánchez, José Luis; Costa Castelló, Ramon; Berenguel, M

    2012-01-01

    The first part of this paper presents the concepts of interactivity and visualization and its essential role in learning the fundamentals and techniques of automatic control. More than 10 years experience of the authors in the development and design of interactive tools dedicated to the study of automatic control concepts are also exposed. The second part of the paper summarizes the main features of the “Automatic Control with Interactive Tools” text that has been recently published by Pea...

  15. Interactive forces between lignin and cellulase as determined by atomic force microscopy

    OpenAIRE

    Qin, Chengrong; Clarke, Kimberley; Li, Kecheng

    2014-01-01

    Background Lignin is a complex polymer which inhibits the enzymatic conversion of cellulose to glucose in lignocellulose biomass for biofuel production. Cellulase enzymes irreversibly bind to lignin, deactivating the enzyme and lowering the overall activity of the hydrolyzing reaction solution. Within this study, atomic force microscopy (AFM) is used to compare the adhesion forces between cellulase and lignin with the forces between cellulase and cellulose, and to study the moiety groups invo...

  16. Controlling the Casimir force via the electromagnetic properties of materials

    International Nuclear Information System (INIS)

    Yang Yaping; Chen Hong; Zeng Ran; Zhu Shiyao; Zubairy, M. Suhail

    2010-01-01

    The control of the Casimir force between two parallel plates can be achieved through adjusting the frequency-dependent electromagnetic properties of materials of the two plates. We show that, for different plate separations, the main contribution to the Casimir force comes from different frequency regions: For smaller (larger) separation, it comes from the higher (lower) frequency region. When the separation of the plates increases, the Casimir force can vary from attractive to repulsive and/or vice versa, by selecting the two plates with suitable electromagnetic properties. We discuss how a restoring Casimir force, which varies from repulsive to attractive by increasing the separation, can be realized and that the stable equilibrium is formed at zero Casimir force.

  17. Dynamical signatures of isometric force control as a function of age, expertise, and task constraints.

    Science.gov (United States)

    Vieluf, Solveig; Sleimen-Malkoun, Rita; Voelcker-Rehage, Claudia; Jirsa, Viktor; Reuter, Eva-Maria; Godde, Ben; Temprado, Jean-Jacques; Huys, Raoul

    2017-07-01

    From the conceptual and methodological framework of the dynamical systems approach, force control results from complex interactions of various subsystems yielding observable behavioral fluctuations, which comprise both deterministic (predictable) and stochastic (noise-like) dynamical components. Here, we investigated these components contributing to the observed variability in force control in groups of participants differing in age and expertise level. To this aim, young (18-25 yr) as well as late middle-aged (55-65 yr) novices and experts (precision mechanics) performed a force maintenance and a force modulation task. Results showed that whereas the amplitude of force variability did not differ across groups in the maintenance tasks, in the modulation task it was higher for late middle-aged novices than for experts and higher for both these groups than for young participants. Within both tasks and for all groups, stochastic fluctuations were lowest where the deterministic influence was smallest. However, although all groups showed similar dynamics underlying force control in the maintenance task, a group effect was found for deterministic and stochastic fluctuations in the modulation task. The latter findings imply that both components were involved in the observed group differences in the variability of force fluctuations in the modulation task. These findings suggest that between groups the general characteristics of the dynamics do not differ in either task and that force control is more affected by age than by expertise. However, expertise seems to counteract some of the age effects. NEW & NOTEWORTHY Stochastic and deterministic dynamical components contribute to force production. Dynamical signatures differ between force maintenance and cyclic force modulation tasks but hardly between age and expertise groups. Differences in both stochastic and deterministic components are associated with group differences in behavioral variability, and observed behavioral

  18. Coherence and interlimb force control: Effects of visual gain.

    Science.gov (United States)

    Kang, Nyeonju; Cauraugh, James H

    2018-03-06

    Neural coupling across hemispheres and homologous muscles often appears during bimanual motor control. Force coupling in a specific frequency domain may indicate specific bimanual force coordination patterns. This study investigated coherence on pairs of bimanual isometric index finger force while manipulating visual gain and task asymmetry conditions. We used two visual gain conditions (low and high gain = 8 and 512 pixels/N), and created task asymmetry by manipulating coefficient ratios imposed on the left and right index finger forces (0.4:1.6; 1:1; 1.6:0.4, respectively). Unequal coefficient ratios required different contributions from each hand to the bimanual force task resulting in force asymmetry. Fourteen healthy young adults performed bimanual isometric force control at 20% of their maximal level of the summed force of both fingers. We quantified peak coherence and relative phase angle between hands at 0-4, 4-8, and 8-12 Hz, and estimated a signal-to-noise ratio of bimanual forces. The findings revealed higher peak coherence and relative phase angle at 0-4 Hz than at 4-8 and 8-12 Hz for both visual gain conditions. Further, peak coherence and relative phase angle values at 0-4 Hz were larger at the high gain than at the low gain. At the high gain, higher peak coherence at 0-4 Hz collapsed across task asymmetry conditions significantly predicted greater signal-to-noise ratio. These findings indicate that a greater level of visual information facilitates bimanual force coupling at a specific frequency range related to sensorimotor processing. Copyright © 2018 Elsevier B.V. All rights reserved.

  19. External force/velocity control for an autonomous rehabilitation robot

    Science.gov (United States)

    Saekow, Peerayuth; Neranon, Paramin; Smithmaitrie, Pruittikorn

    2018-01-01

    Stroke is a primary cause of death and the leading cause of permanent disability in adults. There are many stroke survivors, who live with a variety of levels of disability and always need rehabilitation activities on daily basis. Several studies have reported that usage of rehabilitation robotic devices shows the better improvement outcomes in upper-limb stroke patients than the conventional therapy-nurses or therapists actively help patients with exercise-based rehabilitation. This research focuses on the development of an autonomous robotic trainer designed to guide a stroke patient through an upper-limb rehabilitation task. The robotic device was designed and developed to automate the reaching exercise as mentioned. The designed robotic system is made up of a four-wheel omni-directional mobile robot, an ATI Gamma multi-axis force/torque sensor used to measure contact force and a microcontroller real-time operating system. Proportional plus Integral control was adapted to control the overall performance and stability of the autonomous assistive robot. External force control was successfully implemented to establish the behavioral control strategy for the robot force and velocity control scheme. In summary, the experimental results indicated satisfactorily stable performance of the robot force and velocity control can be considered acceptable. The gain tuning for proportional integral (PI) velocity control algorithms was suitably estimated using the Ziegler-Nichols method in which the optimized proportional and integral gains are 0.45 and 0.11, respectively. Additionally, the PI external force control gains were experimentally tuned using the trial and error method based on a set of experiments which allow a human participant moves the robot along the constrained circular path whilst attempting to minimize the radial force. The performance was analyzed based on the root mean square error (E_RMS) of the radial forces, in which the lower the variation in radial

  20. Control of weakly conductive fluids by near wall Lorentz forces

    Energy Technology Data Exchange (ETDEWEB)

    Hinze, M. [Technische Univ. Dresden (Germany). Inst. fuer Numerische Mathematik

    2007-07-01

    In this work optimal and model-predictive control approaches for control of weakly conductive fluids are developed. The flow around the circular cylinder at low Reynolds numbers serves as prototyping application. Control by near-wall Lorentz forces gains either to suppress the formation of the von Karman Vortex Street, or to reduce the drag. Besides a concise mathematical modelling numerical examples are presented which highlight the scope of the presented control approaches. (orig.)

  1. Report of the Material Control and Material Accounting Task Force

    International Nuclear Information System (INIS)

    1978-03-01

    In September 1977 a Task Force was formed to complete a study of the role of material control and material accounting in NRC's safeguards program. The Task Force's assignment was to: define the roles and objectives of material control and material accounting in the NRC safeguards program; recommend goals for the material control and material accounting systems based on their roles and objectives; assess the extent to which the existing safeguards regulatory base meets or provides the capability to meet the recommended goals; and provide direction for material control and material accounting development, including both near-term and long-term upgrades. The study was limited to domestic nuclear facilities possessing significant amounts of plutonium, uranium-233 or highly enriched uranium in unsealed form. The Task Force findings are reported

  2. Myoelectric hand prosthesis force control through servo motor current feedback.

    Science.gov (United States)

    Sono, Tálita Saemi Payossim; Menegaldo, Luciano Luporini

    2009-10-01

    This paper presents the prehension force closed-loop control design of a mechanical finger commanded by electromyographic signal (EMG) from a patient's arm. The control scheme was implemented and tested in a mechanical finger prototype with three degrees of freedom and one actuator, driven by arm muscles EMG of normal volunteers. Real-time indirect estimation of prehension force was assessed by measuring the DC servo motor actuator current. A model of the plant comprising finger, motor, and grasped object was proposed. Model parameters were identified experimentally and a classical feedback phase-lead compensator was designed. The controlled mechanical finger was able to provide a more accurate prehension force modulation of a compliant object when compared to open-loop control.

  3. Optimal integral force feedback for active vibration control

    Science.gov (United States)

    Teo, Yik R.; Fleming, Andrew J.

    2015-11-01

    This paper proposes an improvement to Integral Force Feedback (IFF), which is a popular method for active vibration control of structures and mechanical systems. Benefits of IFF include robustness, guaranteed stability and simplicity. However, the maximum damping performance is dependent on the stiffness of the system; hence, some systems cannot be adequately controlled. In this paper, an improvement to the classical force feedback control scheme is proposed. The improved method achieves arbitrary damping for any mechanical system by introducing a feed-through term. The proposed improvement is experimentally demonstrated by actively damping an objective lens assembly for a high-speed confocal microscope.

  4. Balancing the Interactions of Ions, Water, and DNA in the Drude Polarizable Force Field

    OpenAIRE

    Savelyev, Alexey; MacKerell, Alexander D.

    2014-01-01

    Recently we presented a first-generation all-atom Drude polarizable force field for DNA based on the classical Drude oscillator model, focusing on optimization of key dihedral angles followed by extensive validation of the force field parameters. Presently, we describe the procedure for balancing the electrostatic interactions between ions, water, and DNA as required for development of the Drude force field for DNA. The proper balance of these interactions is shown to impact DNA stability and...

  5. Extraction of user's navigation commands from upper body force interaction in walker assisted gait.

    Science.gov (United States)

    Frizera Neto, Anselmo; Gallego, Juan A; Rocon, Eduardo; Pons, José L; Ceres, Ramón

    2010-08-05

    The advances in technology make possible the incorporation of sensors and actuators in rollators, building safer robots and extending the use of walkers to a more diverse population. This paper presents a new method for the extraction of navigation related components from upper-body force interaction data in walker assisted gait. A filtering architecture is designed to cancel: (i) the high-frequency noise caused by vibrations on the walker's structure due to irregularities on the terrain or walker's wheels and (ii) the cadence related force components caused by user's trunk oscillations during gait. As a result, a third component related to user's navigation commands is distinguished. For the cancelation of high-frequency noise, a Benedict-Bordner g-h filter was designed presenting very low values for Kinematic Tracking Error ((2.035 +/- 0.358).10(-2) kgf) and delay ((1.897 +/- 0.3697).10(1)ms). A Fourier Linear Combiner filtering architecture was implemented for the adaptive attenuation of about 80% of the cadence related components' energy from force data. This was done without compromising the information contained in the frequencies close to such notch filters. The presented methodology offers an effective cancelation of the undesired components from force data, allowing the system to extract in real-time voluntary user's navigation commands. Based on this real-time identification of voluntary user's commands, a classical approach to the control architecture of the robotic walker is being developed, in order to obtain stable and safe user assisted locomotion.

  6. Electrotactile EMG feedback improves the control of prosthesis grasping force

    Science.gov (United States)

    Schweisfurth, Meike A.; Markovic, Marko; Dosen, Strahinja; Teich, Florian; Graimann, Bernhard; Farina, Dario

    2016-10-01

    Objective. A drawback of active prostheses is that they detach the subject from the produced forces, thereby preventing direct mechanical feedback. This can be compensated by providing somatosensory feedback to the user through mechanical or electrical stimulation, which in turn may improve the utility, sense of embodiment, and thereby increase the acceptance rate. Approach. In this study, we compared a novel approach to closing the loop, namely EMG feedback (emgFB), to classic force feedback (forceFB), using electrotactile interface in a realistic task setup. Eleven intact-bodied subjects and one transradial amputee performed a routine grasping task while receiving emgFB or forceFB. The two feedback types were delivered through the same electrotactile interface, using a mixed spatial/frequency coding to transmit 8 discrete levels of the feedback variable. In emgFB, the stimulation transmitted the amplitude of the processed myoelectric signal generated by the subject (prosthesis input), and in forceFB the generated grasping force (prosthesis output). The task comprised 150 trials of routine grasping at six forces, randomly presented in blocks of five trials (same force). Interquartile range and changes in the absolute error (AE) distribution (magnitude and dispersion) with respect to the target level were used to assess precision and overall performance, respectively. Main results. Relative to forceFB, emgFB significantly improved the precision of myoelectric commands (min/max of the significant levels) for 23%/36% as well as the precision of force control for 12%/32%, in intact-bodied subjects. Also, the magnitude and dispersion of the AE distribution were reduced. The results were similar in the amputee, showing considerable improvements. Significance. Using emgFB, the subjects therefore decreased the uncertainty of the forward pathway. Since there is a correspondence between the EMG and force, where the former anticipates the latter, the emgFB allowed for

  7. Reduction of vortex induced forces and motion through surface roughness control

    Science.gov (United States)

    Bernitsas, Michael M; Raghavan, Kamaldev

    2014-04-01

    Roughness is added to the surface of a bluff body in a relative motion with respect to a fluid. The amount, size, and distribution of roughness on the body surface is controlled passively or actively to modify the flow around the body and subsequently the Vortex Induced Forces and Motion (VIFM). The added roughness, when designed and implemented appropriately, affects in a predetermined way the boundary layer, the separation of the boundary layer, the level of turbulence, the wake, the drag and lift forces, and consequently the Vortex Induced Motion (VIM), and the fluid-structure interaction. The goal of surface roughness control is to decrease/suppress Vortex Induced Forces and Motion. Suppression is required when fluid-structure interaction becomes destructive as in VIM of flexible cylinders or rigid cylinders on elastic support, such as underwater pipelines, marine risers, tubes in heat exchangers, nuclear fuel rods, cooling towers, SPAR offshore platforms.

  8. Control of a Robot Dancer for Enhancing Haptic Human-Robot Interaction in Waltz.

    Science.gov (United States)

    Hongbo Wang; Kosuge, K

    2012-01-01

    Haptic interaction between a human leader and a robot follower in waltz is studied in this paper. An inverted pendulum model is used to approximate the human's body dynamics. With the feedbacks from the force sensor and laser range finders, the robot is able to estimate the human leader's state by using an extended Kalman filter (EKF). To reduce interaction force, two robot controllers, namely, admittance with virtual force controller, and inverted pendulum controller, are proposed and evaluated in experiments. The former controller failed the experiment; reasons for the failure are explained. At the same time, the use of the latter controller is validated by experiment results.

  9. Accurate fluid force measurement based on control surface integration

    Science.gov (United States)

    Lentink, David

    2018-01-01

    Nonintrusive 3D fluid force measurements are still challenging to conduct accurately for freely moving animals, vehicles, and deforming objects. Two techniques, 3D particle image velocimetry (PIV) and a new technique, the aerodynamic force platform (AFP), address this. Both rely on the control volume integral for momentum; whereas PIV requires numerical integration of flow fields, the AFP performs the integration mechanically based on rigid walls that form the control surface. The accuracy of both PIV and AFP measurements based on the control surface integration is thought to hinge on determining the unsteady body force associated with the acceleration of the volume of displaced fluid. Here, I introduce a set of non-dimensional error ratios to show which fluid and body parameters make the error negligible. The unsteady body force is insignificant in all conditions where the average density of the body is much greater than the density of the fluid, e.g., in gas. Whenever a strongly deforming body experiences significant buoyancy and acceleration, the error is significant. Remarkably, this error can be entirely corrected for with an exact factor provided that the body has a sufficiently homogenous density or acceleration distribution, which is common in liquids. The correction factor for omitting the unsteady body force, {{{ {ρ f}} {1 - {ρ f} ( {{ρ b}+{ρ f}} )}.{( {{{{ρ }}b}+{ρ f}} )}}} , depends only on the fluid, {ρ f}, and body, {{ρ }}b, density. Whereas these straightforward solutions work even at the liquid-gas interface in a significant number of cases, they do not work for generalized bodies undergoing buoyancy in combination with appreciable body density inhomogeneity, volume change (PIV), or volume rate-of-change (PIV and AFP). In these less common cases, the 3D body shape needs to be measured and resolved in time and space to estimate the unsteady body force. The analysis shows that accounting for the unsteady body force is straightforward to non

  10. Deficits of anticipatory grip force control after damage to peripheral and central sensorimotor systems.

    Science.gov (United States)

    Hermsdörfer, Joachim; Hagl, Elke; Nowak, Dennis A

    2004-11-01

    Healthy subjects adjust their grip force economically to the weight of a hand-held object. In addition, inertial loads, which arise from arm movements with the grasped object, are anticipated by parallel grip force modulations. Internal forward models have been proposed to predict the consequences of voluntary movements. Anesthesia of the fingers impairs grip force economy but the feedforward character of the grip force/load coupling is preserved. To further analyze the role of sensory input for internal forward models and to characterize the consequences of central nervous system damage for anticipatory grip force control, we measured grip force behavior in neurological patients. We tested a group of stroke patients with varying degrees of impaired fine motor control and sensory loss, a single patient with complete and permanent differentation from all tactile and proprioceptive input, and a group of patients with amyotrophic lateral sclerosis (ALS) that exclusively impairs the motor system without affecting sensory modalities. Increased grip forces were a common finding in all patients. Sensory deficits were a strong but not the only predictor of impaired grip force economy. The feedforward mode of grip force control was typically preserved in the stroke patients despite their central sensory deficits, but was severely disturbed in the patient with peripheral sensory deafferentation and in a minority of stroke patients. Moderate deficits of feedforward control were also obvious in ALS patients. Thus, the function of the internal forward model and the precision of grip force production may depend on a complex anatomical and functional network of sensory and motor structures and their interaction in time and space.

  11. High cable forces deteriorate pinch force control in voluntary-closing body-powered prostheses

    NARCIS (Netherlands)

    Hichert, M.; Abbink, D.A.; Kyberd, P.J.; Plettenburg, D.H.

    2017-01-01

    Background It is generally asserted that reliable and intuitive control of upper-limb prostheses requires adequate feedback of prosthetic finger positions and pinch forces applied to objects. Bodypowered prostheses (BPPs) provide the user with direct proprioceptive feedback. Currently available

  12. Formation Control of Robotic Swarm Using Bounded Artificial Forces

    Science.gov (United States)

    Zha, Yabing; Peng, Yong

    2013-01-01

    Formation control of multirobot systems has drawn significant attention in the recent years. This paper presents a potential field control algorithm, navigating a swarm of robots into a predefined 2D shape while avoiding intermember collisions. The algorithm applies in both stationary and moving targets formation. We define the bounded artificial forces in the form of exponential functions, so that the behavior of the swarm drove by the forces can be adjusted via selecting proper control parameters. The theoretical analysis of the swarm behavior proves the stability and convergence properties of the algorithm. We further make certain modifications upon the forces to improve the robustness of the swarm behavior in the presence of realistic implementation considerations. The considerations include obstacle avoidance, local minima, and deformation of the shape. Finally, detailed simulation results validate the efficiency of the proposed algorithm, and the direction of possible futrue work is discussed in the conclusions. PMID:24453809

  13. Formation Control of Robotic Swarm Using Bounded Artificial Forces

    Directory of Open Access Journals (Sweden)

    Long Qin

    2013-01-01

    Full Text Available Formation control of multirobot systems has drawn significant attention in the recent years. This paper presents a potential field control algorithm, navigating a swarm of robots into a predefined 2D shape while avoiding intermember collisions. The algorithm applies in both stationary and moving targets formation. We define the bounded artificial forces in the form of exponential functions, so that the behavior of the swarm drove by the forces can be adjusted via selecting proper control parameters. The theoretical analysis of the swarm behavior proves the stability and convergence properties of the algorithm. We further make certain modifications upon the forces to improve the robustness of the swarm behavior in the presence of realistic implementation considerations. The considerations include obstacle avoidance, local minima, and deformation of the shape. Finally, detailed simulation results validate the efficiency of the proposed algorithm, and the direction of possible futrue work is discussed in the conclusions.

  14. Formation control of robotic swarm using bounded artificial forces.

    Science.gov (United States)

    Qin, Long; Zha, Yabing; Yin, Quanjun; Peng, Yong

    2013-01-01

    Formation control of multirobot systems has drawn significant attention in the recent years. This paper presents a potential field control algorithm, navigating a swarm of robots into a predefined 2D shape while avoiding intermember collisions. The algorithm applies in both stationary and moving targets formation. We define the bounded artificial forces in the form of exponential functions, so that the behavior of the swarm drove by the forces can be adjusted via selecting proper control parameters. The theoretical analysis of the swarm behavior proves the stability and convergence properties of the algorithm. We further make certain modifications upon the forces to improve the robustness of the swarm behavior in the presence of realistic implementation considerations. The considerations include obstacle avoidance, local minima, and deformation of the shape. Finally, detailed simulation results validate the efficiency of the proposed algorithm, and the direction of possible futrue work is discussed in the conclusions.

  15. ASSESSMENT OF GRIP FORCE CONTROL IN PATIENTS WITH MUSCULAR DYSTROPHY

    Directory of Open Access Journals (Sweden)

    Gregorij Kurillo

    2004-12-01

    Full Text Available Background. The majority of hand functionality tests are based on qualitative assessment which largely depends on the experience of the therapist. Computer-assisted methods can provide more objective and accurate measurements of the grip force and other parameters related to grasping.Methods. We analysed the grip force control in 12 patients with muscular dystrophy using the tracking system developed. The system consists of a grip-measuring device with endobjects assessing the force applied in different grips. The device was used as input to a tracking task where the patient applied the grip force according to the visual feedback from the computer screen. Each patient performed two tasks which consisted of tracking a ramp and sinus target.Results. We analysed the maximal grip force as assessed in the ramp task and the tracking accuracy of the sinus task. The results are compared among five different grips (cylindrical, lateral, palmar, pinch and spherical grip, applied with dominant and non-dominant hand. The results show no significant difference in tracking accuracy between the dominant and non-dominant hand.Conclusions. The results obtained in tracking the ramp target showed that the method could be used for the assessment of the muscle fatigue, providing quantitative information on muscle capacity. The results of the sinus-tracking task showed that the method can evaluate the grip force control in different types of grips, providing information on hand dexterity, muscle activation patterns or tremor.

  16. Magnetostatic interactions and forces between cylindrical permanent magnets

    Czech Academy of Sciences Publication Activity Database

    Vokoun, David; Beleggia, M.; Heller, Luděk; Šittner, Petr

    2009-01-01

    Roč. 321, č. 22 (2009), s. 3758-3763 ISSN 0304-8853 EU Projects: European Commission(XE) 46559 - CERINKA Institutional research plan: CEZ:AV0Z10100520 Keywords : cylinder * force measurement * magnetostatic * permanent magnet Subject RIV: BM - Solid Matter Physics ; Magnetism Impact factor: 1.204, year: 2009

  17. Obesity-related differences in neural correlates of force control.

    Science.gov (United States)

    Mehta, Ranjana K; Shortz, Ashley E

    2014-01-01

    Greater body segment mass due to obesity has shown to impair gross and fine motor functions and reduce balance control. While recent studies suggest that obesity may be linked with altered brain functions involved in fine motor tasks, this association is not well investigated. The purpose of this study was to examine the neural correlates of motor performance in non-obese and obese adults during force control of two upper extremity muscles. Nine non-obese and eight obese young adults performed intermittent handgrip and elbow flexion exertions at 30% of their respective muscle strengths for 4 min. Functional near infrared spectroscopy was employed to measure neural activity in the prefrontal cortex bilaterally, joint steadiness was computed using force fluctuations, and ratings of perceived exertions (RPEs) were obtained to assess perceived effort. Obesity was associated with higher force fluctuations and lower prefrontal cortex activation during handgrip exertions, while RPE scores remained similar across both groups. No obesity-related differences in neural activity, force fluctuation, or RPE scores were observed during elbow flexion exertions. The study is one of the first to examine obesity-related differences on prefrontal cortex activation during force control of the upper extremity musculature. The study findings indicate that the neural correlates of motor activity in the obese may be muscle-specific. Future work is warranted to extend the investigation to monitoring multiple motor-function related cortical regions and examining obesity differences with different task parameters (e.g., longer duration, increased precision demands, larger muscles, etc.).

  18. Investigation of the heparin-thrombin interaction by dynamic force spectroscopy.

    Science.gov (United States)

    Wang, Congzhou; Jin, Yingzi; Desai, Umesh R; Yadavalli, Vamsi K

    2015-06-01

    The interaction between heparin and thrombin is a vital step in the blood (anti)coagulation process. Unraveling the molecular basis of the interactions is therefore extremely important in understanding the mechanisms of this complex biological process. In this study, we use a combination of an efficient thiolation chemistry of heparin, a self-assembled monolayer-based single molecule platform, and a dynamic force spectroscopy to provide new insights into the heparin-thrombin interaction from an energy viewpoint at the molecular scale. Well-separated single molecules of heparin covalently attached to mixed self-assembled monolayers are demonstrated, whereby interaction forces with thrombin can be measured via atomic force microscopy-based spectroscopy. Further these interactions are studied at different loading rates and salt concentrations to directly obtain kinetic parameters. An increase in the loading rate shows a higher interaction force between the heparin and thrombin, which can be directly linked to the kinetic dissociation rate constant (koff). The stability of the heparin/thrombin complex decreased with increasing NaCl concentration such that the off-rate was found to be driven primarily by non-ionic forces. These results contribute to understanding the role of specific and nonspecific forces that drive heparin-thrombin interactions under applied force or flow conditions. Copyright © 2015 Elsevier B.V. All rights reserved.

  19. Protein-Ligand Informatics Force Field (PLIff): Toward a Fully Knowledge Driven "Force Field" for Biomolecular Interactions.

    Science.gov (United States)

    Verdonk, Marcel L; Ludlow, R Frederick; Giangreco, Ilenia; Rathi, Prakash Chandra

    2016-07-28

    The Protein Data Bank (PDB) contains a wealth of data on nonbonded biomolecular interactions. If this information could be distilled down to nonbonded interaction potentials, these would have some key advantages over standard force fields. However, there are some important outstanding issues to address in order to do this successfully. This paper introduces the protein-ligand informatics "force field", PLIff, which begins to address these key challenges ( https://bitbucket.org/AstexUK/pli ). As a result of their knowledge-based nature, the next-generation nonbonded potentials that make up PLIff automatically capture a wide range of interaction types, including special interactions that are often poorly described by standard force fields. We illustrate how PLIff may be used in structure-based design applications, including interaction fields, fragment mapping, and protein-ligand docking. PLIff performs at least as well as state-of-the art scoring functions in terms of pose predictions and ranking compounds in a virtual screening context.

  20. Interface bonding in silicon oxide nanocontacts: interaction potentials and force measurements

    Science.gov (United States)

    Wierez-Kien, M.; Craciun, A. D.; Pinon, A. V.; Le Roux, S.; Gallani, J. L.; Rastei, M. V.

    2018-04-01

    The interface bonding between two silicon-oxide nanoscale surfaces has been studied as a function of atomic nature and size of contacting asperities. The binding forces obtained using various interaction potentials are compared with experimental force curves measured in vacuum with an atomic force microscope. In the limit of small nanocontacts (typically contact area which is altered by stretching speeds. The mean unbinding force is found to decrease as the contact spends time in the attractive regime. This contact weakening is featured by a negative aging coefficient which broadens and shifts the thermal-induced force distribution at low stretching speeds.

  1. The Röntgen interaction and forces on dipoles in time-modulated optical fields

    Science.gov (United States)

    Sonnleitner, Matthias; Barnett, Stephen M.

    2017-12-01

    The Röntgen term is an often neglected contribution to the interaction between an atom and an electromagnetic field in the electric dipole approximation. In this work we discuss how this interaction term leads to a difference between the kinetic and canonical momentum of an atom which, in turn, leads to surprising radiation forces acting on the atom. We use a number of examples to explore the main features of this interaction, namely forces acting against the expected dipole force or accelerations perpendicular to the beam propagation axis.

  2. Fitts’ Law in the Control of Isometric Grip Force With Naturalistic Targets

    Directory of Open Access Journals (Sweden)

    Zachary C. Thumser

    2018-04-01

    Full Text Available Fitts’ law models the relationship between amplitude, precision, and speed of rapid movements. It is widely used to quantify performance in pointing tasks, study human-computer interaction, and generally to understand perceptual-motor information processes, including research to model performance in isometric force production tasks. Applying Fitts’ law to an isometric grip force task would allow for quantifying grasp performance in rehabilitative medicine and may aid research on prosthetic control and design. We examined whether Fitts’ law would hold when participants attempted to accurately produce their intended force output while grasping a manipulandum when presented with images of various everyday objects (we termed this the implicit task. Although our main interest was the implicit task, to benchmark it and establish validity, we examined performance against a more standard visual feedback condition via a digital force-feedback meter on a video monitor (explicit task. Next, we progressed from visual force feedback with force meter targets to the same targets without visual force feedback (operating largely on feedforward control with tactile feedback. This provided an opportunity to see if Fitts’ law would hold without vision, and allowed us to progress toward the more naturalistic implicit task (which does not include visual feedback. Finally, we changed the nature of the targets from requiring explicit force values presented as arrows on a force-feedback meter (explicit targets to the more naturalistic and intuitive target forces implied by images of objects (implicit targets. With visual force feedback the relation between task difficulty and the time to produce the target grip force was predicted by Fitts’ law (average r2 = 0.82. Without vision, average grip force scaled accurately although force variability was insensitive to the target presented. In contrast, images of everyday objects generated more reliable grip forces

  3. Fitts' Law in the Control of Isometric Grip Force With Naturalistic Targets.

    Science.gov (United States)

    Thumser, Zachary C; Slifkin, Andrew B; Beckler, Dylan T; Marasco, Paul D

    2018-01-01

    Fitts' law models the relationship between amplitude, precision, and speed of rapid movements. It is widely used to quantify performance in pointing tasks, study human-computer interaction, and generally to understand perceptual-motor information processes, including research to model performance in isometric force production tasks. Applying Fitts' law to an isometric grip force task would allow for quantifying grasp performance in rehabilitative medicine and may aid research on prosthetic control and design. We examined whether Fitts' law would hold when participants attempted to accurately produce their intended force output while grasping a manipulandum when presented with images of various everyday objects (we termed this the implicit task). Although our main interest was the implicit task, to benchmark it and establish validity, we examined performance against a more standard visual feedback condition via a digital force-feedback meter on a video monitor (explicit task). Next, we progressed from visual force feedback with force meter targets to the same targets without visual force feedback (operating largely on feedforward control with tactile feedback). This provided an opportunity to see if Fitts' law would hold without vision, and allowed us to progress toward the more naturalistic implicit task (which does not include visual feedback). Finally, we changed the nature of the targets from requiring explicit force values presented as arrows on a force-feedback meter (explicit targets) to the more naturalistic and intuitive target forces implied by images of objects (implicit targets). With visual force feedback the relation between task difficulty and the time to produce the target grip force was predicted by Fitts' law (average r 2 = 0.82). Without vision, average grip force scaled accurately although force variability was insensitive to the target presented. In contrast, images of everyday objects generated more reliable grip forces without the visualized

  4. Geometric Aspects of Force Controllability for a Swimming Model

    International Nuclear Information System (INIS)

    Khapalov, A. Y.

    2008-01-01

    We study controllability properties (swimming capabilities) of a mathematical model of an abstract object which 'swims' in the 2-D Stokes fluid. Our goal is to investigate how the geometric shape of this object affects the forces acting upon it. Such problems are of interest in biology and engineering applications dealing with propulsion systems in fluids

  5. Vibration control of an elastic strip by a singular force

    Indian Academy of Sciences (India)

    strip are changed by applying a lateral concentrated force to the plate. ... Predicting resonance frequency of plates is an important technological and scientific ... Ritz methods in a number of studies pertaining to control of flutter in aerospace ..... Bingham B, Atalla M J, Hagood N W 2001 Comparison of structural-acoustic ...

  6. Controlling propulsive forces in gait initiation in transfemoral amputees

    NARCIS (Netherlands)

    van Keeken, Helco G.; Vrieling, Aline H.; Hof, At L.; Halbertsma, Jan P. K.; Schoppen, Tanneke; Postema, Klaas; Otten, Bert

    During prosthetic gait initiation, transfemoral (TF) amputees control the spatial and temporal parameters that modulate the propulsive forces, the positions of the center of pressure (CoP), and the center of mass (CoM). Whether their sound leg or the prosthetic leg is leading, the TF amputees reach

  7. Control of master-slave manipulator using virtual force

    International Nuclear Information System (INIS)

    Kosuge, Kazuhiro; Fukuda, Toshio; Itoh, Tomotaka; Sakamoto, Keizoh; Noma, Yasuo.

    1994-01-01

    We propose a control system for a master-slave manipulator system having a rate-controlled slave manipulator. In this system, the master manipulator is stiffness-controlled in the Cartesian coordinate system, and the slave manipulator is damping-controlled in the Cartesian coordinate system. The desired velocity of the slave arm is given by a displacement of the master arm from a nominal position. The operator feels virtual contact force from the environment because the contact force is proportional to the displacement when the slave arm motion is constrained by the environment. The proposed method is experimentally applied to manipulators with three degrees of freedom. The experimental results illustrate the validity of the proposed system. (author)

  8. Active Control of Contact Force for a Pantograph-Catenary System

    Directory of Open Access Journals (Sweden)

    Jiqiang Wang

    2016-01-01

    Full Text Available The performance of the high speed trains depends critically on the quality of the contact in the pantograph-catenary interaction. Maintaining a constant contact force needs taking special measures and one of the methods is to utilize active control to optimize the contact force. A number of active control methods have been proposed in the past decade. However, the primary objective of these methods has been to reduce the variation of the contact force in the pantograph-catenary system, ignoring the effects of locomotive vibrations on pantograph-catenary dynamics. Motivated by the problems in active control of vibration in large scale structures, the author has developed a geometric framework specifically targeting the remote vibration suppression problem based only on local control action. It is the intention of the paper to demonstrate its potential in the active control of the pantograph-catenary interaction, aiming to minimize the variation of the contact force while simultaneously suppressing the vibration disturbance from the train. A numerical study is provided through the application to a simplified pantograph-catenary model.

  9. Force-controlled patch clamp of beating cardiac cells.

    Science.gov (United States)

    Ossola, Dario; Amarouch, Mohamed-Yassine; Behr, Pascal; Vörös, János; Abriel, Hugues; Zambelli, Tomaso

    2015-03-11

    From its invention in the 1970s, the patch clamp technique is the gold standard in electrophysiology research and drug screening because it is the only tool enabling accurate investigation of voltage-gated ion channels, which are responsible for action potentials. Because of its key role in drug screening, innovation efforts are being made to reduce its complexity toward more automated systems. While some of these new approaches are being adopted in pharmaceutical companies, conventional patch-clamp remains unmatched in fundamental research due to its versatility. Here, we merged the patch clamp and atomic force microscope (AFM) techniques, thus equipping the patch-clamp with the sensitive AFM force control. This was possible using the FluidFM, a force-controlled nanopipette based on microchanneled AFM cantilevers. First, the compatibility of the system with patch-clamp electronics and its ability to record the activity of voltage-gated ion channels in whole-cell configuration was demonstrated with sodium (NaV1.5) channels. Second, we showed the feasibility of simultaneous recording of membrane current and force development during contraction of isolated cardiomyocytes. Force feedback allowed for a gentle and stable contact between AFM tip and cell membrane enabling serial patch clamping and injection without apparent cell damage.

  10. Models and control for force/torque sensors in robotics

    International Nuclear Information System (INIS)

    Johansson, Gert.

    1992-01-01

    One of the important problems in automatic assembly is the relative positioning accuracy between the parts in the assembly process. Inaccurate positions cause large insertion forces, wear and might damage the parts. They can also completely disable the assembly process. A solution to this problem is to detect the positioning error and to make a relevant adjustment of the position or path. This thesis presents a solution based on active feedback of force/torque data from a wrist mounted sensor. A task independent control algorithm has been realized through a sensor model concept. The sensor model includes an algorithm that transforms force/torque input to relevant motion of the end effector. The transformation is specified by a set of parameters e.g. desired forces, compliance and stopping criteria. The problem with gravity forces for varying end effector orientation is compensated by an algorithm, divided into three complexity levels. The compensation method includes a calibration sequence to ensure valid end effector properties to be used in the algorithm. A problem with available robot technology is bad integration possibilities for external sensors. To allow necessary modifications and expansions, an open and general control system architecture is proposed. The architecture is based in a computer workstation and transputers in pipeline for the robot specific operations. (au)

  11. Resonant Optical Gradient Force Interaction for Nano-Imaging and-Spectroscopy

    Science.gov (United States)

    2016-07-19

    New J. Phys. 18 (2016) 053042 doi:10.1088/1367-2630/18/5/053042 PAPER Resonant optical gradient force interaction for nano-imaging and -spectroscopy...HonghuaUYang andMarkus BRaschke Department of Physics , Department of Chemistry, and JILA,University of Colorado, Boulder, CO80309,USA E-mail...honghua.yang@colorado.edu andmarkus.raschke@colorado.edu Keywords:nano spectroscopy, optical force, near-field optics Abstract The optical gradient force

  12. UMER: An analog computer for dynamics of swarms interacting via long-range forces

    International Nuclear Information System (INIS)

    Kishek, R.A.; Bai, G.; Bernal, S.; Feldman, D.; Godlove, T.F.; Haber, I.; O'Shea, P.G.; Quinn, B.; Papadopoulos, C.; Reiser, M.; Stratakis, D.; Tian, K.; Tobin, C.J.; Walter, M.

    2006-01-01

    Some of the most challenging and interesting problems in nature involve large numbers of objects or particles mutually interacting through long-range forces. Examples range from galaxies and plasmas to flocks of birds and traffic flow on a highway. Even in cases where the form of the interacting force is precisely known, such as the 1/r 2 -dependent Coulomb and gravitational forces, such problems present a formidable theoretical and modeling challenge for large numbers of interacting bodies. This paper reports on a newly constructed, scaled particle accelerator that will serve as an experimental testbed for the dynamics of swarms interacting through long-range forces. Primarily designed for intense beam dynamics studies for advanced accelerators, the University of Maryland Electron Ring (UMER) design is described in detail and an update on commissioning is provided. An example application to a system other than a charged particle beam is discussed

  13. Forced excitation and active control for the measurement of fluid-elastic forces

    International Nuclear Information System (INIS)

    Caillaud, Sebastien

    1999-01-01

    The action of a fluid flow on a tubes bundle is commonly decomposed into a random turbulent excitation and a fluid-elastic excitation. The fluid-elastic forces which are coupled to the tubes movement can be experimentally determined from an analysis of the vibratory response of the structure excited by turbulent forces. For low flow velocities, the turbulent excitation can be insufficient to make the tube significantly vibrate and to permit a correct vibratory analysis. On the opposite side, the structure can become unstable for high flow velocities: the fluid-elastic forces make the fluid-structure damping system fall towards zero. Two experimental methods are proposed in order to extend the considered flow rate. An additional excitation force allows to increase the tube vibration level for improving the signal-noise ratio at low velocities. When the tube is submitted to fluid-elastic instability, an artificial damping contribution by active control allows to stabilize it. Methods are implemented on a flexible tube inserted into rigid tubes bundle water and water-air transverse flows. Two actuator technologies are used: an electromagnetic exciter and piezoelectric actuators. The additional excitation method shows that the fluid-elastic forces remain insignificant at low velocity single phase flow. With the active control method, it is possible to carry out tests beyond the fluid-elastic instability. In two-phase flow, the stabilization of the structure is observed for low vacuum rates. The obtained new results are analyzed with the literature expected results in terms of fluid-elastic coupling and turbulent excitation. (author) [fr

  14. The Use of Force Notation to Detect Students' Misconceptions: Mutual Interactions Case

    Science.gov (United States)

    Serhane, Ahcene; Zeghdaoui, Abdelhamid; Debiache, Mehdi

    2017-01-01

    Using a conventional notation for representing forces on diagrams, students were presented with questions on the interaction between two objects. The results show that complete understanding of Newton's Third Law of Motion is quite rare, and that some problems relate to misunderstanding which force acts on each body. The use of the terms…

  15. Normal and friction stabilization techniques for interactive rigid body constraint-based contact force computations

    DEFF Research Database (Denmark)

    Silcowitz-Hansen, Morten; Abel, Sarah Maria Niebe; Erleben, Kenny

    2010-01-01

    We present a novel, yet simple, method for stabilization of normal forces. A normal stabilization term, carefully designed from hypotheses about interactive usability, is added to the contact force problem. Further, we propose friction stabilization as a completely new stabilization paradigm...

  16. Predicting wind farm wake interaction with RANS: an investigation of the Coriolis force

    DEFF Research Database (Denmark)

    van der Laan, Paul; Hansen, Kurt Schaldemose; Sørensen, Niels N.

    2015-01-01

    A Reynolds-averaged Navier-Stokes code is used to simulate the interaction of two neighboring wind farms. The influence of the Coriolis force is investigated by modeling the atmospheric surface/boundary layer with three different methodologies. The results show that the Coriolis force is negligible...

  17. Regimes of seasonal air-sea interaction and implications for performance of forced simulations

    Energy Technology Data Exchange (ETDEWEB)

    Wu, Renguang [Center for Ocean-Land-Atmosphere Studies, Calverton, MD (United States); Kirtman, Ben P. [Center for Ocean-Land-Atmosphere Studies, Calverton, MD (United States); George Mason University, School of Computational Sciences, Fairfax, VA (United States)

    2007-09-15

    Sea surface temperature (SST) anomalies can induce anomalous convection through surface evaporation and low-level moisture convergence. This SST forcing of the atmosphere is indicated in a positive local rainfall-SST correlation. Anomalous convection can feedback on SST through cloud-radiation and wind-evaporation effects and wind-induced oceanic mixing and upwelling. These atmospheric feedbacks are reflected in a negative local rainfall-SST tendency correlation. As such, the simultaneous rainfall-SST and rainfall-SST tendency correlations can indicate the nature of local air-sea interactions. Based on the magnitude of simultaneous rainfall-SST and rainfall-SST tendency correlations, the present study identifies three distinct regimes of local air-sea interactions. The relative importance of SST forcing and atmospheric forcing differs in these regimes. In the equatorial central-eastern Pacific and, to a smaller degree, in the western equatorial Indian Ocean, SST forcing dominates throughout the year and the surface heat flux acts mainly as a damping term. In the tropical Indo-western Pacific Ocean regions, SST forcing and atmospheric forcing dominate alternatively in different seasons. Atmospheric forcing dominates in the local warm/rainy season. SST forcing dominates with a positive wind-evaporation feedback during the transition to the cold/dry season. SST forcing also dominates during the transition to the warm/rainy season but with a negative cloud-radiation feedback. The performance of atmospheric general circulation model simulations forced by observed SST is closely linked to the regime of air-sea interaction. The forced simulations have good performance when SST forcing dominates. The performance is low or poor when atmospheric forcing dominates. (orig.)

  18. Force control of a robot for surface contamination detection

    International Nuclear Information System (INIS)

    Petterson, B.J.; Jones, J.F.

    1987-01-01

    A system is under development at Sandia National Laboratories for use in understanding the issues relating to automated robotic handling of spent nuclear fuel shipping casks. The goal of robotic handling is reduction of personnel radiation exposure at the proposed geologic repositories. One of the major technology development areas has been the integration of sensors into the control of the robot system to allow operation in semi-structured environments. In particular, a multiaxis force sensor is used to make robot trajectory corrections based on the contact force between the robot and workpiece. This force feedback system allows contact swipes (smears) to be made on the cask surface in a repeatable manner. 8 refs., 3 figs

  19. Force Modeling, Identification, and Feedback Control of Robot-Assisted Needle Insertion: A Survey of the Literature

    Directory of Open Access Journals (Sweden)

    Chongjun Yang

    2018-02-01

    Full Text Available Robot-assisted surgery is of growing interest in the surgical and engineering communities. The use of robots allows surgery to be performed with precision using smaller instruments and incisions, resulting in shorter healing times. However, using current technology, an operator cannot directly feel the operation because the surgeon-instrument and instrument-tissue interaction force feedbacks are lost during needle insertion. Advancements in force feedback and control not only help reduce tissue deformation and needle deflection but also provide the surgeon with better control over the surgical instruments. The goal of this review is to summarize the key components surrounding the force feedback and control during robot-assisted needle insertion. The literature search was conducted during the middle months of 2017 using mainstream academic search engines with a combination of keywords relevant to the field. In total, 166 articles with valuable contents were analyzed and grouped into five related topics. This survey systemically summarizes the state-of-the-art force control technologies for robot-assisted needle insertion, such as force modeling, measurement, the factors that influence the interaction force, parameter identification, and force control algorithms. All studies show force control is still at its initial stage. The influence factors, needle deflection or planning remain open for investigation in future.

  20. Force Modeling, Identification, and Feedback Control of Robot-Assisted Needle Insertion: A Survey of the Literature.

    Science.gov (United States)

    Yang, Chongjun; Xie, Yu; Liu, Shuang; Sun, Dong

    2018-02-12

    Robot-assisted surgery is of growing interest in the surgical and engineering communities. The use of robots allows surgery to be performed with precision using smaller instruments and incisions, resulting in shorter healing times. However, using current technology, an operator cannot directly feel the operation because the surgeon-instrument and instrument-tissue interaction force feedbacks are lost during needle insertion. Advancements in force feedback and control not only help reduce tissue deformation and needle deflection but also provide the surgeon with better control over the surgical instruments. The goal of this review is to summarize the key components surrounding the force feedback and control during robot-assisted needle insertion. The literature search was conducted during the middle months of 2017 using mainstream academic search engines with a combination of keywords relevant to the field. In total, 166 articles with valuable contents were analyzed and grouped into five related topics. This survey systemically summarizes the state-of-the-art force control technologies for robot-assisted needle insertion, such as force modeling, measurement, the factors that influence the interaction force, parameter identification, and force control algorithms. All studies show force control is still at its initial stage. The influence factors, needle deflection or planning remain open for investigation in future.

  1. Rate control and quality assurance during rhythmic force tracking.

    Science.gov (United States)

    Huang, Cheng-Ya; Su, Jyong-Huei; Hwang, Ing-Shiou

    2014-02-01

    Movement characteristics can be coded in the single neurons or in the summed activity of neural populations. However, whether neural oscillations are conditional to the frequency demand and task quality of rhythmic force regulation is still unclear. This study was undertaken to investigate EEG dynamics and behavior correlates during force-tracking at different target rates. Fourteen healthy volunteers conducted load-varying isometric abduction of the index finger by coupling the force output to sinusoidal targets at 0.5 Hz, 1.0 Hz, and 2.0 Hz. Our results showed that frequency demand significantly affected EEG delta oscillation (1-4 Hz) in the C3, CP3, CPz, and CP4 electrodes, with the greatest delta power and lowest delta peak around 1.5 Hz for slower tracking at 0.5 Hz. Those who had superior tracking congruency also manifested enhanced alpha oscillation (8-12 Hz). Alpha rhythms of the skilled performers during slow tracking spread through the whole target cycle, except for the phase of direction changes. However, the alpha rhythms centered at the mid phase of a target cycle with increasing target rate. In conclusion, our findings clearly suggest two advanced roles of cortical oscillation in rhythmic force regulation. Rate-dependent delta oscillation involves a paradigm shift in force control under different time scales. Phasic organization of alpha rhythms during rhythmic force tracking is related to behavioral success underlying the selective use of bimodal controls (feedback and feedforward processes) and the timing of attentional focus on the target's peak velocity. Copyright © 2013 Elsevier B.V. All rights reserved.

  2. Optimal feedback control of the forced van der Pol system

    International Nuclear Information System (INIS)

    Chagas, T.P.; Toledo, B.A.; Rempel, E.L.; Chian, A.C.-L.; Valdivia, J.A.

    2012-01-01

    A simple feedback control strategy for chaotic systems is investigated using the forced van der Pol system as an example. The strategy regards chaos control as an optimization problem, where the maximum magnitude Floquet multiplier of a target unstable periodic orbit (UPO) is used as a cost function that needs to be minimized. Thus, the method obtains the optimal control gain in terms of the stability of the target UPO. This strategy was recently proposed for the proportional feedback control (PFC) method. Here, it is extended to the highly popular delayed feedback control (DFC) method. Since the DFC method treats the system as a delay-differential equation whose phase space is infinite-dimensional, the characteristic multipliers are found through a truncation in the number of delayed states. Control of a target UPO is achieved for several values of the forcing amplitude. We compare the DFC and PFC methods in terms of stability of the controlled orbit, steady state error and control effort.

  3. Interacting trophic forcing and the population dynamics of herring

    DEFF Research Database (Denmark)

    Lindegren, Martin; Ostman, Orjan; Gardmark, Anna

    2011-01-01

    -up nor top-down, but rather through multiple external and internal drivers. While in many studies single drivers have been identified, potential synergies of multiple factors, as well as their relative importance in regulating population dynamics of small pelagic fish, is a largely unresolved issue....... Using a statistical, age-structured modeling approach, we demonstrate the relative importance and influence of bottom-up (e.g., climate, zooplankton availability) and top-down (i.e., fishing and predation) factors on the population dynamics of Bothnian Sea herring (Clupea harengus) throughout its life...... cycle. Our results indicate significant bottom-up effects of zooplankton and interspecific competition from sprat (Sprattus sprattus), particularly on younger age classes of herring. Although top-down forcing through fishing and predation by grey seals (Halichoerus grypus) and Atlantic cod (Gadus morhua...

  4. Extraction of user's navigation commands from upper body force interaction in walker assisted gait

    Directory of Open Access Journals (Sweden)

    Pons José L

    2010-08-01

    Full Text Available Abstract Background The advances in technology make possible the incorporation of sensors and actuators in rollators, building safer robots and extending the use of walkers to a more diverse population. This paper presents a new method for the extraction of navigation related components from upper-body force interaction data in walker assisted gait. A filtering architecture is designed to cancel: (i the high-frequency noise caused by vibrations on the walker's structure due to irregularities on the terrain or walker's wheels and (ii the cadence related force components caused by user's trunk oscillations during gait. As a result, a third component related to user's navigation commands is distinguished. Results For the cancelation of high-frequency noise, a Benedict-Bordner g-h filter was designed presenting very low values for Kinematic Tracking Error ((2.035 ± 0.358·10-2 kgf and delay ((1.897 ± 0.3697·101ms. A Fourier Linear Combiner filtering architecture was implemented for the adaptive attenuation of about 80% of the cadence related components' energy from force data. This was done without compromising the information contained in the frequencies close to such notch filters. Conclusions The presented methodology offers an effective cancelation of the undesired components from force data, allowing the system to extract in real-time voluntary user's navigation commands. Based on this real-time identification of voluntary user's commands, a classical approach to the control architecture of the robotic walker is being developed, in order to obtain stable and safe user assisted locomotion.

  5. Intersegmental interactions in supercoiled DNA: atomic force microscope study

    Energy Technology Data Exchange (ETDEWEB)

    Shlyakhtenko, Luda S.; Miloseska, Lela; Potaman, Vladimir N.; Sinden, Richard R.; Lyubchenko, Yuri L

    2003-10-15

    Intersegmental interactions in DNA facilitated by the neutralization of electrostatic repulsion was studied as a function of salt concentration and DNA supercoiling. DNA samples with defined superhelical densities were deposited onto aminopropyl mica at different ionic conditions and imaged in air after drying of the samples. Similar to hydrodynamic data, we did not observe a collapse of supercoiled DNA, as proposed earlier by cryo-EM studies. Instead, the formation of the contacts between DNA helices within supercoiled loops with no visible space between the duplexes was observed. The length of such close contacts increased upon increasing NaCl concentration. DNA supercoiling was a critical factor for the stabilization of intersegmental contacts. Implications of the observed effect for understanding DNA compaction in the cell and for regulation DNA transactions via interaction of distantly separated DNA regions are discussed.

  6. Interaction of two walkers: wave-mediated energy and force.

    Science.gov (United States)

    Borghesi, Christian; Moukhtar, Julien; Labousse, Matthieu; Eddi, Antonin; Fort, Emmanuel; Couder, Yves

    2014-12-01

    A bouncing droplet, self-propelled by its interaction with the waves it generates, forms a classical wave-particle association called a "walker." Previous works have demonstrated that the dynamics of a single walker is driven by its global surface wave field that retains information on its past trajectory. Here we investigate the energy stored in this wave field for two coupled walkers and how it conveys an interaction between them. For this purpose, we characterize experimentally the "promenade modes" where two walkers are bound and propagate together. Their possible binding distances take discrete values, and the velocity of the pair depends on their mutual binding. The mean parallel motion can be either rectilinear or oscillating. The experimental results are recovered analytically with a simple theoretical framework. A relation between the kinetic energy of the droplets and the total energy of the standing waves is established.

  7. Enhancement of vortex induced forces and motion through surface roughness control

    Science.gov (United States)

    Bernitsas, Michael M [Saline, MI; Raghavan, Kamaldev [Houston, TX

    2011-11-01

    Roughness is added to the surface of a bluff body in a relative motion with respect to a fluid. The amount, size, and distribution of roughness on the body surface is controlled passively or actively to modify the flow around the body and subsequently the Vortex Induced Forces and Motion (VIFM). The added roughness, when designed and implemented appropriately, affects in a predetermined way the boundary layer, the separation of the boundary layer, the level of turbulence, the wake, the drag and lift forces, and consequently the Vortex Induced Motion (VIM), and the fluid-structure interaction. The goal of surface roughness control is to increase Vortex Induced Forces and Motion. Enhancement is needed in such applications as harnessing of clean and renewable energy from ocean/river currents using the ocean energy converter VIVACE (Vortex Induced Vibration for Aquatic Clean Energy).

  8. Baryon interactions from lattice QCD with physical quark masses - Nuclear forces and ΞΞ forces -

    Science.gov (United States)

    Doi, Takumi; Iritani, Takumi; Aoki, Sinya; Gongyo, Shinya; Hatsuda, Tetsuo; Ikeda, Yoichi; Inoue, Takashi; Ishii, Noriyoshi; Miyamoto, Takaya; Nemura, Hidekatsu; Sasaki, Kenji

    2018-03-01

    We present the latest lattice QCD results for baryon interactions obtained at nearly physical quark masses. Nf = 2 + 1 nonperturbatively O(a)-improved Wilson quark action with stout smearing and Iwasaki gauge action are employed on the lattice of (96a)4 ≃(8.1fm)4 with a-1 ≃2.3 GeV, where mπ ≃146 MeV and mK ≃525 MeV. In this report, we study the two-nucleon systems and two-Ξ systems in 1S0 channel and 3S1-3D1 coupled channel, and extract central and tensor interactions by the HAL QCD method. We also present the results for the NΩ interaction in 5S2 channel which is relevant to the NΩ pair-momentum correlation in heavy-ion collision experiments.

  9. Non interacting control by measurement feedback

    NARCIS (Netherlands)

    Woude, van der J.W.

    1987-01-01

    In this paper we shall solve the problem of non interacting control by measurement feedback for systems that in addition to a control input and a measurement output have two exogenous inputs and two exogenous outputs. That is, we shall derive necessary and sufficient conditions that can actually be

  10. Customization, control, and characterization of a commercial haptic device for high-fidelity rendering of weak forces.

    Science.gov (United States)

    Gurari, Netta; Baud-Bovy, Gabriel

    2014-09-30

    The emergence of commercial haptic devices offers new research opportunities to enhance our understanding of the human sensory-motor system. Yet, commercial device capabilities have limitations which need to be addressed. This paper describes the customization of a commercial force feedback device for displaying forces with a precision that exceeds the human force perception threshold. The device was outfitted with a multi-axis force sensor and closed-loop controlled to improve its transparency. Additionally, two force sensing resistors were attached to the device to measure grip force. Force errors were modeled in the frequency- and time-domain to identify contributions from the mass, viscous friction, and Coulomb friction during open- and closed-loop control. The effect of user interaction on system stability was assessed in the context of a user study which aimed to measure force perceptual thresholds. Findings based on 15 participants demonstrate that the system maintains stability when rendering forces ranging from 0-0.20 N, with an average maximum absolute force error of 0.041 ± 0.013 N. Modeling the force errors revealed that Coulomb friction and inertia were the main contributors to force distortions during respectively slow and fast motions. Existing commercial force feedback devices cannot render forces with the required precision for certain testing scenarios. Building on existing robotics work, this paper shows how a device can be customized to make it reliable for studying the perception of weak forces. The customized and closed-loop controlled device is suitable for measuring force perceptual thresholds. Copyright © 2014 Elsevier B.V. All rights reserved.

  11. Satellite Dynamic Damping via Active Force Control Augmentation

    Science.gov (United States)

    Varatharajoo, Renuganth

    2012-07-01

    An approach that incorporates the Active Force Control (AFC) technique into a conventional Proportional-Derivative (PD) controller is proposed for a satellite active dynamic damping towards a full attitude control. The AFC method has been established to facilitate a robust motion control of dynamical systems in the presence of disturbances, parametric uncertainties and changes that are commonly prevalent in the real-world environment. The usefulness of the method can be extended by introducing intelligent mechanisms to approximate the mass or inertia matrix of the dynamic system to trigger the compensation effect of the controller. AFC is a technique that relies on the appropriate estimation of the inertial or mass parameters of the dynamic system and the measurements of the acceleration and force signals induced by the system if practical implementation is ever considered. In AFC, it is shown that the system subjected to a number of disturbances remains stable and robust via the compensating action of the control strategy. We demonstrate that it is possible to design a spacecraft attitude feedback controller that will ensure the system dynamics set point remains unchanged even in the presence of the disturbances provided that the actual disturbances can be modeled effectively. In order to further facilitate this analysis, a combined energy and attitude control system (CEACS) is proposed as a model satellite attitude control actuator. All the governing equations are established and the proposed satellite attitude control architecture is made amenable to numerical treatments. The results show that the PD-AFC attitude damping performances are superiorly better than that of the solely PD type. It is also shown that the tunings of the AFC system gains are crucial to ensure a better attitude damping performance and this process is mandatory for AFC systems. Finally, the results demonstrate an important satellite dynamic damping enhancement capability using the AFC

  12. Applying interactive control to waste processing operations

    International Nuclear Information System (INIS)

    Grasz, E.L.; Merrill, R.D.; Couture, S.A.

    1992-08-01

    At present waste and residue processing includes steps that require human interaction. The risk of exposure to unknown hazardous materials and the potential for radiation contamination motivates the desire to remove operators from these processes. Technologies that facilitate this include glove box robotics, modular systems for remote and automated servicing, and interactive controls that minimize human intervention. LLNL is developing an automated system which is designed to supplant the operator for glove box tasks, thus protecting the operator from the risk of radiation exposure and minimizing operator-associated waste. Although most of the processing can be automated with minimal human interaction, there are some tasks where intelligent intervention is both desirable and necessary to adapt to Enexpected circumstances and events. These activities require that the operator interact with the process using a remote manipulator which provides or reflects a natural feel to the operator. The remote manipulation system which was developed incorporates sensor fusion and interactive control, and provides the operator with an effective means of controlling the robot in a potentially unknown environment. This paper describes recent accomplishments in technology development and integration, and outlines the future goals of Lawrence Livermore National Laboratory for achieving this integrated interactive control capability

  13. Heat, mass and force flows in supersonic shockwave interaction

    Science.gov (United States)

    Dixon, John Michael

    There is no cost effective way to deliver a payload to space and, with rising fuel prices, currently the price to travel commercially is also becoming more prohibitive to the public. During supersonic flight, compressive shock waves form around the craft which could be harnessed to deliver an additional lift on the craft. Using a series of hanging plates below a lifting wing design, the total lift generated can be increased above conventional values, while still maintaining a similar lift-to-drag ratio. Here, we study some of the flows involved in supersonic shockwave interaction. This analysis uses ANSYS Fluent Computational Fluid Dynamics package as the modeler. Our findings conclude an increase of up to 30% lift on the modeled craft while maintaining the lift-to-drag profile of the unmodified lifting wing. The increase in lift when utilizing the shockwave interaction could increase transport weight and reduce fuel cost for space and commercial flight, as well as mitigating negative effects associated with supersonic travel.

  14. A Multiposture Locomotor Training Device with Force-Field Control

    Directory of Open Access Journals (Sweden)

    Jianfeng Sui

    2014-11-01

    Full Text Available This paper introduces a multiposture locomotor training device (MPLTD with a closed-loop control scheme based on joint angle feedback, which is able to overcome various difficulties resulting from mechanical vibration and the weight of trainer to achieve higher accuracy trajectory. By introducing the force-field control scheme used in the closed-loop control, the device can obtain the active-constrained mode including the passive one. The MPLTD is mainly composed of three systems: posture adjusting and weight support system, lower limb exoskeleton system, and control system, of which the lower limb exoskeleton system mainly includes the indifferent equilibrium mechanism with two degrees of freedom (DOF and the driving torque is calculated by the Lagrangian function. In addition, a series of experiments, the weight support and the trajectory accuracy experiment, demonstrate a good performance of mechanical structure and the closed-loop control.

  15. Students' Understanding on Newton's Third Law in Identifying the Reaction Force in Gravity Interactions

    Science.gov (United States)

    Zhou, Shaona; Zhang, Chunbin; Xiao, Hua

    2015-01-01

    In the past three decades, previous researches showed that students had various misconceptions of Newton's Third Law. The present study focused on students' difficulties in identifying the third-law force pair in gravity interaction situations. An instrument involving contexts with gravity and non-gravity associated interactions was designed and…

  16. Contact angles in thin liquid films III. Interaction forces in Newton black soap films

    NARCIS (Netherlands)

    Feijter, J.A. de; Vrij, A.

    The interaction parameters of Newton black soap films stabilized by NaDS, as derived from contact angle experiments, have been interpretated in terms of the structure and the interaction forces in the films. From the film thickness and the difference between the surface excess of the salt in the

  17. Validation of Multibody Program to Optimize Simulated Trajectories II Parachute Simulation with Interacting Forces

    Science.gov (United States)

    Raiszadeh, Behzad; Queen, Eric M.; Hotchko, Nathaniel J.

    2009-01-01

    A capability to simulate trajectories of multiple interacting rigid bodies has been developed, tested and validated. This capability uses the Program to Optimize Simulated Trajectories II (POST 2). The standard version of POST 2 allows trajectory simulation of multiple bodies without force interaction. In the current implementation, the force interaction between the parachute and the suspended bodies has been modeled using flexible lines, allowing accurate trajectory simulation of the individual bodies in flight. The POST 2 multibody capability is intended to be general purpose and applicable to any parachute entry trajectory simulation. This research paper explains the motivation for multibody parachute simulation, discusses implementation methods, and presents validation of this capability.

  18. Force Reflection Control for Master/Slave Tele-manipulators

    International Nuclear Information System (INIS)

    Kang, Min Sig; Kim, Doo Ho; Choi, Sun Il; Kim, Nam Hyung; Lee, Jong Bee

    2009-04-01

    This report concerns on a master/slave tele-manipulator which is used in highly hazardous hot cell. To design a force reflection and fine tracking control for the master-slave telemanipulator, the following has been carried out. (1) Variation of the moment of inertia of each link in the operating angle range, (2) Variation of the gratitational torque of each link in the operating angle range, (3) Dynamic characteristic analysis of the master-slave manipulator controlled by an output PD-control through a modal analysis, (4) Optimal static output feedback PD-control design by using modal analysis, (5) Controller design for each joint, (6) Adams-MatLab Simulink simulation model development. The results this project are as follows: (1) Program for analysis of the moment of inertia of each link in the operating angle range and simulation results, (2) Program for analysis of the gratitational torque of each link in the operating angle range and simulation results, (3) Dynamic characteristic of the master-slave manipulator controlled by an output PD-control through a modal analysis, (4) Program for designing optimal output PD-control by using modal analysis, (5) Controller designed for each joint, (6) Adams-MatLab Simulink simulation model, (7) Simulation results form output PD-control, etc

  19. Measuring interactivity on tobacco control websites.

    Science.gov (United States)

    Freeman, Becky; Chapman, Simon

    2012-08-01

    With the increased reach of Web 2.0, Internet users expect webpages to be interactive. No studies have been conducted to assess whether tobacco control-relevant sites have implemented these features. The authors conducted an analysis of an international sample of tobacco control-relevant websites to determine their level of interactivity. The sample included 68 unique websites selected from Google searches in 5 countries, on each country's Google site, using the term smoking. The 68 sites were analyzed for 10 categories of interactive tools. The most common type of interactive content found on 46 (68%) of sites was for multimedia featuring content that was not primarily text based, such as photo galleries, videos, or podcasts. Only 11 (16%) websites-outside of media sites-allowed people to interact and engage with the site owners and other users by allowing posting comments on content and/or hosting forums/discussions. Linkages to social networking sites were low: 17 pages (25%) linked to Twitter, 15 (22%) to Facebook, and 11 (16%) to YouTube. Interactivity and connectedness to online social media appears to still be in its infancy among tobacco control-relevant sites.

  20. Development of the first force-controlled robot for otoneurosurgery.

    Science.gov (United States)

    Federspil, Philipp A; Geisthoff, Urban W; Henrich, Dominik; Plinkert, Peter K

    2003-03-01

    In some surgical specialties (eg, orthopedics), robots are already used in the operating room for bony milling work. Otological surgery and otoneurosurgery may also greatly benefit from the enhanced precision of robotics. Experimental study on robotic milling of oak wood and human temporal bone specimen. A standard industrial robot with a six-degrees-of-freedom serial kinematics was used, with force feedback to proportionally control the robot speed. Different milling modes and characteristic path parameters were evaluated to generate milling paths based on computer-aided design (CAD) geometry data of a cochlear implant and an implantable hearing system. The best-suited strategy proved to be the spiral horizontal milling mode with the burr held perpendicular to the temporal bone surface. To reduce groove height, the distance between paths should equal half the radius of the cutting burr head. Because of the vibration of the robot's own motors, a high oscillation of the SD of forces was encountered. This oscillation dropped drastically to nearly 0 Newton (N) when the burr head made contact with the dura mater, because of its damping characteristics. The cutting burr could be kept in contact with the dura mater for an extended period without damaging it, because of the burr's blunt head form. The robot moved the burr smoothly according to the encountered resistances. The study reports the first development of a functional robotic milling procedure for otoneurosurgery with force-based speed control. Future plans include implementation of ultrasound-based local navigation and performance of robotic mastoidectomy.

  1. Interaction force measurement between E. coli cells and nanoparticles immobilized surfaces by using AFM.

    Science.gov (United States)

    Zhang, Wen; Stack, Andrew G; Chen, Yongsheng

    2011-02-01

    To better understand environmental behaviors of nanoparticles (NPs), we used the atomic force microscopy (AFM) to measure interaction forces between E. coli cells and NPs immobilized on surfaces in an aqueous environment. The results showed that adhesion force strength was significantly influenced by particle size for both hematite (α-Fe(2)O(3)) and corundum (α-Al(2)O(3)) NPs whereas the effect on the repulsive force was not observed. The adhesion force decreased from 6.3±0.7nN to 0.8±0.4nN as hematite NPs increased from 26nm to 98nm in diameter. Corundum NPs exhibited a similar dependence of adhesion force on particle size. The Johnson-Kendall-Roberts (JKR) model was employed to estimate the contact area between E. coli cells and NPs, and based on the JKR model a new model that considers local effective contact area was developed. The prediction of the new model matched the size dependence of adhesion force in experimental results. Size effects on adhesion forces may originate from the difference in local effective contact areas as supported by our model. These findings provide fundamental information for interpreting the environmental behaviors and biological interactions of NPs, which barely have been addressed. Copyright © 2010 Elsevier B.V. All rights reserved.

  2. Probing the interactions between lignin and inorganic oxides using atomic force microscopy

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Jingyu; Qian, Yong, E-mail: qianyong86@163.com; Deng, Yonghong; Liu, Di; Li, Hao; Qiu, Xueqing, E-mail: xueqingqiu66@163.com

    2016-12-30

    Graphical abstract: The interactions between lignin and inorganic oxides are quantitatively probed by atomic force microscopy, which is fundamental but beneficial for understanding and optimizing the absorption-dispersion and catalytic degradation processes of lignin. - Highlights: • The interactions between lignin and inorganic oxides are measured using AFM. • The adhesion forces between lignin and metal oxides are larger than that in nonmetal systems. • Hydrogen bond plays an important role in lignin-inorganic oxides system. - Abstract: Understanding the interactions between lignin and inorganic oxides has both fundamental and practical importance in industrial and energy fields. In this work, the specific interactions between alkali lignin (AL) and three inorganic oxide substrates in aqueous environment are quantitatively measured using atomic force microscopy (AFM). The results show that the average adhesion force between AL and metal oxide such as Al{sub 2}O{sub 3} or MgO is nearly two times bigger than that between AL and nonmetal oxide such as SiO{sub 2} due to the electrostatic difference and cation-π interaction. When 83% hydroxyl groups of AL is blocked by acetylation, the adhesion forces between AL and Al{sub 2}O{sub 3}, MgO and SiO{sub 2} decrease 43, 35 and 75% respectively, which indicate hydrogen bonds play an important role between AL and inorganic oxides, especially in AL-silica system.

  3. A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm

    Directory of Open Access Journals (Sweden)

    Giovanni Gerardo Muscolo

    2013-01-01

    Full Text Available The authors propose a comparison between two force-position controllers with gravity compensation simulated on the DEXTER bioinspired robotic arm. The two controllers are both constituted by an internal proportional-derivative (PD closed-loop for the position control. The force control of the two systems is composed of an external proportional (P closed-loop for one system (P system and an external proportional-integrative (PI closed-loop for the other system (PI system. The simulation tests performed with the two systems on a planar representation of the DEXTER, an eight-DOF bioinspired arm, showed that by varying the stiffness of the environment, with a correct setting of parameters, both systems ensure the achievement of the desired force regime and with great precision the desired position. The two controllers do not have large differences in performance when interacting with a lower stiffness environment. In case of an environment with greater rigidity, the PI system is more stable. The subsequent implementation of these control systems on the DEXTER robotic bioinspired arm gives guidance on the design and control optimisation of the arms of the humanoid robot named SABIAN.

  4. Passive hybrid force-position control for tele-operation based on real-time simulation of a virtual mechanism

    International Nuclear Information System (INIS)

    Joly, L.; Andriot, C.

    1995-01-01

    Hybrid force-position control aims at controlling position and force in separate directions. It is particularly useful to perform certain robotic tasks. In tele-operation context, passivity is important because it ensures stability when the system interacts with any passive environment. In this paper, we propose an original approach to hybrid force-position control of a force reflecting tele-robot system. It is based on real-time simulation of a virtual mechanism corresponding to the task. the resulting control law is passive. Experiments on a 6 degrees of freedom tele-operation system consisting in following a bent pipe under several control modes validate the approach. (authors). 12 refs., 6 figs

  5. Gauge unification of basic forces, particularly of gravitation with strong interactions

    International Nuclear Information System (INIS)

    Salam, A.

    1977-01-01

    An attempt is made to present a case for the use of both the Einstein--Weyl spin-two and the Yang--Mills spin-one gauge structures for describing strong interactions. By emphasizing both spin-one and -two aspects of this force, it is hoped that a unification of this force, on the one hand, with gravity theory and, on the other, with the electromagnetic and weak interactions can be achieved. A Puppi type of tetrahedral interralation of fundamental forces, with the strong force playing a pivotal role due to its mediation through both spin-one and -two quanta, is proposed. It is claimed that the gauge invariance of gravity theory permits the use of ambuguity-free nonpolynomial techniques and thereby the securing of relistic regularization in gravity-modified field theories with the Newtonian constant G/sub N/ providing a relistic cutoff. 37 references

  6. Atomic force imaging microscopy investigation of the interaction of ultraviolet radiation with collagen thin films

    Science.gov (United States)

    Stylianou, A.; Yova, D.; Alexandratou, E.; Petri, A.

    2013-02-01

    Collagen is the major fibrous protein in the extracellular matrix and consists a significant component of skin, bone, cartilage and tendon. Due to its unique properties, it has been widely used as scaffold or culture substrate for tissue regeneration or/and cell-substrate interaction studies. The ultraviolet light-collagen interaction investigations are crucial for the improvement of many applications such as that of the UV irradiation in the field of biomaterials, as sterilizing and photo-cross-linking method. The aim of this paper was to investigate the mechanisms of UV-collagen interactions by developing a collagen-based, well characterized, surface with controlled topography of collagen thin films in the nanoscale range. The methodology was to quantify the collagen surface modification induced on ultraviolet radiation and correlate it with changes induced in cells. Surface nanoscale characterization was performed by Atomic Force Microscopy (AFM) which is a powerful tool and offers quantitative and qualitative information with a non-destructive manner. In order to investigate cells behavior, the irradiated films were used for in vitro cultivation of human skin fibroblasts and the cells morphology, migration and alignment were assessed with fluorescence microscopy imaging and image processing methods. The clarification of the effects of UV light on collagen thin films and the way of cells behavior to the different modifications that UV induced to the collagen-based surfaces will contribute to the better understanding of cell-matrix interactions in the nanoscale and will assist the appropriate use of UV light for developing biomaterials.

  7. Nonlinear force feedback control of piezoelectric-hydraulic pump actuator for automotive transmission shift control

    Science.gov (United States)

    Kim, Gi-Woo; Wang, K. W.

    2008-03-01

    In recent years, researchers have investigated the feasibility of utilizing piezoelectric-hydraulic pump based actuation systems for automotive transmission controls. This new concept could eventually reduce the complexity, weight, and fuel consumption of the current transmissions. In this research, we focus on how to utilize this new approach on the shift control of automatic transmissions (AT), which generally requires pressure profiling for friction elements during the operation. To illustrate the concept, we will consider the 1--> 2 up shift control using band brake friction elements. In order to perform the actuation force tracking for AT shift control, nonlinear force feedback control laws are designed based on the sliding mode theory for the given nonlinear system. This paper will describe the modeling of the band brake actuation system, the design of the nonlinear force feedback controller, and simulation and experimental results for demonstration of the new concept.

  8. Plasma surface interactions in controlled fusion devices

    International Nuclear Information System (INIS)

    Ghendrih, Ph.; Becoulet, M.; Costanzo, L.

    2000-07-01

    This report brings together all the contributions of EURATOM/CEA association to the 14. international conference on plasma surface interactions in controlled fusion devices. 24 papers are presented and they deal mainly with the ergodic divertor and the first wall of Tore-supra tokamak

  9. Plasma surface interactions in controlled fusion devices

    Energy Technology Data Exchange (ETDEWEB)

    Ghendrih, Ph.; Becoulet, M.; Costanzo, L. [and others

    2000-07-01

    This report brings together all the contributions of EURATOM/CEA association to the 14. international conference on plasma surface interactions in controlled fusion devices. 24 papers are presented and they deal mainly with the ergodic divertor and the first wall of Tore-supra tokamak.

  10. Nucleon-deuteron breakup quantities calculated with separable interactions including tensor forces and P-wave interactions

    International Nuclear Information System (INIS)

    Bruinsma, J.; Wageningen, R. van

    1977-01-01

    Nucleon-deuteron breakup calculations at a nucleon bombarding energy of 22.7 MeV have been performed with separable interactions including a tensor force and P-wave interactions. Differential cross sections and a selection of polarization quantities have been computed for special regions of the phase space. The influence of a tensor force and P-wave interactions on the differential cross section is of the order of 20%. Large discrepancies between theory and experiment occur for the vector analyzing powers, both for the kinematically complete and for the incomplete situation. The calculations show that there are kinematical situations in which the differential cross sections and the tensor analyzing powers are sufficiently large to make measurements feasible. (Auth.)

  11. Force control of a tri-layer conducting polymer actuator using optimized fuzzy logic control

    International Nuclear Information System (INIS)

    Itik, Mehmet; Sabetghadam, Mohammadreza; Alici, Gursel

    2014-01-01

    Conducting polymers actuators (CPAs) are potential candidates for replacing conventional actuators in various fields, such as robotics and biomedical engineering, due to their advantageous properties, which includes their low cost, light weight, low actuation voltage and biocompatibility. As these actuators are very suitable for use in micro-nano manipulation and in injection devices in which the magnitude of the force applied to the target is of crucial importance, the force generated by CPAs needs to be accurately controlled. In this paper, a fuzzy logic (FL) controller with a Mamdani inference system is designed to control the blocking force of a trilayer CPA with polypyrrole electrodes, which operates in air. The particle swarm optimization (PSO) method is employed to optimize the controller’s membership function parameters and therefore enhance the performance of the FL controller. An adaptive neuro-fuzzy inference system model, which can capture the nonlinear dynamics of the actuator, is utilized in the optimization process. The optimized Mamdani FL controller is then implemented on the CPA experimentally, and its performance is compared with a non-optimized fuzzy controller as well as with those obtained from a conventional PID controller. The results presented indicate that the blocking force at the tip of the CPA can be effectively controlled by the optimized FL controller, which shows excellent transient and steady state characteristics but increases the control voltage compared to the non-optimized fuzzy controllers. (paper)

  12. Higher order terms of the nonlinear forces in plasmas with collisions at laser interaction

    International Nuclear Information System (INIS)

    Kentwell, G.W.; Hora, H.

    1980-01-01

    The evaluation of the general expression of the nonlinear force of laser-plasma interaction showed discrepancies depending on the assumptions of the phase and collisions in the expressions used for E and H. While the first order terms of the derivations are remaining unchanged, new third order terms are found for the case of perpendicular incidence without collisions. With collisions, the additional non-pondermotive terms are derived to be more general than known before. It is then possible to evaluate the forces for oblique incidence with collisions and find an absorption caused force in the plane of the plasma surface. (author)

  13. Mechanism of transient force augmentation varying with two distinct timescales for interacting vortex rings

    Science.gov (United States)

    Fu, Zhidong; Qin, Suyang; Liu, Hong

    2014-01-01

    The dynamics of dual vortex ring flows is studied experimentally and numerically in a model system that consists of a piston-cylinder apparatus. The flows are generated by double identical strokes which have the velocity profile characterized by the sinusoidal function of half the period. By calculating the total wake impulse in two strokes in the experiments, it is found that the average propulsive force increases by 50% in the second stroke for the sufficiently small stroke length, compared with the first stroke. In the numerical simulations, two types of transient force augmentation are revealed, there being the transient force augmentation for the small stroke lengths and the absolute transient force augmentation for the large stroke lengths. The relative transient force augmentation increases to 78% for L/D = 1, while the absolute transient force augmentation for L/D = 4 is twice as much as that for L/D = 1. Further investigation demonstrates that the force augmentation is attributed to the interaction between vortex rings, which induces transport of vortex impulse and more evident fluid entrainment. The critical situation of vortex ring separation is defined and indicated, with vortex spacing falling in a narrow gap when the stroke lengths vary. A new model is proposed concerning the limiting process of impulse, further suggesting that apart from vortex formation timescale, vortex spacing should be interpreted as an independent timescale to reflect the dynamics of vortex interaction.

  14. The Effects of Age, Gender, and Hand on Force Control Capabilities of Healthy Adults.

    Science.gov (United States)

    Lee, Baekhee; Lee, Mina; Yoh, Myeung Sook; You, Heecheon; Park, Hyunji; Jung, Kihyo; Lee, Byung Hwa; Na, Duk L; Kim, Geon Ha

    2015-12-01

    The present study examined the effects of age (20s to 70s), gender (male and female), and hand (dominant and nondominant) on force control capabilities (FCCs) in four force control phases (initiation, development, maintenance, and termination). Normative data of FCCs by force control phase are needed for various populations in age and gender to identify a type of motor performance reduction and its severity. FCCs of 360 participants (30 for each combination of age group and gender) were measured using a finger dynamometer and quantified in terms of initiation time (IT), development time (DT), maintenance error (ME), and termination time (TT). Although gradual increases (1%~28%) by age were shown in IT, DT, and TT, a dramatic increase in ME was observed among participants in their 50s (26%), 60s (68%), and 70s (160%) compared to those in their 20s~40s. The most distinctive interaction effect of age and gender was found in ME out of the four FCC measures. Lastly, hand and its related interactions were not found significant. Normative FCC data were established for four age groups (20s~40s, 50s, 60s, and 70s) and gender. The normative FCC data can be used for evaluating an individual's motor performance, screening patients with brain disorders, and designing input devices triggered and/or operated by the finger. © 2015, Human Factors and Ergonomics Society.

  15. Multivariable H force/level control of the twin-roller strip caster

    International Nuclear Information System (INIS)

    Cavazos, A.; Edwards, J.B.

    2005-01-01

    Twin-roller steel strip casters may offer some advantages with respect to classical continuous casting hot rolling processes. Some works have reported control aspects of this process and although the process has been found to be highly interactive and non-linear, little or no attention has been given to its multivariable characteristics. The purpose of this work is to design a multivariable control capable of decoupling the system. This paper presents some important aspects of the strip caster modeling and reports the simulation results of the application of the multivariable H-optimal control for nominal performance to force/level control. Various controllers have been designed for different pool level heights and it is shown that they can decouple the system, allowing the application of PI decentralized controllers to considerably improve performance. (author)

  16. Strength of tensor force and s-d-shell effective interactions

    International Nuclear Information System (INIS)

    Jiang, M.; Machleidt, R.; Stout, D.B.; Kuo, T.T.S.

    1989-01-01

    The s-d-shell effective interaction is derived from the Bonn NN potential, using a G-matrix folded-diagram method. It is found that due to the relatively weak-tensor-force characteristic for the Bonn potential, the effective interaction matrix elements, particularly those with isospin T=0, come out generally more attractive than in previous derivations which were based on conventional local strong-tensor-force NN potentials. This renders the results obtained with the Bonn potential in considerably better agreement with the recent s-d-shell matrix elements of Wildenthal

  17. Seismic response of pile foundations and pile forces caused by kinematic and inertial interaction

    International Nuclear Information System (INIS)

    Hartmann, H.G.; Waas, G.

    1985-01-01

    The horizontal motion and pile forces of pile groups subjected to earthquake excitation are analysed. The piles are modelled as linear elastic beam elements embedded in a layered linear visco-elastic soil medium. Pile-soil-pile interaction is included. The earthquake excitation results from vertically propagating shear waves. Kinematic and inertial interaction effects on foundation motion and pile forces are studied for a single pile, a small pile group and a large pile group. Soft and stiff soil conditions are considered, and the effect of a flexible vs. a rigid halfspace below the soil layers is shown. (orig.)

  18. Superposition of automatic and voluntary aspects of grip force control in humans during object manipulation.

    Directory of Open Access Journals (Sweden)

    Frederic Danion

    Full Text Available When moving grasped objects, people automatically modulate grip force (GF with movement-dependent load force (LF in order to prevent object slip. However, GF can also be modulated voluntarily as when squeezing an object. Here we investigated possible interactions between automatic and voluntary GF control. Participants were asked to generate horizontal cyclic movements (between 0.6 and 2.0 Hz of a hand-held object that was restrained by an elastic band such that the load force (LF reached a peak once per movement cycle, and to simultaneously squeeze the object at each movement reversal (i.e., twice per cycle. Participants also performed two control tasks in which they either only moved (between 0.6 and 2.0 Hz or squeezed (between 1.2 and 4.0 Hz the object. The extent to which GF modulation in the simultaneous task could be predicted from the two control tasks was assessed using power spectral analyses. At all frequencies, the GF power spectra from the simultaneous task exhibited two prominent components that occurred at the cycle frequency (ƒ and at twice this frequency (2ƒ, whereas the spectra from the movement and squeeze control task exhibited only single peaks at ƒ and 2ƒ, respectively. At lower frequencies, the magnitudes of both frequency components in the simultaneous task were similar to the magnitudes of the corresponding components in the control tasks. However, as frequency increased, the magnitudes of both components in the simultaneous task were greater than the magnitudes of the corresponding control task components. Moreover, the phase relationship between the ƒ components of GF and LF began to drift from the value observed in the movement control task. Overall these results suggest that, at lower movement frequencies, voluntary and automatic GF control processes operate at different hierarchical levels. Several mechanisms are discussed to account for interaction effects observed at higher movement frequencies.

  19. Constant Cutting Force Control for CNC Machining Using Dynamic Characteristic-Based Fuzzy Controller

    Directory of Open Access Journals (Sweden)

    Hengli Liu

    2015-01-01

    Full Text Available This paper presents a dynamic characteristic-based fuzzy adaptive control algorithm (DCbFACA to avoid the influence of cutting force changing rapidly on the machining stability and precision. The cutting force is indirectly obtained in real time by monitoring and extraction of the motorized spindle current, the feed speed is fuzzy adjusted online, and the current was used as a feedback to control cutting force and maintain the machining process stable. Different from the traditional fuzzy control methods using the experience-based control rules, and according to the complex nonlinear characteristics of CNC machining, the power bond graph method is implemented to describe the dynamic characteristics of process, and then the appropriate variation relations are achieved between current and feed speed, and the control rules are optimized and established based on it. The numerical results indicated that DCbFACA can make the CNC machining process more stable and improve the machining precision.

  20. Cardinal features of involuntary force variability can arise from the closed-loop control of viscoelastic afferented muscles

    Science.gov (United States)

    Laine, Christopher M.; Valero-Cuevas, Francisco J.

    2018-01-01

    Involuntary force variability below 15 Hz arises from, and is influenced by, many factors including descending neural drive, proprioceptive feedback, and mechanical properties of muscles and tendons. However, their potential interactions that give rise to the well-structured spectrum of involuntary force variability are not well understood due to a lack of experimental techniques. Here, we investigated the generation, modulation, and interactions among different sources of force variability using a physiologically-grounded closed-loop simulation of an afferented muscle model. The closed-loop simulation included a musculotendon model, muscle spindle, Golgi tendon organ (GTO), and a tracking controller which enabled target-guided force tracking. We demonstrate that closed-loop control of an afferented musculotendon suffices to replicate and explain surprisingly many cardinal features of involuntary force variability. Specifically, we present 1) a potential origin of low-frequency force variability associated with co-modulation of motor unit firing rates (i.e.,‘common drive’), 2) an in-depth characterization of how proprioceptive feedback pathways suffice to generate 5-12 Hz physiological tremor, and 3) evidence that modulation of those feedback pathways (i.e., presynaptic inhibition of Ia and Ib afferents, and spindle sensitivity via fusimotor drive) influence the full spectrum of force variability. These results highlight the previously underestimated importance of closed-loop neuromechanical interactions in explaining involuntary force variability during voluntary ‘isometric’ force control. Furthermore, these results provide the basis for a unifying theory that relates spinal circuitry to various manifestations of altered involuntary force variability in fatigue, aging and neurological disease. PMID:29309405

  1. Cardinal features of involuntary force variability can arise from the closed-loop control of viscoelastic afferented muscles.

    Science.gov (United States)

    Nagamori, Akira; Laine, Christopher M; Valero-Cuevas, Francisco J

    2018-01-01

    Involuntary force variability below 15 Hz arises from, and is influenced by, many factors including descending neural drive, proprioceptive feedback, and mechanical properties of muscles and tendons. However, their potential interactions that give rise to the well-structured spectrum of involuntary force variability are not well understood due to a lack of experimental techniques. Here, we investigated the generation, modulation, and interactions among different sources of force variability using a physiologically-grounded closed-loop simulation of an afferented muscle model. The closed-loop simulation included a musculotendon model, muscle spindle, Golgi tendon organ (GTO), and a tracking controller which enabled target-guided force tracking. We demonstrate that closed-loop control of an afferented musculotendon suffices to replicate and explain surprisingly many cardinal features of involuntary force variability. Specifically, we present 1) a potential origin of low-frequency force variability associated with co-modulation of motor unit firing rates (i.e.,'common drive'), 2) an in-depth characterization of how proprioceptive feedback pathways suffice to generate 5-12 Hz physiological tremor, and 3) evidence that modulation of those feedback pathways (i.e., presynaptic inhibition of Ia and Ib afferents, and spindle sensitivity via fusimotor drive) influence the full spectrum of force variability. These results highlight the previously underestimated importance of closed-loop neuromechanical interactions in explaining involuntary force variability during voluntary 'isometric' force control. Furthermore, these results provide the basis for a unifying theory that relates spinal circuitry to various manifestations of altered involuntary force variability in fatigue, aging and neurological disease.

  2. Quantitative analysis of tip-sample interaction in non-contact scanning force spectroscopy

    International Nuclear Information System (INIS)

    Palacios-Lidon, Elisa; Colchero, Jaime

    2006-01-01

    Quantitative characterization of tip-sample interaction in scanning force microscopy is fundamental for optimum image acquisition as well as data interpretation. In this work we discuss how to characterize the electrostatic and van der Waals contribution to tip-sample interaction in non-contact scanning force microscopy precisely. The spectroscopic technique presented is based on the simultaneous measurement of cantilever deflection, oscillation amplitude and frequency shift as a function of tip-sample voltage and tip-sample distance as well as on advanced data processing. Data are acquired at a fixed lateral position as interaction images, with the bias voltage as fast scan, and tip-sample distance as slow scan. Due to the quadratic dependence of the electrostatic interaction with tip-sample voltage the van der Waals force can be separated from the electrostatic force. Using appropriate data processing, the van der Waals interaction, the capacitance and the contact potential can be determined as a function of tip-sample distance. The measurement of resonance frequency shift yields very high signal to noise ratio and the absolute calibration of the measured quantities, while the acquisition of cantilever deflection allows the determination of the tip-sample distance

  3. Control of flow geometry using electromagnetic body forcing

    International Nuclear Information System (INIS)

    Rossi, L.; Bocquet, S.; Ferrari, S.; Garcia de la Cruz, J.M.; Lardeau, S.

    2009-01-01

    This paper presents conceptual experiments and simulations aiming at controlling flow geometries. Such flow design is performed by driving electromagnetically a shallow layer of brine, the forcing being generated by a transverse electrical current and different combinations of permanent magnets placed underneath the brine supporting wall. It is shown how different basic flow characteristics can be obtained with a single pair of magnets, by varying the angle with the electrical current. These basic flows are proposed as potential building blocks for advanced and complex flows studies. Three typical flow structures are presented to illustrate these building blocks. The discussion is then extended to multi-scale geometry by using blocks of various sizes. The flow is analysed using complementary experiments and numerical simulations. A good agreement is found between the 3D simulations and the experiments for both velocity and acceleration fields, which allows a higher degree of confidence in designing and modelling such flows. As the control of the flow geometry is important for mixing, in particular at low Reynolds number, we also illustrate the different stirring properties of the electromagnetically forced flows by comparing visualisations of passive scalars. They reveal complementary mixing properties for each of the building blocks.

  4. Lumbar extensor muscle force control is associated with disability in people with chronic low back pain.

    Science.gov (United States)

    Pranata, Adrian; Perraton, Luke; El-Ansary, Doa; Clark, Ross; Fortin, Karine; Dettmann, Tim; Brandham, Robert; Bryant, Adam

    2017-07-01

    The ability to control lumbar extensor force output is necessary for daily activities. However, it is unknown whether this ability is impaired in chronic low back pain patients. Similarly, it is unknown whether lumbar extensor force control is related to the disability levels of chronic low back pain patients. Thirty-three chronic low back pain and 20 healthy people performed lumbar extension force-matching task where they increased and decreased their force output to match a variable target force within 20%-50% maximal voluntary isometric contraction. Force control was quantified as the root-mean-square-error between participants' force output and target force across the entire, during the increasing and decreasing portions of the force curve. Within- and between-group differences in force-matching error and the relationship between back pain group's force-matching results and their Oswestry Disability Index scores were assessed using ANCOVA and linear regression respectively. Back pain group demonstrated more overall force-matching error (mean difference=1.60 [0.78, 2.43], Pback pain group demonstrated more force-matching error while increasing than decreasing force output (mean difference=1.74, Pback pain group (R 2 =0.19, P=0.006). Lumbar extensor muscle force control is compromised in chronic low back pain patients. Force-matching error predicts disability, confirming the validity of our force control protocol for chronic low back pain patients. Copyright © 2017 Elsevier Ltd. All rights reserved.

  5. Virtual grasping: closed-loop force control using electrotactile feedback.

    Science.gov (United States)

    Jorgovanovic, Nikola; Dosen, Strahinja; Djozic, Damir J; Krajoski, Goran; Farina, Dario

    2014-01-01

    Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously "unseen" objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.

  6. Virtual Grasping: Closed-Loop Force Control Using Electrotactile Feedback

    Directory of Open Access Journals (Sweden)

    Nikola Jorgovanovic

    2014-01-01

    Full Text Available Closing the control loop by providing somatosensory feedback to the user of a prosthesis is a well-known, long standing challenge in the field of prosthetics. Various approaches have been investigated for feedback restoration, ranging from direct neural stimulation to noninvasive sensory substitution methods. Although there are many studies presenting closed-loop systems, only a few of them objectively evaluated the closed-loop performance, mostly using vibrotactile stimulation. Importantly, the conclusions about the utility of the feedback were partly contradictory. The goal of the current study was to systematically investigate the capability of human subjects to control grasping force in closed loop using electrotactile feedback. We have developed a realistic experimental setup for virtual grasping, which operated in real time, included a set of real life objects, as well as a graphical and dynamical model of the prosthesis. We have used the setup to test 10 healthy, able bodied subjects to investigate the role of training, feedback and feedforward control, robustness of the closed loop, and the ability of the human subjects to generalize the control to previously “unseen” objects. Overall, the outcomes of this study are very optimistic with regard to the benefits of feedback and reveal various, practically relevant, aspects of closed-loop control.

  7. Damping-controlled fluidelastic instability forces in multi-span tubes with loose supports

    International Nuclear Information System (INIS)

    Hassan, Marwan A.; Rogers, Robert J.; Gerber, Andrew G.

    2011-01-01

    This paper presents simulations of a loosely supported multi-span tube subjected to turbulence and fluidelastic instability forces in order to compare several time-domain fluid force models simulating the damping-controlled fluidelastic instability mechanism in tube arrays. These models include the negative damping model based on the Connors equation, fluid force coefficient-based models (Chen; Tanaka and Takahara), and two semi-analytical models (Price and Paidoussis; and Lever and Weaver). Time domain modelling challenges for each of these theories are discussed. The implemented models are validated against available experimental data. The linear simulations (without tube/support clearance) show that the Connors-equation based model exhibits the most conservative prediction of the critical flow velocity when the recommended design values for the Connors equation are used. The models are then utilized to simulate the nonlinear response of a three-span cantilever tube in a lattice bar support subjected to air crossflow. The tube is subjected to a single-phase flow passing over the spans where the flow velocity and the support clearance are varied. Special attention is paid to the tube/support interaction parameters that affect wear, such as impact forces, contact ratio, and normal work rate. As was seen for the linear cases, the reduced flow velocity at the instability threshold differs for the fluid force models considered. The investigated models do, however, exhibit similar response characteristics for the impact force, tip lift response, and work rate, except for the Connors-based model that overestimates the response and the tube/support interaction parameters for the loose support case, especially at large clearances.

  8. Position Control of Linear Synchronous Motor Drives with Exploitation of Forced Dynamics Control Principles

    Directory of Open Access Journals (Sweden)

    Jan Vittek

    2004-01-01

    Full Text Available Closed-loop position control of mechanisms directly driven by linear synchronous motors with permanent magnets is presented. The control strategy is based on forced dynamic control, which is a form of feedback linearisation, yielding a non-liner multivariable control law to obtain a prescribed linear speed dynamics together with the vector control condition of mutal orthogonality between the stator current and magnetic flux vectors (assuming perfect estimates of the plant parameters. Outer position control loop is closed via simple feedback with proportional gain. Simulations of the design control sysstem, including the drive with power electronic switching, predict the intended drive performance.

  9. Interactions between Rotavirus and Suwannee River Organic Matter: Aggregation, Deposition, and Adhesion Force Measurement

    KAUST Repository

    Gutierrez, Leonardo

    2012-08-21

    Interactions between rotavirus and Suwannee River natural organic matter (NOM) were studied by time-resolved dynamic light scattering, quartz crystal microbalance, and atomic force microscopy. In NOM-containing NaCl solutions of up to 600 mM, rotavirus suspension remained stable for over 4 h. Atomic force microscopy (AFM) measurement for interaction force decay length at different ionic strengths showed that nonelectrostatic repulsive forces were mainly responsible for eliminating aggregation in NaCl solutions. Aggregation rates of rotavirus in solutions containing 20 mg C/L increased with divalent cation concentration until reaching a critical coagulation concentration of 30 mM CaCl2 or 70 mM MgCl2. Deposition kinetics of rotavirus on NOM-coated silica surface was studied using quartz crystal microbalance. Experimental attachment efficiencies for rotavirus adsorption to NOM-coated surface in MgCl2 solution were lower than in CaCl2 solution at a given divalent cation concentration. Stronger adhesion force was measured for virus-virus and virus-NOM interactions in CaCl2 solution compared to those in MgCl2 or NaCl solutions at the same ionic strength. This study suggested that divalent cation complexation with carboxylate groups in NOM and on virus surface was an important mechanism in the deposition and aggregation kinetics of rotavirus. © 2012 American Chemical Society.

  10. Lepton Flavorful Fifth Force and Depth-Dependent Neutrino Matter Interactions

    Energy Technology Data Exchange (ETDEWEB)

    Wise, Mark B. [Caltech; Zhang, Yue [Northwestern U.

    2018-03-01

    We consider a fifth force to be an interaction that couples to matter with a strength that grows with the number of atoms. In addition to competing with the strength of gravity a fifth force can give rise to violations of the equivalence principle. Current long range constraints on the strength and range of fifth forces are very impressive. Amongst possible fifth forces are those that couple to lepton flavorful charges $L_e-L_{\\mu}$ or $L_e-L_{\\tau}$. They have the property that their range and strength are also constrained by neutrino interactions with matter. In this brief note we review the existing constraints on the allowed parameter space in gauged $U(1)_{L_e-L_{\\mu}, L_{\\tau}}$. We find two regions where neutrino oscillation experiments are at the frontier of probing such a new force. In particular, there is an allowed range of parameter space where neutrino matter interactions relevant for long baseline oscillation experiments depend on the depth of the neutrino beam below the surface of the earth.

  11. Interactions between internal forces, body stiffness, and fluid environment in a neuromechanical model of lamprey swimming.

    Science.gov (United States)

    Tytell, Eric D; Hsu, Chia-Yu; Williams, Thelma L; Cohen, Avis H; Fauci, Lisa J

    2010-11-16

    Animal movements result from a complex balance of many different forces. Muscles produce force to move the body; the body has inertial, elastic, and damping properties that may aid or oppose the muscle force; and the environment produces reaction forces back on the body. The actual motion is an emergent property of these interactions. To examine the roles of body stiffness, muscle activation, and fluid environment for swimming animals, a computational model of a lamprey was developed. The model uses an immersed boundary framework that fully couples the Navier-Stokes equations of fluid dynamics with an actuated, elastic body model. This is the first model at a Reynolds number appropriate for a swimming fish that captures the complete fluid-structure interaction, in which the body deforms according to both internal muscular forces and external fluid forces. Results indicate that identical muscle activation patterns can produce different kinematics depending on body stiffness, and the optimal value of stiffness for maximum acceleration is different from that for maximum steady swimming speed. Additionally, negative muscle work, observed in many fishes, emerges at higher tail beat frequencies without sensory input and may contribute to energy efficiency. Swimming fishes that can tune their body stiffness by appropriately timed muscle contractions may therefore be able to optimize the passive dynamics of their bodies to maximize peak acceleration or swimming speed.

  12. Measurement of Vehicle-Bridge-Interaction force using dynamic tire pressure monitoring

    Science.gov (United States)

    Chen, Zhao; Xie, Zhipeng; Zhang, Jian

    2018-05-01

    The Vehicle-Bridge-Interaction (VBI) force, i.e., the normal contact force of a tire, is a key component in the VBI mechanism. The VBI force measurement can facilitate experimental studies of the VBI as well as input-output bridge structural identification. This paper introduces an innovative method for calculating the interaction force by using dynamic tire pressure monitoring. The core idea of the proposed method combines the ideal gas law and a basic force model to build a relationship between the tire pressure and the VBI force. Then, unknown model parameters are identified by the Extended Kalman Filter using calibration data. A signal filter based on the wavelet analysis is applied to preprocess the effect that the tire rotation has on the pressure data. Two laboratory tests were conducted to check the proposed method's validity. The effects of different road irregularities, loads and forward velocities were studied. Under the current experiment setting, the proposed method was robust to different road irregularities, and the increase in load and velocity benefited the performance of the proposed method. A high-speed test further supported the use of this method in rapid bridge tests. Limitations of the derived theories and experiment were also discussed.

  13. Evaluating Information Assurance Control Effectiveness on an Air Force Supervisory Control and Data Acquisition (SCADA) System

    Science.gov (United States)

    2011-03-01

    Byres, E. J., Lowe, J. (2004). The Myths and facts behind cyber security risks for industrial control systems . Berlin, Germany: VDE 2004 Congress...ACQUISITION (SCADA) SYSTEM THESIS Jason R. Nielsen, Major, USAF AFIT/GCO/ENG/11-10 DEPARTMENT OF THE AIR FORCE AIR UNIVERSITY AIR FORCE...DATA ACQUISITION (SCADA) SYSTEM THESIS Presented to the Faculty Department of Electrical and Computer Engineering Graduate School of

  14. Java interface for asserting interactive telerobotic control

    Science.gov (United States)

    DePasquale, Peter; Lewis, John; Stein, Matthew R.

    1997-12-01

    Many current web-based telerobotic interfaces use HyperText Markup Language (HTML) forms to assert user control on a robot. While acceptable for some tasks, a Java interface can provide better client-server interaction. The Puma Paint project is a joint effort between the Department of Computing Sciences at Villanova University and the Department of Mechanical and Materials Engineering at Wilkes University. THe project utilizes a Java applet to control a Unimation Puma 1760 robot during the task of painting on a canvas. The interface allows the user to control the paint strokes as well as the pressure of a brush on the canvas and how deep the brush is dipped into a paint jar. To provide immediate feedback, a virtual canvas models the effects of the controls as the artist paints. Live color video feedback is provided, allowing the user to view the actual results of the robot's motions. Unlike the step-at-a-time model of many web forms, the application permits the user to assert interactive control. The greater the complexity of the interaction between the robot and its environment, the greater the need for high quality information presentation to the user. The use of Java allows the sophistication of the user interface to be raised to the level required for satisfactory control. This paper describes the Puma Paint project, including the interface and communications model. It also examines the challenges of using the Internet as the medium of communications and the challenges of encoding free ranging motions for transmission from the client to the robot.

  15. Interaction and control in wearable computing

    International Nuclear Information System (INIS)

    Strand, Ole Morten; Johansen, Paal; Droeivoldsmo, Asgeir; Reigstad, Magnus; Olsen, Asle; Helgar, Stein

    2004-03-01

    This report presents the status of Halden Virtual Reality Centre (HVRC) work with technological solutions for wearable computing to support operations where interaction and control of wearable information and communication systems for plant floor personnel are of importance. The report describes a framework and system prototype developed for testing technology, usability and applicability of eye movements and speech for controlling wearable equipment while having both hands free. Potentially interesting areas for further development are discussed with regard to the effect they have on the work situation for plant floor personnel using computerised wearable systems. (Author)

  16. Interaction control of a redundant mobile manipulator

    International Nuclear Information System (INIS)

    Chung, J.H.; Velinsky, S.A.; Hess, R.A.

    1998-01-01

    This paper discusses the modeling and control of a spatial mobile manipulator that consists of a robotic manipulator mounted on a wheeled mobile platform. The Lagrange-d'Alembert formulation is used to obtain a concise description of the dynamics of the system, which is subject to nonholonomic constraints. The complexity of the model is increased by introducing kinematic redundancy, which is created when a multilinked manipulator is used. The kinematic redundancy is resolved by decomposing the mobile manipulator into two subsystems: the mobile platform and the manipulator. The redundancy resolution scheme employs a nonlinear interaction-control algorithm, which is developed and applied to coordinate the two subsystems' controllers. The subsystem controllers are independently designed, based on each subsystem's dynamic characteristics. Simulation results show the promise of the developed algorithm

  17. Interaction potential and repulsive force between atoms whose internuclear separations are small

    International Nuclear Information System (INIS)

    Barbaro, Jacques

    1971-01-01

    The Thomas-Fermi equation is solved for the homonuclear diatomic molecule. The electronic density and electrostatic potential at each point are used to calculate energies and interaction potentials for very small internuclear separation distances. The repulsive force between atoms is derived by means of the virial theorem. (author) [fr

  18. Resistance to moment-normal force interaction of I-shaped steel sections

    NARCIS (Netherlands)

    Rombouts, I.M.J.; Snijder, H.H.; Dekker, R.W.A.; Teeuwen, P.A.

    2016-01-01

    This paper describes the assessment of the EN 1993-1-1 design rules for cross-section resistance to moment-normal force interaction (M-Ninteraction). Besides the fact that the Eurocode design rules showunconservative predictions of the reduced plastic moment capacity for the presence of relatively

  19. A force-based, parallel assay for the quantification of protein-DNA interactions.

    Science.gov (United States)

    Limmer, Katja; Pippig, Diana A; Aschenbrenner, Daniela; Gaub, Hermann E

    2014-01-01

    Analysis of transcription factor binding to DNA sequences is of utmost importance to understand the intricate regulatory mechanisms that underlie gene expression. Several techniques exist that quantify DNA-protein affinity, but they are either very time-consuming or suffer from possible misinterpretation due to complicated algorithms or approximations like many high-throughput techniques. We present a more direct method to quantify DNA-protein interaction in a force-based assay. In contrast to single-molecule force spectroscopy, our technique, the Molecular Force Assay (MFA), parallelizes force measurements so that it can test one or multiple proteins against several DNA sequences in a single experiment. The interaction strength is quantified by comparison to the well-defined rupture stability of different DNA duplexes. As a proof-of-principle, we measured the interaction of the zinc finger construct Zif268/NRE against six different DNA constructs. We could show the specificity of our approach and quantify the strength of the protein-DNA interaction.

  20. A force-based, parallel assay for the quantification of protein-DNA interactions.

    Directory of Open Access Journals (Sweden)

    Katja Limmer

    Full Text Available Analysis of transcription factor binding to DNA sequences is of utmost importance to understand the intricate regulatory mechanisms that underlie gene expression. Several techniques exist that quantify DNA-protein affinity, but they are either very time-consuming or suffer from possible misinterpretation due to complicated algorithms or approximations like many high-throughput techniques. We present a more direct method to quantify DNA-protein interaction in a force-based assay. In contrast to single-molecule force spectroscopy, our technique, the Molecular Force Assay (MFA, parallelizes force measurements so that it can test one or multiple proteins against several DNA sequences in a single experiment. The interaction strength is quantified by comparison to the well-defined rupture stability of different DNA duplexes. As a proof-of-principle, we measured the interaction of the zinc finger construct Zif268/NRE against six different DNA constructs. We could show the specificity of our approach and quantify the strength of the protein-DNA interaction.

  1. Interaction forces between salivary proteins and Streptococcus mutans with and without antigen I/II

    NARCIS (Netherlands)

    Xu, C.P.; Belt-Gritter, van de B.; Dijkstra, R.J.B.; Norde, W.; Mei, van der H.C.; Busscher, H.J.

    2007-01-01

    The antigen I/II family of surface proteins is expressed by oral streptococci, including Streptococcus mutans, and mediates specific binding to, among others, salivary films. The aim of this study was to investigate the interaction forces between salivary proteins and S. mutans with (LT11) and

  2. Influence of atomic force microscope tip-sample interaction on the study of scaling behavior

    NARCIS (Netherlands)

    Aue, J.; de Hosson, J.T.M.

    1997-01-01

    Images acquired with atomic force microscopy are based on tip-sample interaction. It is shown that using scanning probe techniques for determining scaling parameters of a surface leads to an underestimate of the actual scaling dimension, due to the dilation of tip and surface. How much we

  3. Force spectroscopy studies on protein-ligand interactions: a single protein mechanics perspective.

    Science.gov (United States)

    Hu, Xiaotang; Li, Hongbin

    2014-10-01

    Protein-ligand interactions are ubiquitous and play important roles in almost every biological process. The direct elucidation of the thermodynamic, structural and functional consequences of protein-ligand interactions is thus of critical importance to decipher the mechanism underlying these biological processes. A toolbox containing a variety of powerful techniques has been developed to quantitatively study protein-ligand interactions in vitro as well as in living systems. The development of atomic force microscopy-based single molecule force spectroscopy techniques has expanded this toolbox and made it possible to directly probe the mechanical consequence of ligand binding on proteins. Many recent experiments have revealed how ligand binding affects the mechanical stability and mechanical unfolding dynamics of proteins, and provided mechanistic understanding on these effects. The enhancement effect of mechanical stability by ligand binding has been used to help tune the mechanical stability of proteins in a rational manner and develop novel functional binding assays for protein-ligand interactions. Single molecule force spectroscopy studies have started to shed new lights on the structural and functional consequence of ligand binding on proteins that bear force under their biological settings. Copyright © 2014 Federation of European Biochemical Societies. Published by Elsevier B.V. All rights reserved.

  4. Central control of cardiorespiratory interactions in fish.

    Science.gov (United States)

    Taylor, Edwin W; Leite, Cleo A C; Levings, Jennifer J

    2009-01-01

    Fish control the relative flow rates of water and blood over the gills in order to optimise respiratory gas exchange. As both flows are markedly pulsatile, close beat-to-beat relationships can be predicted. Cardiorespiratory interactions in fish are controlled primarily by activity in the parasympathetic nervous system that has its origin in cardiac vagal preganglionic neurons. Recordings of efferent activity in the cardiac vagus include units firing in respiration-related bursts. Bursts of electrical stimuli delivered peripherally to the cardiac vagus or centrally to respiratory branches of cranial nerves can recruit the heart over a range of frequencies. So, phasic, efferent activity in cardiac vagi, that in the intact fish are respiration-related, can cause heart rate to be modulated by the respiratory rhythm. In elasmobranch fishes this phasic activity seems to arise primarily from central feed-forward interactions with respiratory motor neurones that have overlapping distributions with cardiac neurons in the brainstem. In teleost fish, they arise from increased levels of efferent vagal activity arising from reflex stimulation of chemoreceptors and mechanoreceptors in the orobranchial cavity. However, these differences are largely a matter of emphasis as both groups show elements of feed-forward and feed-back control of cardiorespiratory interactions.

  5. Investigation of a mutual interaction force at different pressure amplitudes in sulfuric acid

    International Nuclear Information System (INIS)

    Rezaee, Nastaran; Sadighi-Bonabi, Rasoul; Mirheydari, Mona; Ebrahimi, Homa

    2011-01-01

    This paper investigates the secondary Bjerknes force for two oscillating bubbles in various pressure amplitudes in a concentration of 95% sulfuric acid. The equilibrium radii of the bubbles are assumed to be smaller than 10 μm at a frequency of 37 kHz in various strong driving acoustical fields around 2.0 bars (1 bar=10 5 Pa). The secondary Bjerknes force is investigated in uncoupled and coupled states between the bubbles, with regard to the quasi-adiabatic model for the bubble interior. It finds that the value of the secondary Bjerknes force depends on the driven pressure of sulfuric acid and its amount would be increased by liquid pressure amplitude enhancement. The results show that the repulsion area of the interaction force would be increased by increasing the driven pressure because of nonlinear oscillation of bubbles. (condensed matter: electronic structure, electrical, magnetic, and optical properties)

  6. A self-interacting partially directed walk subject to a force

    Energy Technology Data Exchange (ETDEWEB)

    Brak, R; Owczarek, A L [Department of Mathematics and Statistics, University of Melbourne, Parkville, Victoria 3010 (Australia); Dyke, P; Lee, J; Whittington, S G [Department of Chemistry, University of Toronto, Toronto M5S 3H6 (Canada); Prellberg, T [School of Mathematical Sciences, Queen Mary, University of London, Mile End Road, London E1 4NS (United Kingdom); Rechnitzer, A [Department of Mathematics, University of British Columbia, Vancouver V6K 1ZT (Canada)

    2009-02-27

    We consider a directed walk model of a homopolymer (in two dimensions) which is self-interacting and can undergo a collapse transition, subject to an applied tensile force. We review and interpret all the results already in the literature concerning the case where this force is in the preferred direction of the walk. We consider the force extension curves at different temperatures as well as the critical-force temperature curve. We demonstrate that this model can be analysed rigorously for all key quantities of interest even when there may not be explicit expressions for these quantities available. We show which of the techniques available can be extended to the full model, where the force has components in the preferred direction and the direction perpendicular to this. Whilst the solution of the generating function is available, its analysis is far more complicated and not all the rigorous techniques are available. However, many results can be extracted including the location of the critical point which gives the general critical-force temperature curve. Lastly, we generalize the model to a three-dimensional analogue and show that several key properties can be analysed if the force is restricted to the plane of preferred directions.

  7. Modelling the effects of the radiation reaction force on the interaction of thin foils with ultra-intense laser fields

    Science.gov (United States)

    Duff, M. J.; Capdessus, R.; Del Sorbo, D.; Ridgers, C. P.; King, M.; McKenna, P.

    2018-06-01

    The effects of the radiation reaction (RR) force on thin foils undergoing radiation pressure acceleration (RPA) are investigated. Using QED-particle-in-cell simulations, the influence of the RR force on the collective electron dynamics within the target can be examined. The magnitude of the RR force is found to be strongly dependent on the target thickness, leading to effects which can be observed on a macroscopic scale, such as changes to the distribution of the emitted radiation and the target dynamics. This suggests that such parameters may be controlled in experiments at multi-PW laser facilities. In addition, the effects of the RR force are characterized in terms of an average radiation emission angle. We present an analytical model which, for the first time, describes the effect of the RR force on the collective electron dynamics within the ‘light-sail’ regime of RPA. The predictions of this model can be tested in future experiments with ultra-high intensity lasers interacting with solid targets.

  8. Reconsideration of dynamic force spectroscopy analysis of streptavidin-biotin interactions.

    Science.gov (United States)

    Taninaka, Atsushi; Takeuchi, Osamu; Shigekawa, Hidemi

    2010-05-13

    To understand and design molecular functions on the basis of molecular recognition processes, the microscopic probing of the energy landscapes of individual interactions in a molecular complex and their dependence on the surrounding conditions is of great importance. Dynamic force spectroscopy (DFS) is a technique that enables us to study the interaction between molecules at the single-molecule level. However, the obtained results differ among previous studies, which is considered to be caused by the differences in the measurement conditions. We have developed an atomic force microscopy technique that enables the precise analysis of molecular interactions on the basis of DFS. After verifying the performance of this technique, we carried out measurements to determine the landscapes of streptavidin-biotin interactions. The obtained results showed good agreement with theoretical predictions. Lifetimes were also well analyzed. Using a combination of cross-linkers and the atomic force microscope that we developed, site-selective measurement was carried out, and the steps involved in bonding due to microscopic interactions are discussed using the results obtained by site-selective analysis.

  9. Reorganised force control in elbow pain patients during isometric wrist extension

    DEFF Research Database (Denmark)

    Mista, Christian Ariel; Monterde, Sonia; Inglés, Montserrat

    2018-01-01

    INTRODUCTION: Reorganised force control may be an important adaptation following painful traumas. In this study, force control adaptations were assessed in elbow pain patients. Increasing the contraction demand may overcome pain interference on the motor control and as such act as an internal...... voluntary contraction. Pressure pain thresholds were recorded at the lateral epicondyle and tibialis anterior muscle. Contraction force was recorded using a three-directional force transducer. Participants performed contractions according with visual feedback of the task-related force intensity (main...... direction of wrist extension) and another set of contractions with feedback of the three force directions. Going from the simple to the detailed force feedback will increase the demand of the motor task. Force steadiness in all 3 dimensions and force direction was extracted. RESULTS: Compared with controls...

  10. Tools for controlling protein interactions with light

    Science.gov (United States)

    Tucker, Chandra L.; Vrana, Justin D.; Kennedy, Matthew J.

    2014-01-01

    Genetically-encoded actuators that allow control of protein-protein interactions with light, termed ‘optical dimerizers’, are emerging as new tools for experimental biology. In recent years, numerous new and versatile dimerizer systems have been developed. Here we discuss the design of optical dimerizer experiments, including choice of a dimerizer system, photoexcitation sources, and coordinate use of imaging reporters. We provide detailed protocols for experiments using two dimerization systems we previously developed, CRY2/CIB and UVR8/UVR8, for use controlling transcription, protein localization, and protein secretion with light. Additionally, we provide instructions and software for constructing a pulse-controlled LED light device for use in experiments requiring extended light treatments. PMID:25181301

  11. Nonlinear Dynamics of Cantilever-Sample Interactions in Atomic Force Microscopy

    Science.gov (United States)

    Cantrell, John H.; Cantrell, Sean A.

    2010-01-01

    The interaction of the cantilever tip of an atomic force microscope (AFM) with the sample surface is obtained by treating the cantilever and sample as independent systems coupled by a nonlinear force acting between the cantilever tip and a volume element of the sample surface. The volume element is subjected to a restoring force from the remainder of the sample that provides dynamical equilibrium for the combined systems. The model accounts for the positions on the cantilever of the cantilever tip, laser probe, and excitation force (if any) via a basis set of set of orthogonal functions that may be generalized to account for arbitrary cantilever shapes. The basis set is extended to include nonlinear cantilever modes. The model leads to a pair of coupled nonlinear differential equations that are solved analytically using a matrix iteration procedure. The effects of oscillatory excitation forces applied either to the cantilever or to the sample surface (or to both) are obtained from the solution set and applied to the to the assessment of phase and amplitude signals generated by various acoustic-atomic force microscope (A-AFM) modalities. The influence of bistable cantilever modes of on AFM signal generation is discussed. The effects on the cantilever-sample surface dynamics of subsurface features embedded in the sample that are perturbed by surface-generated oscillatory excitation forces and carried to the cantilever via wave propagation are accounted by the Bolef-Miller propagating wave model. Expressions pertaining to signal generation and image contrast in A-AFM are obtained and applied to amplitude modulation (intermittent contact) atomic force microscopy and resonant difference-frequency atomic force ultrasonic microscopy (RDF-AFUM). The influence of phase accumulation in A-AFM on image contrast is discussed, as is the effect of hard contact and maximum nonlinearity regimes of A-AFM operation.

  12. Real-time tracking control of electro-hydraulic force servo systems using offline feedback control and adaptive control.

    Science.gov (United States)

    Shen, Gang; Zhu, Zhencai; Zhao, Jinsong; Zhu, Weidong; Tang, Yu; Li, Xiang

    2017-03-01

    This paper focuses on an application of an electro-hydraulic force tracking controller combined with an offline designed feedback controller (ODFC) and an online adaptive compensator in order to improve force tracking performance of an electro-hydraulic force servo system (EHFS). A proportional-integral controller has been employed and a parameter-based force closed-loop transfer function of the EHFS is identified by a continuous system identification algorithm. By taking the identified system model as a nominal plant model, an H ∞ offline design method is employed to establish an optimized feedback controller with consideration of the performance, control efforts, and robustness of the EHFS. In order to overcome the disadvantage of the offline designed controller and cope with the varying dynamics of the EHFS, an online adaptive compensator with a normalized least-mean-square algorithm is cascaded to the force closed-loop system of the EHFS compensated by the ODFC. Some comparative experiments are carried out on a real-time EHFS using an xPC rapid prototype technology, and the proposed controller yields a better force tracking performance improvement. Copyright © 2016. Published by Elsevier Ltd.

  13. Vibrotactile Compliance Feedback for Tangential Force Interaction.

    Science.gov (United States)

    Heo, Seongkook; Lee, Geehyuk

    2017-01-01

    This paper presents a method to generate a haptic illusion of compliance using a vibrotactile actuator when a tangential force is applied to a rigid surface. The novel method builds on a conceptual compliance model where a physical object moves on a textured surface in response to a tangential force. The method plays vibration patterns simulating friction-induced vibrations as an applied tangential force changes. We built a prototype consisting of a two-dimensional tangential force sensor and a surface transducer to test the effectiveness of the model. Participants in user experiments with the prototype perceived the rigid surface of the prototype as a moving, rubber-like plate. The main findings of the experiments are: 1) the perceived stiffness of a simulated material can be controlled by controlling the force-playback transfer function, 2) its perceptual properties such as softness and pleasantness can be controlled by changing friction grain parameters, and 3) the use of the vibrotactile compliance feedback reduces participants' workload including physical demand and frustration while performing a force repetition task.

  14. Control of forced vibrations of mechanical structures by an electromagnetic controller with a permanent magnet

    DEFF Research Database (Denmark)

    Stein, George Juraj; Darula, Radoslav; Sorokin, Sergey

    2012-01-01

    A theoretical analysis of an electromagnetic vibration controller is presented. The analyzed device consists of a pot-type iron core with a coil and a permanent magnet as a source of constant magnetic flux. The magnetic circuit is closed by a yoke, excited by an external harmonic mechanical force....... The so generated magnetic flux variation induces alternating voltage in the electric circuit, which is dissipated in a shunt resistor. The induced current driven through the coil generates magnetic force, which damps the excitation force and changes the damped natural frequency of the oscillatory system....... Due to the hysteretic effects in the magnetic material the internal losses influence the overall system’s performance. A mathematical model of the force balance in the oscillatory system is derived in a simplified, linearised form. The electric as well as mechanical system is modelled using lumped...

  15. Unraveling protein-protein interactions in clathrin assemblies via atomic force spectroscopy.

    Science.gov (United States)

    Jin, Albert J; Lafer, Eileen M; Peng, Jennifer Q; Smith, Paul D; Nossal, Ralph

    2013-03-01

    Atomic force microscopy (AFM), single molecule force spectroscopy (SMFS), and single particle force spectroscopy (SPFS) are used to characterize intermolecular interactions and domain structures of clathrin triskelia and clathrin-coated vesicles (CCVs). The latter are involved in receptor-mediated endocytosis (RME) and other trafficking pathways. Here, we subject individual triskelia, bovine-brain CCVs, and reconstituted clathrin-AP180 coats to AFM-SMFS and AFM-SPFS pulling experiments and apply novel analytics to extract force-extension relations from very large data sets. The spectroscopic fingerprints of these samples differ markedly, providing important new information about the mechanism of CCV uncoating. For individual triskelia, SMFS reveals a series of events associated with heavy chain alpha-helix hairpin unfolding, as well as cooperative unraveling of several hairpin domains. SPFS of clathrin assemblies exposes weaker clathrin-clathrin interactions that are indicative of inter-leg association essential for RME and intracellular trafficking. Clathrin-AP180 coats are energetically easier to unravel than the coats of CCVs, with a non-trivial dependence on force-loading rate. Published by Elsevier Inc.

  16. Interaction of Volcanic Forcing and El Nino: Sensitivity to the Eruption Magnitude and El Nino Intensity

    KAUST Repository

    Predybaylo, Evgeniya

    2015-04-01

    Volcanic aerosols formed in the stratosphere after strong explosive eruptions influence Earth\\'s radiative balance, affecting atmospheric and oceanic temperatures and circulation. It was observed that the recent volcanic eruptions frequently occurred in El Nino years. Analysis of the paleo data confirms that the probability of a sequent El Nino occurrence after the eruption increases. To better understand the physical mechanism of this interaction we employed ocean-atmosphere coupled climate model CM2.1, developed in the Geophysical Fluid Dynamics Laboratory, and conducted a series of numerical experiments using initial conditions with different El Nino Southern Oscillation (ENSO) strengths forced by volcanic eruptions of different magnitudes, Pinatubo of June 1991 and Tambora of April 1815: (i) strong ENSO/Pinatubo, (ii) weak ENSO/Pinatubo, (iii) strong ENSO/Tambora. The amount of ejected material from the Tambora eruption was about three times greater than that of the Pinatubo eruption. The initial conditions with El Nino were sampled from the CM2.1 long control run. Our simulations show the enhancement of El Nino in the second year after an eruption. We found that the spatial-temporal structure of model responses is sensitive to both the magnitude of an eruption and the strength of El Nino. We analyzed the ocean dynamic in the tropical Pacific for all cases to uncover the physical mechanism, resulting in the enhanced and/or prolonged El Nino.

  17. Interaction of Volcanic Forcing and El Nino: Sensitivity to the Eruption Magnitude and El Nino Intensity

    KAUST Repository

    Predybaylo, Evgeniya; Wittenberg, Andrew; Stenchikov, Georgiy L.

    2015-01-01

    Volcanic aerosols formed in the stratosphere after strong explosive eruptions influence Earth's radiative balance, affecting atmospheric and oceanic temperatures and circulation. It was observed that the recent volcanic eruptions frequently occurred in El Nino years. Analysis of the paleo data confirms that the probability of a sequent El Nino occurrence after the eruption increases. To better understand the physical mechanism of this interaction we employed ocean-atmosphere coupled climate model CM2.1, developed in the Geophysical Fluid Dynamics Laboratory, and conducted a series of numerical experiments using initial conditions with different El Nino Southern Oscillation (ENSO) strengths forced by volcanic eruptions of different magnitudes, Pinatubo of June 1991 and Tambora of April 1815: (i) strong ENSO/Pinatubo, (ii) weak ENSO/Pinatubo, (iii) strong ENSO/Tambora. The amount of ejected material from the Tambora eruption was about three times greater than that of the Pinatubo eruption. The initial conditions with El Nino were sampled from the CM2.1 long control run. Our simulations show the enhancement of El Nino in the second year after an eruption. We found that the spatial-temporal structure of model responses is sensitive to both the magnitude of an eruption and the strength of El Nino. We analyzed the ocean dynamic in the tropical Pacific for all cases to uncover the physical mechanism, resulting in the enhanced and/or prolonged El Nino.

  18. Nanophotonic force microscopy: characterizing particle-surface interactions using near-field photonics.

    Science.gov (United States)

    Schein, Perry; Kang, Pilgyu; O'Dell, Dakota; Erickson, David

    2015-02-11

    Direct measurements of particle-surface interactions are important for characterizing the stability and behavior of colloidal and nanoparticle suspensions. Current techniques are limited in their ability to measure pico-Newton scale interaction forces on submicrometer particles due to signal detection limits and thermal noise. Here we present a new technique for making measurements in this regime, which we refer to as nanophotonic force microscopy. Using a photonic crystal resonator, we generate a strongly localized region of exponentially decaying, near-field light that allows us to confine small particles close to a surface. From the statistical distribution of the light intensity scattered by the particle we are able to map out the potential well of the trap and directly quantify the repulsive force between the nanoparticle and the surface. As shown in this Letter, our technique is not limited by thermal noise, and therefore, we are able to resolve interaction forces smaller than 1 pN on dielectric particles as small as 100 nm in diameter.

  19. Molecular Theory and the Effects of Solute Attractive Forces on Hydrophobic Interactions.

    Science.gov (United States)

    Chaudhari, Mangesh I; Rempe, Susan B; Asthagiri, D; Tan, L; Pratt, L R

    2016-03-03

    The role of solute attractive forces on hydrophobic interactions is studied by coordinated development of theory and simulation results for Ar atoms in water. We present a concise derivation of the local molecular field (LMF) theory for the effects of solute attractive forces on hydrophobic interactions, a derivation that clarifies the close relation of LMF theory to the EXP approximation applied to this problem long ago. The simulation results show that change from purely repulsive atomic solute interactions to include realistic attractive interactions diminishes the strength of hydrophobic bonds. For the Ar-Ar rdfs considered pointwise, the numerical results for the effects of solute attractive forces on hydrophobic interactions are opposite in sign and larger in magnitude than predicted by LMF theory. That comparison is discussed from the point of view of quasichemical theory, and it is suggested that the first reason for this difference is the incomplete evaluation within LMF theory of the hydration energy of the Ar pair. With a recent suggestion for the system-size extrapolation of the required correlation function integrals, the Ar-Ar rdfs permit evaluation of osmotic second virial coefficients B2. Those B2's also show that incorporation of attractive interactions leads to more positive (repulsive) values. With attractive interactions in play, B2 can change from positive to negative values with increasing temperatures. This is consistent with the puzzling suggestions of decades ago that B2 ≈ 0 for intermediate cases of temperature or solute size. In all cases here, B2 becomes more attractive with increasing temperature.

  20. Density-dependent effective baryon–baryon interaction from chiral three-baryon forces

    Energy Technology Data Exchange (ETDEWEB)

    Petschauer, Stefan, E-mail: stefan.petschauer@ph.tum.de [Physik Department, Technische Universität München, D-85747 Garching (Germany); Haidenbauer, Johann [Institute for Advanced Simulation, Institut für Kernphysik and Jülich Center for Hadron Physics, Forschungszentrum Jülich, D-52425 Jülich (Germany); Kaiser, Norbert [Physik Department, Technische Universität München, D-85747 Garching (Germany); Meißner, Ulf-G. [Institute for Advanced Simulation, Institut für Kernphysik and Jülich Center for Hadron Physics, Forschungszentrum Jülich, D-52425 Jülich (Germany); Helmholtz-Institut für Strahlen- und Kernphysik, Universität Bonn, D-53115 Bonn (Germany); Bethe Center for Theoretical Physics, Universität Bonn, D-53115 Bonn (Germany); Weise, Wolfram [Physik Department, Technische Universität München, D-85747 Garching (Germany)

    2017-01-15

    A density-dependent effective potential for the baryon–baryon interaction in the presence of the (hyper)nuclear medium is constructed, based on the leading (irreducible) three-baryon forces derived within SU(3) chiral effective field theory. We evaluate the contributions from three classes: contact terms, one-pion exchange and two-pion exchange. In the strangeness-zero sector we recover the known result for the in-medium nucleon–nucleon interaction. Explicit expressions for the ΛN in-medium potential in (asymmetric) nuclear matter are presented. Our results are suitable for implementation into calculations of (hyper)nuclear matter. In order to estimate the low-energy constants of the leading three-baryon forces we introduce the decuplet baryons as explicit degrees of freedom and construct the relevant terms in the minimal non-relativistic Lagrangian. With these, the constants are estimated through decuplet saturation. Utilizing this approximation we provide numerical results for the effect of the three-body force in symmetric nuclear matter and pure neutron matter on the ΛN interaction. A moderate repulsion that increases with density is found in comparison to the free ΛN interaction.

  1. Mechanical forces regulate the interactions of fibronectin and collagen I in extracellular matrix.

    Science.gov (United States)

    Kubow, Kristopher E; Vukmirovic, Radmila; Zhe, Lin; Klotzsch, Enrico; Smith, Michael L; Gourdon, Delphine; Luna, Sheila; Vogel, Viola

    2015-08-14

    Despite the crucial role of extracellular matrix (ECM) in directing cell fate in healthy and diseased tissues--particularly in development, wound healing, tissue regeneration and cancer--the mechanisms that direct the assembly and regulate hierarchical architectures of ECM are poorly understood. Collagen I matrix assembly in vivo requires active fibronectin (Fn) fibrillogenesis by cells. Here we exploit Fn-FRET probes as mechanical strain sensors and demonstrate that collagen I fibres preferentially co-localize with more-relaxed Fn fibrils in the ECM of fibroblasts in cell culture. Fibre stretch-assay studies reveal that collagen I's Fn-binding domain is responsible for the mechano-regulated interaction. Furthermore, we show that Fn-collagen interactions are reciprocal: relaxed Fn fibrils act as multivalent templates for collagen assembly, but once assembled, collagen fibres shield Fn fibres from being stretched by cellular traction forces. Thus, in addition to the well-recognized, force-regulated, cell-matrix interactions, forces also tune the interactions between different structural ECM components.

  2. Plasma Surface interaction in Controlled fusion devices

    International Nuclear Information System (INIS)

    1990-05-01

    The subjects presented in the 9th conference on plasma surface interaction in controlled fusion devices were: the modifications of power scrape-off-length and power deposition during various configurations in Tore Supra plasmas; the effects observed in ergodic divertor experiments in Tore-Supra; the diffuse connexion induced by the ergodic divertor and the topology of the heat load patterns on the plasma facing components in Tore-Supra; the study of the influence of air exposure on graphite implanted by low energy high density deuterium plasma

  3. A moving control volume method for smooth computation of hydrodynamic forces and torques on immersed bodies

    Science.gov (United States)

    Nangia, Nishant; Patankar, Neelesh A.; Bhalla, Amneet P. S.

    2017-11-01

    Fictitious domain methods for simulating fluid-structure interaction (FSI) have been gaining popularity in the past few decades because of their robustness in handling arbitrarily moving bodies. Often the transient net hydrodynamic forces and torques on the body are desired quantities for these types of simulations. In past studies using immersed boundary (IB) methods, force measurements are contaminated with spurious oscillations due to evaluation of possibly discontinuous spatial velocity of pressure gradients within or on the surface of the body. Based on an application of the Reynolds transport theorem, we present a moving control volume (CV) approach to computing the net forces and torques on a moving body immersed in a fluid. The approach is shown to be accurate for a wide array of FSI problems, including flow past stationary and moving objects, Stokes flow, and high Reynolds number free-swimming. The approach only requires far-field (smooth) velocity and pressure information, thereby suppressing spurious force oscillations and eliminating the need for any filtering. The proposed moving CV method is not limited to a specific IB method and is straightforward to implement within an existing parallel FSI simulation software. This work is supported by NSF (Award Numbers SI2-SSI-1450374, SI2-SSI-1450327, and DGE-1324585), the US Department of Energy, Office of Science, ASCR (Award Number DE-AC02-05CH11231), and NIH (Award Number HL117163).

  4. Interaction between local parameters of two-phase flow and random forces on a cylinder

    International Nuclear Information System (INIS)

    Sylviane Pascal-Ribot; Yves Blanchet; Franck Baj; Phillippe Piteau

    2005-01-01

    Full text of publication follows: In the frame of assessments of steam generator tube bundle vibrations, a study was conducted in order to investigate the effects of an air/water flow on turbulent buffeting forces induced on a cylinder. The main purpose is to relate the physical parameters characterizing an air/water two-phase crossflow with the structural loading of a fixed cylindrical tube. In this first approach, the experiments are carried out in a rectangular acrylic test section supplied with a vertical upward bubbly flow. This flow is transversally impeded by a fixed rigid 12,15 mm diameter cylinder. Different turbulence grids are used in order to modify two-phase characteristics such as bubble diameter, void fraction profile, fluctuation parameters. Preliminarily, a dimensional analysis of fluid-structure interaction under two-phase turbulent solicitations has enabled to identify a list of physically relevant variables which must be measured to evaluate the random forces. The meaning of these relevant parameters as well as the effect of flow patterns are discussed. Direct measurements of two-phase flow parameters are performed simultaneously with measurements of forces exerted on the cylinder. The main descriptive parameters of a two-phase flow are measured using a bi-optical probe, in particular void fraction profiles, interfacial velocities, bubble diameters, void fraction fluctuations. In the same time, the magnitude of random forces caused by two-phase flow is measured with a force transducer. A thorough analysis of the experimental data is then undertaken in order to correlate physical two-phase mechanisms with the random forces exerted on the cylinder. The hypotheses made while applying the dimensional analysis are verified and their pertinence is discussed. Finally, physical parameters involved in random buffeting forces applied on a transverse tube are proposed to scale the spectral magnitude of these forces and comparisons with other authors

  5. Operational Command and Control: Lessons for Today's Joint Force from Grenada, Somalia, and Kosovo

    National Research Council Canada - National Science Library

    Foraker III, Joseph C

    2007-01-01

    This paper examines operational command and control issues encountered during Operation Urgent Fury in Grenada, the deployment of Task Force Ranger in Mogadishu, Somalia, and Operation Allied Force in Kosovo...

  6. Polyphilic Interactions as Structural Driving Force Investigated by Molecular Dynamics Simulation (Project 7

    Directory of Open Access Journals (Sweden)

    Christopher Peschel

    2017-09-01

    Full Text Available We investigated the effect of fluorinated molecules on dipalmitoylphosphatidylcholine (DPPC bilayers by force-field molecular dynamics simulations. In the first step, we developed all-atom force-field parameters for additive molecules in membranes to enable an accurate description of those systems. On the basis of this force field, we performed extensive simulations of various bilayer systems containing different additives. The additive molecules were chosen to be of different size and shape, and they included small molecules such as perfluorinated alcohols, but also more complex molecules. From these simulations, we investigated the structural and dynamic effects of the additives on the membrane properties, as well as the behavior of the additive molecules themselves. Our results are in good agreement with other theoretical and experimental studies, and they contribute to a microscopic understanding of interactions, which might be used to specifically tune membrane properties by additives in the future.

  7. Differential MS2 Interaction with Food Contact Surfaces Determined by Atomic Force Microscopy and Virus Recovery.

    Science.gov (United States)

    Shim, J; Stewart, D S; Nikolov, A D; Wasan, D T; Wang, R; Yan, R; Shieh, Y C

    2017-12-15

    Enteric viruses are recognized as major etiologies of U.S. foodborne infections. These viruses are easily transmitted via food contact surfaces. Understanding virus interactions with surfaces may facilitate the development of improved means for their removal, thus reducing transmission. Using MS2 coliphage as a virus surrogate, the strength of virus adhesion to common food processing and preparation surfaces of polyvinyl chloride (PVC) and glass was assessed by atomic force microscopy (AFM) and virus recovery assays. The interaction forces of MS2 with various surfaces were measured from adhesion peaks in force-distance curves registered using a spherical bead probe preconjugated with MS2 particles. MS2 in phosphate-buffered saline (PBS) demonstrated approximately 5 times less adhesion force to glass (0.54 nN) than to PVC (2.87 nN) ( P force for PVC (∼0 nN) and consistently increased virus recovery by 19%. With direct and indirect evidence of virus adhesion, this study illustrated a two-way assessment of virus adhesion for the initial evaluation of potential means to mitigate virus adhesion to food contact surfaces. IMPORTANCE The spread of foodborne viruses is likely associated with their adhesive nature. Virus attachment on food contact surfaces has been evaluated by quantitating virus recoveries from inoculated surfaces. This study aimed to evaluate the microenvironment in which nanometer-sized viruses interact with food contact surfaces and to compare the virus adhesion differences using AFM. The virus surrogate MS2 demonstrated less adhesion force to glass than to PVC via AFM, with the force-contributing factors including the intrinsic nature and the topography of the contact surfaces. This adhesion finding is consistent with the virus recoveries, which were determined indirectly. Greater numbers of viruses were recovered from glass than from PVC, after application at the same levels. The stronger MS2 adhesion onto PVC could be interrupted by incorporating a

  8. Force Control for a Pneumatic Cylinder Using Generalized Predictive Controller Approach

    Directory of Open Access Journals (Sweden)

    Ahmad ’Athif Mohd Faudzi

    2014-01-01

    Full Text Available Pneumatic cylinder is a well-known device because of its high power to weight ratio, easy use, and environmental safety. Pneumatic cylinder uses air as its power source and converts it to a possible movement such as linear and rotary movement. In order to control the pneumatic cylinder, controller algorithm is needed to control the on-off solenoid valve with encoder and pressure sensor as the feedback inputs. In this paper, generalized predictive controller (GPC is proposed as the control strategy for the pneumatic cylinder force control. To validate and compare the performance, proportional-integral (PI controller is also presented. Both controllers algorithms GPC and PI are developed using existing linear model of the cylinder from previous research. Results are presented in simulation and experimental approach using MATLAB-Simulink as the platform. The results show that the GPC is capable of fast response with low steady state error and percentage overshoot compared to PI.

  9. Interactive Multimedia Software on Fundamental Particles and Forces. Final Technical Report

    International Nuclear Information System (INIS)

    Jack Sculley

    1999-01-01

    Research in the SBIR Phase 2 grant number 95 ER 81944 centered on creating interactive multimedia software for teaching basic concepts in particle physics on fundamental particles and forces. The work was undertaken from February 1997 through July 1998. Overall the project has produced some very encouraging results in terms of product development, interest from the general public and interest from potential Phase 3 funders. Although the original Phase 3 publisher, McGraw Hill Home Interactive, was dissolved by its parent company, and other changes in the CD-ROM industry forced them to change their focus from CD-ROM to the Internet, there has been substantial interest from software publishers and online content providers in the content developed in the course of the Phase 2 research. Results are summarized

  10. Gauge unification of basic forces particularly of gravitation with strong interactions

    International Nuclear Information System (INIS)

    Salam, A.

    1977-01-01

    Corresponding to the two known types of gauge theories, Yang-Mills with spin-one mediating particles and Einstein Weyl with spin-two mediating particles, it is speculated that two distinct gauge unifications of the basic forces appear to be taking place. One is the familiar Yang-Mills unification of weak and electromagnetic forces with the strong. The second is the less familiar gauge unification of gravitation with spin-two tensor-dominated aspects of strong interactions. It is proposed that there are strongly interacting spin-two strong gravitons obeying Einstein's equations, and their existence gives a clue to an understanding of the (partial) confinement of quarks, as well as of the concept of hadronic temperature, through the use of Schwarzschild de-Sitter-like partially confining solitonic solutions of the strong gravity Einstein equation

  11. Near-field Light Scattering Techniques for Measuring Nanoparticle-Surface Interaction Energies and Forces.

    Science.gov (United States)

    Schein, Perry; Ashcroft, Colby K; O'Dell, Dakota; Adam, Ian S; DiPaolo, Brian; Sabharwal, Manit; Shi, Ce; Hart, Robert; Earhart, Christopher; Erickson, David

    2015-08-15

    Nanoparticles are quickly becoming commonplace in many commercial and industrial products, ranging from cosmetics to pharmaceuticals to medical diagnostics. Predicting the stability of the engineered nanoparticles within these products a priori remains an important and difficult challenge. Here we describe our techniques for measuring the mechanical interactions between nanoparticles and surfaces using near-field light scattering. Particle-surface interfacial forces are measured by optically "pushing" a particle against a reference surface and observing its motion using scattered near-field light. Unlike atomic force microscopy, this technique is not limited by thermal noise, but instead takes advantage of it. The integrated waveguide and microfluidic architecture allow for high-throughput measurements of about 1000 particles per hour. We characterize the reproducibility of and experimental uncertainty in the measurements made using the NanoTweezer surface instrument. We report surface interaction studies on gold nanoparticles with 50 nm diameters, smaller than previously reported in the literature using similar techniques.

  12. INTERACTIONS: DESIGN, IMPLEMENTATION AND EVALUATION OF A COMPUTATIONAL TOOL FOR TEACHING INTERMOLECULAR FORCES IN HIGHER EDUCATION

    Directory of Open Access Journals (Sweden)

    Francisco Geraldo Barbosa

    2015-12-01

    Full Text Available Intermolecular forces are a useful concept that can explain the attraction between particulate matter as well as numerous phenomena in our lives such as viscosity, solubility, drug interactions, and dyeing of fibers. However, studies show that students have difficulty understanding this important concept, which has led us to develop a free educational software in English and Portuguese. The software can be used interactively by teachers and students, thus facilitating better understanding. Professors and students, both graduate and undergraduate, were questioned about the software quality and its intuitiveness of use, facility of navigation, and pedagogical application using a Likert scale. The results led to the conclusion that the developed computer application can be characterized as an auxiliary tool to assist teachers in their lectures and students in their learning process of intermolecular forces.

  13. Interaction forces and conduction properties between multi wall carbon nanotube tips and Au(1 1 1)

    Energy Technology Data Exchange (ETDEWEB)

    Luna, M.; Pablo, P.J. de; Colchero, J.; Gomez-Herrero, J.; Baro, A.M.; Tokumoto, H.; Jarvis, S.P

    2003-07-15

    We have studied the interaction forces and electrical conduction properties arising between multiwall carbon nanotube tips and the Au(1 1 1) surface in air, by means of amplitude modulation scanning force microscopy, also called intermittent contact. We have centered our work on tips with metallic electronic structure and for the specific parameters used we have found a preliminary interaction range where there is no contact between tip and surface. Stable imaging in this non-contact range is possible with multiwall carbon nanotube tips. These tips have also been used to obtain simultaneous topographic and current maps of the surface. They show excellent properties as tips due to their high aspect ratio and durability, as a result of their elastic and non-reactive properties. Correspondingly, multiwall carbon nanotube tips allow high resolution local analysis of electrical conductivity on a nanometer scale.

  14. Concurrent Modeling of Hydrodynamics and Interaction Forces Improves Particle Deposition Predictions.

    Science.gov (United States)

    Jin, Chao; Ren, Carolyn L; Emelko, Monica B

    2016-04-19

    It is widely believed that media surface roughness enhances particle deposition-numerous, but inconsistent, examples of this effect have been reported. Here, a new mathematical framework describing the effects of hydrodynamics and interaction forces on particle deposition on rough spherical collectors in absence of an energy barrier was developed and validated. In addition to quantifying DLVO force, the model includes improved descriptions of flow field profiles and hydrodynamic retardation functions. This work demonstrates that hydrodynamic effects can significantly alter particle deposition relative to expectations when only the DLVO force is considered. Moreover, the combined effects of hydrodynamics and interaction forces on particle deposition on rough, spherical media are not additive, but synergistic. Notably, the developed model's particle deposition predictions are in closer agreement with experimental observations than those from current models, demonstrating the importance of inclusion of roughness impacts in particle deposition description/simulation. Consideration of hydrodynamic contributions to particle deposition may help to explain discrepancies between model-based expectations and experimental outcomes and improve descriptions of particle deposition during physicochemical filtration in systems with nonsmooth collector surfaces.

  15. Analytical modeling of soliton interactions in a nonlocal nonlinear medium analogous to gravitational force

    Science.gov (United States)

    Zeng, Shihao; Chen, Manna; Zhang, Ting; Hu, Wei; Guo, Qi; Lu, Daquan

    2018-01-01

    We illuminate an analytical model of soliton interactions in lead glass by analogizing to a gravitational force system. The orbits of spiraling solitons under a long-range interaction are given explicitly and demonstrated to follow Newton's second law of motion and the Binet equation by numerical simulations. The condition for circular orbits is obtained and the oscillating orbits are proved not to be closed. We prove the analogy between the nonlocal nonlinear optical system and gravitational system and specify the quantitative relation of the quantity between the two models.

  16. Three-quark forces and the role of meson exchanges in weak NN interaction

    International Nuclear Information System (INIS)

    Grach, I.; Shmatikov, M.

    1989-01-01

    The contribution of weak three-quark forces involving meson exchanges to the longitudinal analyzing power A L in the low-energy pp-scattering is calculated. The nonrelativistic potential model is used for the desorption of strong quark interactions while their weak coupling is described by the Weinberg-Salam lagrangian. The dominant mechanism of parity violation in the NN system (provided the one-pion exchange is forbidden by selection rules) is the contact interaction of quarks. 17 refs.; 3 figs

  17. Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

    Directory of Open Access Journals (Sweden)

    Kristel Knaepen

    Full Text Available In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support. Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

  18. Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

    Science.gov (United States)

    Knaepen, Kristel; Mierau, Andreas; Swinnen, Eva; Fernandez Tellez, Helio; Michielsen, Marc; Kerckhofs, Eric; Lefeber, Dirk; Meeusen, Romain

    2015-01-01

    In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

  19. Eutectic composite NiAl-Cr properties modeling based on interatomic interaction forces

    Science.gov (United States)

    Badamshin, I. Kh

    2018-03-01

    For new materials, information on the elasticity and strength characteristics necessary for calculating the stress-strain state of the turbine blades is limited. In these conditions, there is a need for theoretical methods for calculating the elastic and strength characteristics. The proposed theoretical methods are based on forces of interatomic interaction calculation. The classical methods based on the hypothesis of continuity do not allow calculating the material strength and thermophysical properties.

  20. Air pollution control technologies and their interactions

    Energy Technology Data Exchange (ETDEWEB)

    Nalbandian, H. [IEA Clean Coal Centre, London (United Kingdom)

    2004-11-01

    A large number of coal-fired power stations have been fitted/retrofitted with dedicated air pollutant control technologies. Experience shows that these technologies can have complex interactions and can impact each other as well as balance of plant, positively and/or negatively. Particulate matter (PM) is usually captured with electrostatic precipitators (ESPs) and fabric filters (FF). These technologies are efficient and reliable but their performance may be affected by modifying operating conditions and introducing primary measures for NOx reduction. Flue gas desulphurisation (FGD) systems for SO{sub 2} control have been installed in many facilities with the most popular technology being the wet limestone/gypsum scrubber. FGD use can decrease particulate matter and mercury emissions which is a major issue in the USA, cause an increase in carbon dioxide emissions, and in solids by-product. Primary measures such as low NOx burners (LNBs) and overfire air (OFA) minimise NOx formation but can increase carbon in ash (CIA) which can cause problems with fly ash sales but may also improve mercury capture. Reducing NOx emissions with selective catalytic reduction (SCR) can result in a decrease in particulate matter, an increase in SO{sub 3} emissions and trace increase in NH{sub 3}. This can cause fouling and loss of performance of the air preheater, due to the formation of ammonium sulphates. One way of alleviating this is improved soot-blowing and other cleaning capabilities. This report studies these and other interactions between existing air pollution control technologies in pulverised coal fired power plants. 249 refs., 13 figs., 18 tabs.

  1. Simplified TiO2 force fields for studies of its interaction with biomolecules

    Science.gov (United States)

    Luan, Binquan; Huynh, Tien; Zhou, Ruhong

    2015-06-01

    Engineered TiO2 nanoparticles have been routinely applied in nanotechnology, as well as in cosmetics and food industries. Despite active experimental studies intended to clarify TiO2's biological effects, including potential toxicity, the relation between experimentally inferred nanotoxicity and industry standards for safely applying nanoparticles remains somewhat ambiguous with justified concerns. Supplemental to experiments, molecular dynamics simulations have proven to be efficacious in investigating the molecular mechanism of a biological process occurring at nanoscale. In this article, to facilitate the nanotoxicity and nanomedicine research related to this important metal oxide, we provide a simplified force field, based on the original Matsui-Akaogi force field but compatible to the Lennard-Jones potentials normally used in modeling biomolecules, for simulating TiO2 nanoparticles interacting with biomolecules. The force field parameters were tested in simulating the bulk structure of TiO2, TiO2 nanoparticle-water interaction, as well as the adsorption of proteins on the TiO2 nanoparticle. We demonstrate that these simulation results are consistent with experimental data/observations. We expect that simulations will help to better understand the interaction between TiO2 and molecules.

  2. Stop Blaming Disasters on Forces Beyond Our Control

    Energy Technology Data Exchange (ETDEWEB)

    Matalucci, R.V.

    1999-04-09

    As we enter the new millennium, let us recognize that the losses resulting from natural or malevolent events that cause major property damage, severe injuries, and unnecessary death are not always due to forces beyond our control. We can prevent these losses by changing the way we think and act about design and construction projects. New tools, technologies, and techniques can improve structural safety, security, and reliability and protect owners, occupants, and users against loss and casualties. Hurricane Mitch, the African embassy bombings, the ice storms in Canada and the northeastern US last winter, the Oklahoma City bombing, flooding and earthquakes in California, tornadoes and flooding in Florida, and wildfires in the Southwest are threats to the safety and security of the public and the reliability of our constructed environment. Today's engineering design community must recognize these threats and address them in our standards, building codes, and designs. We know that disasters will continue to strike and we must reduce their impact on the public. We must demand and create innovative solutions that assure a higher level of structural performance when disasters strike.

  3. Molecular interactions and residues involved in force generation in the T4 viral DNA packaging motor.

    Science.gov (United States)

    Migliori, Amy D; Smith, Douglas E; Arya, Gaurav

    2014-12-12

    Many viruses utilize molecular motors to package their genomes into preformed capsids. A striking feature of these motors is their ability to generate large forces to drive DNA translocation against entropic, electrostatic, and bending forces resisting DNA confinement. A model based on recently resolved structures of the bacteriophage T4 motor protein gp17 suggests that this motor generates large forces by undergoing a conformational change from an extended to a compact state. This transition is proposed to be driven by electrostatic interactions between complementarily charged residues across the interface between the N- and C-terminal domains of gp17. Here we use atomistic molecular dynamics simulations to investigate in detail the molecular interactions and residues involved in such a compaction transition of gp17. We find that although electrostatic interactions between charged residues contribute significantly to the overall free energy change of compaction, interactions mediated by the uncharged residues are equally if not more important. We identify five charged residues and six uncharged residues at the interface that play a dominant role in the compaction transition and also reveal salt bridging, van der Waals, and solvent hydrogen-bonding interactions mediated by these residues in stabilizing the compact form of gp17. The formation of a salt bridge between Glu309 and Arg494 is found to be particularly crucial, consistent with experiments showing complete abrogation in packaging upon Glu309Lys mutation. The computed contributions of several other residues are also found to correlate well with single-molecule measurements of impairments in DNA translocation activity caused by site-directed mutations. Copyright © 2014 Elsevier Ltd. All rights reserved.

  4. Hybrid Force and Position Control Strategy of Robonaut Performing Object Transfer Task

    Directory of Open Access Journals (Sweden)

    Chen Gang

    2018-01-01

    Full Text Available This paper proposes a coordinated hybrid force/position control strategy of robonaut performing object transfer operation. Firstly, the constraint relationships between robonaut and object are presented. Base on them, the unified dynamic model of the robonaut and object is established to design the hybrid force/position control method. The movement, the internal force and the external constraint force of the object are considered as the control targets of the control system. Finally, a MATLAB simulation of the robonaut performing object transfer task verifies the correctness and effectiveness of the proposed method. The results show that all the targets can be control accurately by using the method proposed in this paper. The presented control method can control both internal and external forces while maintaining control accuracy, which is a common control strategy.

  5. Control of thumb force using surface functional electrical stimulation and muscle load sharing

    Science.gov (United States)

    2013-01-01

    Background Stroke survivors often have difficulties in manipulating objects with their affected hand. Thumb control plays an important role in object manipulation. Surface functional electrical stimulation (FES) can assist movement. We aim to control the 2D thumb force by predicting the sum of individual muscle forces, described by a sigmoidal muscle recruitment curve and a single force direction. Methods Five able bodied subjects and five stroke subjects were strapped in a custom built setup. The forces perpendicular to the thumb in response to FES applied to three thumb muscles were measured. We evaluated the feasibility of using recruitment curve based force vector maps in predicting output forces. In addition, we developed a closed loop force controller. Load sharing between the three muscles was used to solve the redundancy problem having three actuators to control forces in two dimensions. The thumb force was controlled towards target forces of 0.5 N and 1.0 N in multiple directions within the individual’s thumb work space. Hereby, the possibilities to use these force vector maps and the load sharing approach in feed forward and feedback force control were explored. Results The force vector prediction of the obtained model had small RMS errors with respect to the actual measured force vectors (0.22±0.17 N for the healthy subjects; 0.17±0.13 N for the stroke subjects). The stroke subjects showed a limited work range due to limited force production of the individual muscles. Performance of feed forward control without feedback, was better in healthy subjects than in stroke subjects. However, when feedback control was added performances were similar between the two groups. Feedback force control lead, especially for the stroke subjects, to a reduction in stationary errors, which improved performance. Conclusions Thumb muscle responses to FES can be described by a single force direction and a sigmoidal recruitment curve. Force in desired direction can be

  6. Plasmonic hybrid nanostructure with controlled interaction strength

    Science.gov (United States)

    Grzelak, Justyna K.; Krajnik, Bartosz; Thoreson, Mark D.; Nyga, Piotr; Shalaev, Vladimir M.; Mackowski, Sebastian

    2014-03-01

    In this report we discuss the influence of plasmon excitations in a silver island film on the fluorescence of photosynthetic complex, peridinin-chlorophyll-protein (PCP). Control of the separation between these two components is obtained by fabricating a wedge layer of silica across the substrate, with a thickness from 0 to 46 nm. Continuous variation of the silica thickness allows for gradual change of interaction strength between plasmon excitations in the metallic film and the excited states of pigments comprising photosynthetic complexes. While the largest separation between the silver film and photosynthetic complexes results in fluorescence featuring a mono-exponential decay and relatively narrow distribution of intensities, the PCP complexes placed on thinner silica spacers show biexponential fluorescence decay and significantly broader distribution of total fluorescence intensities. This broad distribution is a signature of stronger sensitivity of fluorescence enhancement upon actual parameters of a hybrid nanostructure. By gradual change of the silica spacer thickness we are able to reproduce classical distance dependence of fluorescence intensity in plasmonic hybrid nanostructures on ensemble level. Experiments carried out for different excitation wavelengths indicate that the interaction is stronger for excitations resonant with plasmon absorption in the metallic layer.

  7. Surface EMG and intra-socket force measurement to control a prosthetic device

    Science.gov (United States)

    Sanford, Joe; Patterson, Rita; Popa, Dan

    2015-06-01

    Surface electromyography (SEMG) has been shown to be a robust and reliable interaction method allowing for basic control of powered prosthetic devices. Research has shown a marked decrease in EMG-classification efficiency throughout activities of daily life due to socket shift and movement and fatigue as well as changes in degree of fit of the socket throughout the subject's lifetime. Users with the most severe levels of amputation require the most complex devices with the greatest number of degrees of freedom. Controlling complex dexterous devices with limited available inputs requires the addition of sensing and interaction modalities. However, the larger the amputation severity, the fewer viable SEMG sites are available as control inputs. Previous work reported the use of intra-socket pressure, as measured during wrist flexion and extension, and has shown that it is possible to control a powered prosthetic device with pressure sensors. In this paper, we present data correlations of SEMG data with intra-socket pressure data. Surface EMG sensors and force sensors were housed within a simulated prosthetic cuff fit to a healthy-limbed subject. EMG and intra-socket force data was collected from inside the cuff as a subject performed pre-defined grip motions with their dominant hand. Data fusion algorithms were explored and allowed a subject to use both intra-socket pressure and SEMG data as control inputs for a powered prosthetic device. This additional input modality allows for an improvement in input classification as well as information regarding socket fit through out activities of daily life.

  8. Implementation of a three degree of freedom, motor/brake hybrid force output device for virtual environment control tasks

    Science.gov (United States)

    Russo, Massimo; Tadros, Alfred; Flowers, Woodie; Zeltzer, David

    1991-01-01

    The advent of high resolution, physical model based computer graphics has left a gap in the design of input/output technology appropriate for interacting with such complex virtual world models. Since virtual worlds consist of physical models, it is appropriate to output the inherent force information necessary for the simulation to the user. The detailed design, construction, and control of a three degree freedom force output joystick will be presented. A novel kinematic design allows all three axes to be uncoupled, so that the system inertia matrix is diagonal. The two planar axes are actuated through an offset gimbal, and the third through a sleeved cable. To compensate for friction and inertia effects, this transmission is controlled by a force feedforward and a closed force feedback proportional loop. Workspace volume is a cone of 512 cubic inches, and the device bandwidth is maximized at 60 Hz for the two planar and 30 Hz for the third axis. Each axis is controlled by a motor/proportional magnetic particle brake combination fixed to the base. The innovative use of motors and brakes allows objects with high resistive torque requirements to be simulated without the stability and related safety issues involved with high torque, energy storing motors alone. Position, velocity, and applied endpoint force are sensed directly. Different control strategies are discussed and implemented, with an emphasis on how virtual environment force information, generated by the MIT Media Lab Computer Graphics and Animation Group BOLIO system, is transmitted to the device controller. The design constraints for a kinesthetic force feedback device can be summarized as: How can the symbiosis between the sense of presence in the virtual environment be maximized without compromising the interaction task under the constraints of the mechanical device limitations? Research in this field will yield insights to the optimal human sensory feedback mix for a wide spectrum of control and

  9. An intelligent control scheme for precise tip-motion control in atomic force microscopy.

    Science.gov (United States)

    Wang, Yanyan; Hu, Xiaodong; Xu, Linyan

    2016-01-01

    The paper proposes a new intelligent control method to precisely control the tip motion of the atomic force microscopy (AFM). The tip moves up and down at a high rate along the z direction during scanning, requiring the utilization of a rapid feedback controller. The standard proportional-integral (PI) feedback controller is commonly used in commercial AFMs to enable topography measurements. The controller's response performance is determined by the set of the proportional (P) parameter and the integral (I) parameter. However, the two parameters cannot be automatically altered simultaneously according to the scanning speed and the surface topography during continuors scanning, leading to an inaccurate measurement. Thus a new intelligent controller combining the fuzzy controller and the PI controller is put forward in the paper. The new controller automatically selects the most appropriate PI parameters to achieve a fast response rate on basis of the tracking errors. In the experimental setup, the new controller is realized with a digital signal process (DSP) system, implemented in a conventional AFM system. Experiments are carried out by comparing the new method with the standard PI controller. The results demonstrate that the new method is more robust and effective for the precise tip motion control, corresponding to the achievement of a highly qualified image by shortening the response time of the controller. © Wiley Periodicals, Inc.

  10. Internal and external force-based impedance control for cooperative manipulation

    NARCIS (Netherlands)

    Heck, D.J.F.; Kostic, D.; Denasi, A.; Nijmeijer, H.

    2013-01-01

    An asymptotically stable cascaded control algorithm is proposed for cooperative manipulation of a common object. This algorithm controls motion and internal forces of the object, as well as the contact forces between the object and environment. The motion of each manipulator is controlled using an

  11. Controlled evaluation of silver nanoparticle dissolution using atomic force microscopy.

    Science.gov (United States)

    Kent, Ronald D; Vikesland, Peter J

    2012-07-03

    Incorporation of silver nanoparticles (AgNPs) into an increasing number of consumer products has led to concern over the potential ecological impacts of their unintended release to the environment. Dissolution is an important environmental transformation that affects the form and concentration of AgNPs in natural waters; however, studies on AgNP dissolution kinetics are complicated by nanoparticle aggregation. Herein, nanosphere lithography (NSL) was used to fabricate uniform arrays of AgNPs immobilized on glass substrates. Nanoparticle immobilization enabled controlled evaluation of AgNP dissolution in an air-saturated phosphate buffer (pH 7.0, 25 °C) under variable NaCl concentrations in the absence of aggregation. Atomic force microscopy (AFM) was used to monitor changes in particle morphology and dissolution. Over the first day of exposure to ≥10 mM NaCl, the in-plane AgNP shape changed from triangular to circular, the sidewalls steepened, the in-plane radius decreased by 5-11 nm, and the height increased by 6-12 nm. Subsequently, particle height and in-plane radius decreased at a constant rate over a 2-week period. Dissolution rates varied linearly from 0.4 to 2.2 nm/d over the 10-550 mM NaCl concentration range tested. NaCl-catalyzed dissolution of AgNPs may play an important role in AgNP fate in saline waters and biological media. This study demonstrates the utility of NSL and AFM for the direct investigation of unaggregated AgNP dissolution.

  12. Interactions of benzoic acid and phosphates with iron oxide colloids using chemical force titration.

    Science.gov (United States)

    Liang, Jana; Horton, J Hugh

    2005-11-08

    Colloidal iron oxides are an important component in soil systems and in water treatment processes. Humic-based organic compounds, containing both phenol and benzoate functional groups, are often present in these systems and compete strongly with phosphate species for binding sites on the iron oxide surfaces. Here, we examine the interaction of benzoate and phenolic groups with various iron oxide colloids using atomic force microscopy (AFM) chemical force titration measurements. Self-assembled monolayers (SAMs) of 4-(12-mercaptododecyloxy)benzoic acid and 4-(12-mercaptododecyloxy)phenol were used to prepare chemically modified Au-coated AFM tips, and these were used to probe the surface chemistry of a series of iron oxide colloids. The SAMs formed were also characterized using scanning tunneling microscopy, reflection-absorption infrared spectroscopy, and X-ray photoelectron spectroscopy. The surface pK(a) of 4-(12- mercaptododecyloxy)benzoic acid has been determined to be 4.0 +/- 0.5, and the interaction between the tip and the sample coated with a SAM of this species is dominated by hydrogen bonding. The chemical force titraton profile for an AFM probe coated with 4-(12- mercaptododecyloxy)benzoic acid and a bare iron oxide colloid demonstrates that the benzoic acid function group interacts with all three types of iron oxide sites present on the colloid surface over a wide pH range. Similar experiments were carried out on colloids precipitated in the presence of phosphoric, gallic, and tannic acids. The results are discussed in the context of the competitive binding interactions of solution species present in soils or in water treatment processes.

  13. Visually aided force control with fuzzy parameter tuning

    OpenAIRE

    Çallı, Berk; Calli, Berk

    2008-01-01

    Vision and force sensors provide rich information which can enable robots to execute complex tasks. The integration of these two types of sensors may prove very useful in many industrial robotic applications, as well as for the robots that operate in environments where humans live. Vision sensors give robots the ability to operate in complex and dynamic environments. With force sensors contacts can be detected, and manipulation tasks can be done without the risk of damaging the workpiece. The...

  14. Force-controlled adjustment of car body fixtures

    OpenAIRE

    Keller, Carsten

    2014-01-01

    Production technology in modern car body assembling is affected by highly automated and complex facilities. However, in mounting car body assemblies adjustments are always necessary to react on quality instabilities of the input parts. Today these adjustments are made according to experience and with a high content of manual operation. This paper describes an innovative method that detects part deformations in a force sensitive way following the works of Dr. Muck, who developed a force sensit...

  15. In-depth Study on Cylinder Wake Controlled by Lorentz Force

    International Nuclear Information System (INIS)

    Zhang Hui; Fan Bao-Chun; Chen Zhi-Hua

    2011-01-01

    The underlying mechanisms of the electromagnetic control of cylinder wake are investigated and discussed. The effects of Lorentz force are found to be composed of two parts, one is its direct action on the cylinder (the wall Lorentz force) and the other is applied to the fluid (called the field Lorentz force) near the cylinder surface. Our results show that the wall Lorentz force can generate thrust and reduce the drag; the field Lorentz force increases the drag. However, the cylinder drag is dominated by the wall Lorentz force. In addition, the field Lorentz force above the upper surface decreases the lift, while the upper wall Lorentz force increases it. The total lift is dominated by the upper wall Lorentz force. (fundamental areas of phenomenology(including applications))

  16. Workspace Safe Operation of a Force- or Impedance-Controlled Robot

    Science.gov (United States)

    Abdallah, Muhammad E. (Inventor); Hargrave, Brian (Inventor); Yamokoski, John D. (Inventor); Strawser, Philip A. (Inventor)

    2013-01-01

    A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.

  17. An inverse method for determining the interaction force between the probe and sample using scanning near-field optical microscopy

    International Nuclear Information System (INIS)

    Chang, Win-Jin; Fang, Te-Hua

    2006-01-01

    This study proposes a means for calculating the interaction force during the scanning process using a scanning near-field optical microscope (SNOM) probe. The determination of the interaction force in the scanning system is regarded as an inverse vibration problem. The conjugate gradient method is applied to treat the inverse problem using available displacement measurements. The results show that the conjugate gradient method is less sensitive to measurement errors and prior information on the functional form of quality was not required. Furthermore, the initial guesses for the interaction force can be arbitrarily chosen for the iteration process

  18. What is the impact of natural variability and aerosol-cloud interaction on the effective radiative forcing of anthropogenic aerosol?

    Science.gov (United States)

    Fiedler, S.; Stevens, B.; Mauritsen, T.

    2017-12-01

    State-of-the-art climate models have persistently shown a spread in estimates of the effective radiative forcing (ERF) associated with anthropogenic aerosol. Different reasons for the spread are known, but their relative importance is poorly understood. In this presentation we investigate the role of natural atmospheric variability, global patterns of aerosol radiative effects, and magnitudes of aerosol-cloud interaction in controlling the ERF of anthropogenic aerosol (Fiedler et al., 2017). We use the Earth system model MPI-ESM1.2 for conducting ensembles of atmosphere-only simulations and calculate the shortwave ERF of anthropogenic aerosol at the top of the atmosphere. The radiative effects are induced with the new parameterisation MACv2-SP (Stevens et al., 2017) that prescribes observationally constrained anthropogenic aerosol optical properties and an associated Twomey effect. Firstly, we compare the ERF of global patterns of anthropogenic aerosol from the mid-1970s and today. Our results suggest that such a substantial pattern difference has a negligible impact on the global mean ERF, when the natural variability of the atmosphere is considered. The clouds herein efficiently mask the clear-sky contributions to the forcing and reduce the detectability of significant anthropogenic aerosol radiative effects in all-sky conditions. Secondly, we strengthen the forcing magnitude through increasing the effect of aerosol-cloud interaction by prescribing an enhanced Twomey effect. In that case, the different spatial pattern of aerosol radiative effects from the mid-1970s and today causes a moderate change (15%) in the ERF of anthropogenic aerosol in our model. This finding lets us speculate that models with strong aerosol-cloud interactions would show a stronger ERF change with anthropogenic aerosol patterns. Testing whether the anthropogenic aerosol radiative forcing is model-dependent under prescribed aerosol conditions is currently ongoing work using MACv2-SP in

  19. Analysis of bit-rock interaction during stick-slip vibrations using PDC cutting force model

    Energy Technology Data Exchange (ETDEWEB)

    Patil, P.A.; Teodoriu, C. [Technische Univ. Clausthal, Clausthal-Zellerfeld (Germany). ITE

    2013-08-01

    Drillstring vibration is one of the limiting factors maximizing the drilling performance and also causes premature failure of drillstring components. Polycrystalline diamond compact (PDC) bit enhances the overall drilling performance giving the best rate of penetrations with less cost per foot but the PDC bits are more susceptible to the stick slip phenomena which results in high fluctuations of bit rotational speed. Based on the torsional drillstring model developed using Matlab/Simulink for analyzing the parametric influence on stick-slip vibrations due to drilling parameters and drillstring properties, the study of relations between weight on bit, torque on bit, bit speed, rate of penetration and friction coefficient have been analyzed. While drilling with the PDC bits, the bit-rock interaction has been characterized by cutting forces and the frictional forces. The torque on bit and the weight on bit have both the cutting component and the frictional component when resolved in horizontal and vertical direction. The paper considers that the bit is undergoing stick-slip vibrations while analyzing the bit-rock interaction of the PDC bit. The Matlab/Simulink bit-rock interaction model has been developed which gives the average cutting torque, T{sub c}, and friction torque, T{sub f}, values on cutters as well as corresponding average weight transferred by the cutting face, W{sub c}, and the wear flat face, W{sub f}, of the cutters value due to friction.

  20. Dissolved organic carbon--contaminant interaction descriptors found by 3D force field calculations.

    Science.gov (United States)

    Govers, H A J; Krop, H B; Parsons, J R; Tambach, T; Kubicki, J D

    2002-03-01

    Enthalpies of transfer at 300 K of various partitioning processes were calculated in order to study the suitability of 3D force fields for the calculation of partitioning constants. A 3D fulvic acid (FA) model of dissolved organic carbon (DOC) was built in a MM+ force field using AMI atomic charges and geometrical optimization (GO). 3,5-Dichlorobiphenyl (PCB14), 4,4'-dichlorobiphenyl (PCB15), 1,1,1-trichloro-2,2-bis-(4-chlorophenyl)-ethane (PPDDT) and 2-chloro-4-ethylamino-6-isopropylamino-s-triazine (Atrazine) were inserted into different sites and their interaction energies with FA were calculated. Energies of hydration were calculated and subtracted from FA-contaminant interactions of selected sites. The resulting values for the enthalpies of transfer from water to DOC were 2.8, -1.4, -6.4 and 0.0 kcal/mol for PCB 14, PCB15, PPDDT and Atrazine, respectively. The value of PPDDT compared favorably with the experimental value of -5.0 kcal/mol. Prior to this, the method was studied by the calculation of the enthalpies of vaporization and aqueous solution using various force fields. In the MM + force field GO predicted enthalpies of vaporization deviated by +0.7 (PCB14), +3.6 (PCB15) and -0.7 (PPDDT)kcal/mol from experimental data, whereas enthalpies of aqueous solution deviated by -3.6 (PCB14), +5.8 (PCB15) and +3.7 (PPDDT) kcal/mol. Only for PCB14 the wrong sign of this enthalpy value was predicted. Potential advantages and limitations of the approach were discussed.

  1. Collapse and coexistence for a molecular braid with an attractive interaction component subject to mechanical forces.

    Science.gov (United States)

    Lee, Dominic J O'

    2015-04-15

    Dual mechanical braiding experiments provide a useful tool with which to investigate the nature of interactions between rod-like molecules, for instance actin and DNA. In conditions close to molecular condensation, one would expect an appearance of a local minimum in the interaction potential between the two molecules. We investigate this situation, introducing an attractive component into the interaction potential, using a model developed for describing such experiments. We consider both attractive interactions that do not depend on molecular structure and those which depend on a DNA-like helix structure. In braiding experiments, an attractive term may lead to certain effects. A local minimum may cause molecules to collapse from a loosely braided configuration into a tight one, occurring at a critical value of the moment applied about the axis of the braid. For a fixed number of braid pitches, this may lead to coexistence between the two braiding states, tight and loose. Coexistence implies certain proportions of the braid are in each state, their relative size depending on the number of braid pitches. This manifests itself as a linear dependence in numerically calculated quantities as functions of the number of braid pitches. Also, in the collapsed state, the braid radius stays roughly constant. Furthermore, if the attractive interaction is helix dependent, the left-right handed braid symmetry is broken. For a DNA like charge distribution, using the Kornyshev-Leikin interaction model, our results suggest that significant braid collapse and coexistence only occurs for left handed braids. Regardless of the interaction model, the study highlights the possible qualitative physics of braid collapse and coexistence; and the role helix specific forces might play, if important. The model could be used to connect other microscopic theories of interaction with braiding experiments.

  2. Collapse and coexistence for a molecular braid with an attractive interaction component subject to mechanical forces

    International Nuclear Information System (INIS)

    Lee, Dominic J

    2015-01-01

    Dual mechanical braiding experiments provide a useful tool with which to investigate the nature of interactions between rod-like molecules, for instance actin and DNA. In conditions close to molecular condensation, one would expect an appearance of a local minimum in the interaction potential between the two molecules. We investigate this situation, introducing an attractive component into the interaction potential, using a model developed for describing such experiments. We consider both attractive interactions that do not depend on molecular structure and those which depend on a DNA-like helix structure. In braiding experiments, an attractive term may lead to certain effects. A local minimum may cause molecules to collapse from a loosely braided configuration into a tight one, occurring at a critical value of the moment applied about the axis of the braid. For a fixed number of braid pitches, this may lead to coexistence between the two braiding states, tight and loose. Coexistence implies certain proportions of the braid are in each state, their relative size depending on the number of braid pitches. This manifests itself as a linear dependence in numerically calculated quantities as functions of the number of braid pitches. Also, in the collapsed state, the braid radius stays roughly constant. Furthermore, if the attractive interaction is helix dependent, the left-right handed braid symmetry is broken. For a DNA like charge distribution, using the Kornyshev–Leikin interaction model, our results suggest that significant braid collapse and coexistence only occurs for left handed braids. Regardless of the interaction model, the study highlights the possible qualitative physics of braid collapse and coexistence; and the role helix specific forces might play, if important. The model could be used to connect other microscopic theories of interaction with braiding experiments. (paper)

  3. Closed-loop control of grasping with a myoelectric hand prosthesis: which are the relevant feedback variables for force control?

    Science.gov (United States)

    Ninu, Andrei; Dosen, Strahinja; Muceli, Silvia; Rattay, Frank; Dietl, Hans; Farina, Dario

    2014-09-01

    In closed-loop control of grasping by hand prostheses, the feedback information sent to the user is usually the actual controlled variable, i.e., the grasp force. Although this choice is intuitive and logical, the force production is only the last step in the process of grasping. Therefore, this study evaluated the performance in controlling grasp strength using a hand prosthesis operated through a complete grasping sequence while varying the feedback variables (e.g., closing velocity, grasping force), which were provided to the user visually or through vibrotactile stimulation. The experiments were conducted on 13 volunteers who controlled the Otto Bock Sensor Hand Speed prosthesis. Results showed that vibrotactile patterns were able to replace the visual feedback. Interestingly, the experiments demonstrated that direct force feedback was not essential for the control of grasping force. The subjects were indeed able to control the grip strength, predictively, by estimating the grasping force from the prosthesis velocity of closing. Therefore, grasping without explicit force feedback is not completely blind, contrary to what is usually assumed. In our study we analyzed grasping with a specific prosthetic device, but the outcomes are also applicable for other devices, with one or more degrees-of-freedom. The necessary condition is that the electromyography (EMG) signal directly and proportionally controls the velocity/grasp force of the hand, which is a common approach among EMG controlled prosthetic devices. The results provide important indications on the design of closed-loop EMG controlled prosthetic systems.

  4. Computer utility for interactive instrument control

    International Nuclear Information System (INIS)

    Day, P.

    1975-08-01

    A careful study of the ANL laboratory automation needs in 1967 led to the conclusion that a central computer could support all of the real-time needs of a diverse collection of research instruments. A suitable hardware configuration would require an operating system to provide effective protection, fast real-time response and efficient data transfer. An SDS Sigma 5 satisfied all hardware criteria, however it was necessary to write an original operating system; services include program generation, experiment control real-time analysis, interactive graphics and final analysis. The system is providing real-time support for 21 concurrently running experiments, including an automated neutron diffractometer, a pulsed NMR spectrometer and multi-particle detection systems. It guarantees the protection of each user's interests and dynamically assigns core memory, disk space and 9-track magnetic tape usage. Multiplexor hardware capability allows the transfer of data between a user's device and assigned core area at rates of 100,000 bytes/sec. Real-time histogram generation for a user can proceed at rates of 50,000 points/sec. The facility has been self-running (no computer operator) for five years with a mean time between failures of 10 []ays and an uptime of 157 hours/week. (auth)

  5. The interaction of two collinear cracks in a rectangular superconductor slab under an electromagnetic force

    International Nuclear Information System (INIS)

    Gao Zhiwen; Zhou Youhe; Lee, Kang Yong

    2010-01-01

    The interaction of two collinear cracks is obtained for a type-II superconducting under electromagnetic force. Fracture analysis is performed by means of finite element method and the magnetic behavior of superconductor is described by the critical-state Bean model. The stress intensity factors at the crack tips can be obtained and discussed for decreasing field after zero-field cooling. It is revealed that the stress intensity factor decreases as applied field increases. The crack-tip stress intensity factors decrease when the distance between the two collinear cracks increases and the superconductors with smaller crack has more remarkable shielding effect than those with larger cracks.

  6. An intelligent active force control algorithm to control an upper extremity exoskeleton for motor recovery

    Science.gov (United States)

    Hasbullah Mohd Isa, Wan; Taha, Zahari; Mohd Khairuddin, Ismail; Majeed, Anwar P. P. Abdul; Fikri Muhammad, Khairul; Abdo Hashem, Mohammed; Mahmud, Jamaluddin; Mohamed, Zulkifli

    2016-02-01

    This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton by means of an intelligent active force control (AFC) mechanism. The Newton-Euler formulation was used in deriving the dynamic modelling of both the anthropometry based human upper extremity as well as the exoskeleton that consists of the upper arm and the forearm. A proportional-derivative (PD) architecture is employed in this study to investigate its efficacy performing joint-space control objectives. An intelligent AFC algorithm is also incorporated into the PD to investigate the effectiveness of this hybrid system in compensating disturbances. The Mamdani Fuzzy based rule is employed to approximate the estimated inertial properties of the system to ensure the AFC loop responds efficiently. It is found that the IAFC-PD performed well against the disturbances introduced into the system as compared to the conventional PD control architecture in performing the desired trajectory tracking.

  7. PC-based digital feedback control for scanning force microscope

    International Nuclear Information System (INIS)

    Mohd Ashhar Khalid

    2002-01-01

    In the past, most digital feedback implementation for scanned-probe microscope were based on a digital signal processor (DSP). At present DSP plug-in card with the input-output interface module is still expensive compared to a fast pentium PC motherboard. For a magnetic force microscope (MFM) digital feedback has an advantage where the magnetic signal can be easily separated from the topographic signal. In this paper, a simple low-cost PC-based digital feedback and imaging system for Scanning Force Microscope (SFM) is presented. (Author)

  8. Optimization of Easy Atomic Force Microscope (ezAFM) Controls for Semiconductor Nanostructure Profiling

    Science.gov (United States)

    2017-09-01

    ARL-MR-0965 ● SEP 2017 US Army Research Laboratory Optimization of Easy Atomic Force Microscope (ezAFM) Controls for... Optimization of Easy Atomic Force Microscope (ezAFM) Controls for Semiconductor Nanostructure Profiling by Satwik Bisoi Science and...REPORT TYPE Memorandum Report 3. DATES COVERED (From - To) 2017 July 05–2017 August 18 4. TITLE AND SUBTITLE Optimization of Easy Atomic Force

  9. Hybrid Force Control Based on ICMAC for an Astronaut Rehabilitative Training Robot

    OpenAIRE

    Lixun Zhang; Yupeng Zou; Lan Wang; Xinping Pei

    2012-01-01

    A novel Astronaut Rehabilitative Training Robot (ART) based on a cable‐driven mechanism is represented in this paper. ART, a typical passive force servo system, can help astronauts to bench press in a microgravity environment. The purpose of this paper is to design controllers to eliminate the surplus force caused by an astronaut’s active movements. Based on the dynamics modelling of the cable‐driven unit, a hybrid force controller based on improved credit assignment CMAC (ICMAC) is presented...

  10. The compensatory interaction between motor unit firing behavior and muscle force during fatigue.

    Science.gov (United States)

    Contessa, Paola; De Luca, Carlo J; Kline, Joshua C

    2016-10-01

    Throughout the literature, different observations of motor unit firing behavior during muscle fatigue have been reported and explained with varieties of conjectures. The disagreement amongst previous studies has resulted, in part, from the limited number of available motor units and from the misleading practice of grouping motor unit data across different subjects, contractions, and force levels. To establish a more clear understanding of motor unit control during fatigue, we investigated the firing behavior of motor units from the vastus lateralis muscle of individual subjects during a fatigue protocol of repeated voluntary constant force isometric contractions. Surface electromyographic decomposition technology provided the firings of 1,890 motor unit firing trains. These data revealed that to sustain the contraction force as the muscle fatigued, the following occurred: 1) motor unit firing rates increased; 2) new motor units were recruited; and 3) motor unit recruitment thresholds decreased. Although the degree of these adaptations was subject specific, the behavior was consistent in all subjects. When we compared our empirical observations with those obtained from simulation, we found that the fatigue-induced changes in motor unit firing behavior can be explained by increasing excitation to the motoneuron pool that compensates for the fatigue-induced decrease in muscle force twitch reported in empirical studies. Yet, the fundamental motor unit control scheme remains invariant throughout the development of fatigue. These findings indicate that the central nervous system regulates motor unit firing behavior by adjusting the operating point of the excitation to the motoneuron pool to sustain the contraction force as the muscle fatigues. Copyright © 2016 the American Physiological Society.

  11. Differences in grip force control between young and late middle-aged adults.

    Science.gov (United States)

    Zheng, Lianrong; Li, Kunyang; Wang, Qian; Chen, Wenhui; Song, Rong; Liu, Guanzheng

    2017-09-01

    Grip force control is a crucial function for human to guarantee the quality of life. To examine the effects of age on grip force control, 10 young adults and 11 late middle-aged adults participated in visually guided tracking tasks using different target force levels (25, 50, and 75% of the subject's maximal grip force). Multiple measures were used to evaluate the tracking performance during force rising phase and force maintenance phase. The measurements include the rise time, fuzzy entropy, mean force percentage, coefficient of variation, and target deviation ratio. The results show that the maximal grip force was significantly lower in the late middle-aged adults than in the young adults. The time of rising phase was systematically longer among late middle-aged adults. The fuzzy entropy is a useful indicator for quantitating the force variability of the grip force signal at higher force levels. These results suggest that the late middle-aged adults applied a compensatory strategy that allow allows for sufficient time to reach the required grip force and reduce the impact of the early and subtle degenerative changes in hand motor function.

  12. Analysis of dispersive interactions at polymer/TiAlN interfaces by means of dynamic force spectroscopy.

    Science.gov (United States)

    Wiesing, M; de Los Arcos, T; Gebhard, M; Devi, A; Grundmeier, G

    2017-12-20

    The structural and electronic origins of the interactions between polycarbonate and sputter deposited TiAlN were analysed using a combined electron and force spectroscopic approach. Interaction forces were measured by means of dynamic force spectroscopy and the surface polarizability was analysed by X-ray photoelectron valence band spectroscopy. It could be shown that the adhesive interactions between polycarbonate and TiAlN are governed by van der Waals forces. Different surface cleansing and oxidizing treatments were investigated and the effect of the surface chemistry on the force interactions was analysed. Intense surface oxidation resulted in a decreased adhesion force by a factor of two due to the formation of a 2 nm thick Ti 0.21 Al 0.45 O surface oxide layer. The origin of the residual adhesion forces caused by the mixed Ti 0.21 Al 0.45 O surface oxide was clarified by considering the non-retarded Hamaker coefficients as calculated by Lifshitz theory, based on optical data from Reflection Electron Energy Loss Spectroscopy. This disclosed increased dispersion forces of Ti 0.21 Al 0.45 O due to the presence of Ti(iv) ions and related Ti 3d band optical transitions.

  13. Control over multiscale mixing in broadband-forced turbulence

    NARCIS (Netherlands)

    Kuczaj, Arkadiusz K.; Geurts, Bernardus J.

    2008-01-01

    The effects of explicit flow modulation on the dispersion of a passive scalar field are studied. Broadband forcing is applied to homogeneous isotropic turbulence to modulate the energy cascading and alter the kinetic energy spectrum. Consequently, a manipulation of turbulent flow can be achieved

  14. Nanoparticle-nanoparticle interactions in biological media by Atomic Force Microscopy

    Science.gov (United States)

    Pyrgiotakis, Georgios; Blattmann, Christoph O.; Pratsinis, Sotiris; Demokritou, Philip

    2015-01-01

    Particle-particle interactions in physiological media are important determinants for nanoparticle fate and transport. Herein, such interactions are assessed by a novel Atomic Force Microscopy (AFM) based platform. Industry-relevant CeO2, Fe2O3, and SiO2 nanoparticles of various diameters were made by the flame spray pyrolysis (FSP) based Harvard Versatile Engineering Nanomaterials Generation System (Harvard VENGES). The nanoparticles were fully characterized structurally and morphologically and their properties in water and biological media were also assessed. The nanoparticles were attached on AFM tips and deposited on Si substrates to measure particle–particle interactions. The corresponding force was measured in air, water and biological media that are widely used in toxicological studies. The presented AFM based approach can be used to assess the agglomeration potential of nanoparticles in physiological fluids. The agglomeration potential of CeO2 nanoparticles in water and RPMI 1640 (Roswell Park Memorial Institute formulation 1640) was inversely proportional to their primary particle (PP) diameter, but for Fe2O3 nanoparticles, that potential is independent of PP diameter in these media. Moreover, in RPMI+10% Fetal Bovine Serum (FBS) the corona thickness and dispersibility of the CeO2 is independent of PP diameter while for Fe2O3, the corona thickness and dispersibility were inversely proportional to PP diameter. The present method can be combined with (dynamic light scattering (DLS), proteomics, and computer simulations to understand the nano-bio interactions, with emphasis on the agglomeration potential of nanoparticles and their transport in physiological media. PMID:23978039

  15. Grasping an augmented object to analyse manipulative force control.

    Science.gov (United States)

    Kawai, Satoru; Summers, Valerie A; Mackenzie, Christine L; Ivens, Chris J; Yamamoto, Takashi

    2002-12-15

    Augmented reality allows changes to be made to the visual perception of object size even while the tangible components remain completely unaltered. It was, therefore, utilized in a study whose results are being reported here to provide the proper environment required to thoroughly observe the exact effect that visual change to object size had on programming fingertip forces when objects were lifted with a precision grip. Twenty-one participants performed repeated lifts of an identical grip apparatus to a height of 20 mm, maintained each lift for 8 seconds, and then replaced the grip apparatus on the table. While all other factors of the grip apparatus remained unchanged, visual appearance was altered graphically in a 3-D augmented environment. The grip apparatus measured grip and load forces independently. Grip and load forces demonstrated significant rates of increase as well as peak forces as the size of graphical images increased; an aspect that occurred in spite of the fact that extraneous haptic information remained constant throughout the trials. By indicating a human tendency to rely - even unconsciously - on visual input to program the forces in the initial lifting phase, this finding provides further confirmation of previous research findings obtained in the physical environment; including the possibility of extraneous haptic effects (Gordon et al. 1991a, Mon-Williams and Murray 2000, Kawai et al. 2000). The present results also suggest that existing knowledge concerning human manipulation tasks in the physical world may be applied to an augmented environment where the physical objects are enhanced by computer generated visual components.

  16. FORCE STRUCTURE: Better Management Controls Are Needed to Oversee the Army's Modular Force and Expansion Initiatives and Improve Accountability for Results

    National Research Council Canada - National Science Library

    2007-01-01

    .... For this report, GAO assessed to what extent the Army has accomplished the following: (1) implemented and established management controls for its modular force and force expansion initiatives, and (2...

  17. Propagation of the state change induced by external forces in local interactions

    Science.gov (United States)

    Lu, Jianjun; Tokinaga, Shozo

    2016-10-01

    This paper analyses the propagation of the state changes of agents that are induced by external forces applied to a plane. In addition, we propose two models for the behavior of the agents placed on a lattice plane, both of which are affected by local interactions. We first assume that agents are allowed to move to another site to maximise their satisfaction. Second, we utilise a model in which the agents choose activities on each site. The results show that the migration (activity) patterns of agents in both models achieve stability without any external forces. However, when we apply an impulsive external force to the state of the agents, we then observe the propagation of the changes in the agents' states. Using simulation studies, we show the conditions for the propagation of the state changes of the agents. We also show the propagation of the state changes of the agents allocated in scale-free networks and discuss the estimation of the agents' decisions in real state changes. Finally, we discuss the estimation of the agents' decisions in real state temporal changes using economic and social data from Japan and the United States.

  18. Study on Characteristics of Hydraulic Servo System for Force Control of Hydraulic Robots

    International Nuclear Information System (INIS)

    Kim, Hyo-gon; Han, Changsoo; Lee, Jong-won; Park, Sangdeok

    2015-01-01

    Because a hydraulic actuator has high power and force densities, this allows the weight of the robot's limbs to be reduced. This allows for good dynamic characteristics and high energy efficiency. Thus, hydraulic actuators are used in some exoskeleton robots and quadrupedal robots that require high torque. Force control is useful for robot compliance with a user or environment. However, force control of a hydraulic robot is difficult because a hydraulic servo system is highly nonlinear from a control perspective. In this study, a nonlinear model was used to develop a simulation program for a hydraulic servo system consisting of a servo valve, transmission lines, and a cylinder. The problems and considerations with regard to the force control performance for a hydraulic servo system were investigated. A force control method using the nonlinear model was proposed, and its effect was evaluated with the simulation program

  19. Study on Characteristics of Hydraulic Servo System for Force Control of Hydraulic Robots

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Hyo-gon; Han, Changsoo [Hanyang University, Seoul (Korea, Republic of); Lee, Jong-won [Korea University of Science and Technology, Seoul (Korea, Republic of); Park, Sangdeok [Korea Institute of Industrial Technology, Seoul (Korea, Republic of)

    2015-02-15

    Because a hydraulic actuator has high power and force densities, this allows the weight of the robot's limbs to be reduced. This allows for good dynamic characteristics and high energy efficiency. Thus, hydraulic actuators are used in some exoskeleton robots and quadrupedal robots that require high torque. Force control is useful for robot compliance with a user or environment. However, force control of a hydraulic robot is difficult because a hydraulic servo system is highly nonlinear from a control perspective. In this study, a nonlinear model was used to develop a simulation program for a hydraulic servo system consisting of a servo valve, transmission lines, and a cylinder. The problems and considerations with regard to the force control performance for a hydraulic servo system were investigated. A force control method using the nonlinear model was proposed, and its effect was evaluated with the simulation program.

  20. Control Design of Active Magnetic Bearings for Rotors Subjected to Destabilising Seal Forces - Theory & Experiment

    DEFF Research Database (Denmark)

    Lauridsen, Jonas Skjødt

    . At present, there is no generally accepted method for determination of dynamic seal forces. Therefore, large uncertainties must be expected when modelling dynamic seal forces and consequently also in rotor-dynamic stability analysis. This thesis focuses on i) closed loop identification of uncertain AMB...... parameters, ii) closed loop identification of unknown stiffness and damping coefficients of a dynamicseal model and iii) the design of AMB controllers to handle dynamic seal forces. Controllers that can guarantee stability and performance in the presence of uncertainseal forces are of special interest...... the uncertaintiesin seal forces and for LPV control synthesis, to compensate for known changes in seal forces due to changes in operating conditions. A rotor dynamic test facility with a rigid rotor, two radial AMBs and one annular test seal is used for i) closed loop identification of parameters in the AMB...

  1. Optical pulling and pushing forces exerted on silicon nanospheres with strong coherent interaction between electric and magnetic resonances.

    Science.gov (United States)

    Liu, Hongfeng; Panmai, Mingcheng; Peng, Yuanyuan; Lan, Sheng

    2017-05-29

    We investigated theoretically and numerically the optical pulling and pushing forces acting on silicon (Si) nanospheres (NSs) with strong coherent interaction between electric and magnetic resonances. We examined the optical pulling and pushing forces exerted on Si NSs by two interfering waves and revealed the underlying physical mechanism from the viewpoint of electric- and magnetic-dipole manipulation. As compared with a polystyrene (PS) NS, it was found that the optical pulling force for a Si NS with the same size is enlarged by nearly two orders of magnitude. In addition to the optical pulling force appearing at the long-wavelength side of the magnetic dipole resonance, very large optical pushing force is observed at the magnetic quadrupole resonance. The correlation between the optical pulling/pushing force and the directional scattering characterized by the ratio of the forward to backward scattering was revealed. More interestingly, it was found that the high-order electric and magnetic resonances in large Si NSs play an important role in producing optical pulling force which can be generated by not only s-polarized wave but also p-polarized one. Our finding indicates that the strong coherent interaction between the electric and magnetic resonances existing in nanoparticles with large refractive indices can be exploited to manipulate the optical force acting on them and the correlation between the optical force and the directional scattering can be used as guidance. The engineering and manipulation of optical forces will find potential applications in the trapping, transport and sorting of nanoparticles.

  2. Measuring cell viscoelastic properties using a force-spectrometer: influence of protein-cytoplasm interactions.

    Science.gov (United States)

    Canetta, Elisabetta; Duperray, Alain; Leyrat, Anne; Verdier, Claude

    2005-01-01

    Cell adhesive and rheological properties play a very important role in cell transmigration through the endothelial barrier, in particular in the case of inflammation (leukocytes) or cancer metastasis (cancer cells). In order to characterize cell viscoelastic properties, we have designed a force spectrometer (AFM) which can stretch cells thereby allowing measurement of their rheological properties. This custom-made force spectrometer allows two different visualizations, one lateral and one from below. It allows investigation of the effects of rheology involved during cell stretching. To test the ability of our system to characterize such viscoelastic properties, ICAM-1 transfected CHO cells were analyzed. Two forms of ICAM-1 were tested; wild type ICAM-1, which can interact with the cytoskeleton, and a mutant form which lacks the cytoplasmic domain, and is unable to associate with the cytoskeleton. Stretching experiments carried out on these cells show the formation of long filaments. Using a previous model of filament elongation, we could determine the viscoelastic properties of a single cell. As expected, different viscoelastic components were found between the wild type and the mutant, which reveal that the presence of interactions between ICAM-1 and the cytoskeleton increases the stiffness of the cell.

  3. G-mode magnetic force microscopy: Separating magnetic and electrostatic interactions using big data analytics

    Energy Technology Data Exchange (ETDEWEB)

    Collins, Liam; Belianinov, Alex; Kalinin, Sergei V.; Jesse, Stephen [Center for Nanophase Materials Sciences, Oak Ridge National Laboratory, Oak Ridge, Tennessee 37831 (United States); Institute for Functional Imaging of Materials, Oak Ridge National Laboratory, Oak Ridge, Tennessee 37831 (United States); Proksch, Roger [Asylum Research, An Oxford Instruments Company, Santa Barbara, California 93117 (United States); Zuo, Tingting [State Key Laboratory for Advanced Metals and Materials, University of Science and Technology Beijing, Beijing 100083 (China); Deptarment of Materials Science and Engineering, The University of Tennessee, Knoxville, Tennessee 37996-2200 (United States); Zhang, Yong [State Key Laboratory for Advanced Metals and Materials, University of Science and Technology Beijing, Beijing 100083 (China); Liaw, Peter K. [Deptarment of Materials Science and Engineering, The University of Tennessee, Knoxville, Tennessee 37996-2200 (United States)

    2016-05-09

    In this work, we develop a full information capture approach for Magnetic Force Microscopy (MFM), referred to as generalized mode (G-Mode) MFM. G-Mode MFM acquires and stores the full data stream from the photodetector, captured at sampling rates approaching the intrinsic photodiode limit. The data can be subsequently compressed, denoised, and analyzed, without information loss. Here, G-Mode MFM is implemented and compared to the traditional heterodyne-based MFM on model systems, including domain structures in ferromagnetic Yttrium Iron Garnet and the electronically and magnetically inhomogeneous high entropy alloy, CoFeMnNiSn. We investigate the use of information theory to mine the G-Mode MFM data and demonstrate its usefulness for extracting information which may be hidden in traditional MFM modes, including signatures of nonlinearities and mode-coupling phenomena. Finally, we demonstrate detection and separation of magnetic and electrostatic tip-sample interactions from a single G-Mode image, by analyzing the entire frequency response of the cantilever. G-Mode MFM is immediately implementable on any atomic force microscopy platform and as such is expected to be a useful technique for probing spatiotemporal cantilever dynamics and mapping material properties, as well as their mutual interactions.

  4. Visualising the Micro World of Chemical/Geochemical Interactions Using Atomic Force Microscopy (AFM)

    Energy Technology Data Exchange (ETDEWEB)

    Graham, G M; Sorbie, K S

    1997-12-31

    Scanning force microscopy, in particular AFM (Atomic Force Microscopy), provides a particular useful and interesting tool for the examination of surface structure at the near-atomic level. AFM is particularly well suited to the study of interactions at the surface in aqueous solutions using real time in-situ measurements. In this paper there is presented AFM images showing in situ crystal growth from supersaturated BaSO{sub 4} solutions onto the surface of barite. Growth structures in the form of spiral crystal growth features, presumably originating from screw dislocations, are illustrated. AFM images of novel scale crystal growth inhibition experiments are presented. Examination of the manner in which generically different species adsorb onto growth structures may help to explain mechanistic differences in the way which different inhibitor species perform against barium sulphate scale formation. Adsorption of polyacrylamide species onto mica surfaces have been viewed. The general utility of AFM to a number of other common surface interactions in oil field chemistry will be discussed. 17 refs., 3 figs.

  5. ANALYSIS of Control Force Grasping for a Multifunctional Five Fingered Robot to Pick-up Various of Components

    Directory of Open Access Journals (Sweden)

    Widhiada W.

    2016-01-01

    Full Text Available Multi-fingered robot gripper has become popular in the major research topics as grasping an object in robotic systems. The author considers a matter of style-based control model for a multi-fingered robot hand grasping an object with a known geometric characteristics. This paper introduces design process and analysis of contact force the five fingered gripper suitable to handle several of objects. The author applied Simulink/SimMechanics, Support package Arduino and Inventor software packages to facilatate and integrated the design of contact force gripper systems. The advance of PID control is used to control dynamics motions of the five fingered gripper systems. The multifunction finger’s gripper is developed to handle the various components. Contact force between fingertips and object surface is computed using the Hooke law concept. The analysis of experiment result shows the optimum of contact forces are achieved to hold the object. The spring and damper algorithm is used to compute the interaction of force between fingertips and object surface.

  6. An Artificial Neural Network Modeling for Force Control System of a Robotic Pruning Machine

    Directory of Open Access Journals (Sweden)

    Ali Hashemi

    2014-06-01

    Full Text Available Nowadays, there has been an increasing application of pruning robots for planted forests due to the growing concern on the efficiency and safety issues. Power consumption and working time of agricultural machines have become important issues due to the high value of energy in modern world. In this study, different multi-layer back-propagation networks were utilized for mapping the complex and highly interactive of pruning process parameters and to predict power consumption and cutting time of a force control equipped robotic pruning machine by knowing input parameters such as: rotation speed, stalk diameter, and sensitivity coefficient. Results showed significant effects of all input parameters on output parameters except rotational speed on cutting time. Therefore, for reducing the wear of cutting system, a less rotational speed in every sensitivity coefficient should be selected.

  7. Surface interaction forces of cellulose nanocrystals grafted with thermoresponsive polymer brushes.

    Science.gov (United States)

    Zoppe, Justin O; Osterberg, Monika; Venditti, Richard A; Laine, Janne; Rojas, Orlando J

    2011-07-11

    The colloidal stability and thermoresponsive behavior of poly(N-isopropylacrylamide) brushes grafted from cellulose nanocrystals (CNCs) of varying graft densities and molecular weights was investigated. Indication of the grafted polymer brushes was obtained after AFM imaging of CNCs adsorbed on silica. Also, aggregation of the nanoparticles carrying grafts of high degree of polymerization was observed. The responsiveness of grafted CNCs in aqueous dispersions and as an ultrathin film was evaluated by using light scattering, viscosimetry, and colloidal probe microscopy (CPM). Light transmittance measurements showed temperature-dependent aggregation originating from the different graft densities and molecular weights. The lower critical solution temperature (LCST) of grafted poly(NiPAAm) brushes was found to decrease with the ionic strength, as is the case for free poly(NiPAAm) in aqueous solution. Thermal responsive behavior of grafted CNCs in aqueous dispersions was observed by a sharp increase in dispersion viscosity as the temperature approached the LCST. CPM in liquid media for asymmetric systems consisting of ultrathin films of CNCs and a colloidal silica probe showed the distinctive effects of the grafted polymer brushes on interaction and adhesive forces. The origin of such forces was found to be mainly electrostatic and steric in the case of bare and grafted CNCs, respectively. A decrease in the onset of attractive and adhesion forces of grafted CNCs films were observed with the ionic strength of the aqueous solution. The decreased mobility of polymer brushes upon partial collapse and decreased availability of hydrogen bonding sites with higher electrolyte concentration were hypothesized as the main reasons for the less prominent polymer bridging between interacting surfaces.

  8. Research of a New 6-Dof Force Feedback Hand Controller System

    Directory of Open Access Journals (Sweden)

    Xin Gao

    2014-01-01

    Full Text Available The field of teleoperation with force telepresence has expanded its scope to include manipulation at different scales and in virtual worlds, and the key component of which is force feedback hand controller. This paper presents a novel force feedback hand controller system, including a 3-dof translational and 3-dof rotational hand controllers, respectively, to implement position and posture teleoperation of the robot end effector. The 3-dof translational hand controller adopts innovative three-axes decoupling structure based on the linear motor; the 3-dof rotational hand controller adopts serial mechanism based on three-axes intersecting at one point, improving its overall stiffness. Based on the kinematics, statics, and dynamics analyses for two platforms separately, the system applies big closed-loop force control method based on the zero force/torque, improving the feedback force/torque accuracy effectively. Experimental results show that self-developed 6-dof force feedback hand controller has good mechanical properties. The translational hand controller has the following advantages: simple kinematics solver, fast dynamic response, and better than 0.05 mm accuracy of three-axis end positioning, while the advantages of the rotational hand controller are wide turning space, larger than 1 Nm feedback, greater than 180 degrees of operating space of three axes, respectively, and high operation precision.

  9. Magnetic particle separation using controllable magnetic force switches

    International Nuclear Information System (INIS)

    Wei Zunghang; Lee, C.-P.; Lai, M.-F.

    2010-01-01

    Magnetic particle separation is very important in biomedical applications. In this study, a magnetic particle microseparator is proposed that uses micro magnets to produce open/closed magnetic flux for switching on/off the separation. When all magnets are magnetized in the same direction, the magnetic force switch for separation is on; almost all magnetic particles are trapped in the channel side walls and the separation rate can reach 95%. When the magnetization directions of adjacent magnets are opposite, the magnetic force switch for separation is off, and most magnetic particles pass through the microchannel without being trapped. For the separation of multi-sized magnetic particles, the proposed microseparator is numerically demonstrated to have high separation rate.

  10. The climatic out of control. the climatic forcing

    International Nuclear Information System (INIS)

    Bony-Lena, S.; Dufresne, J.L.; Acot, P.; Friedlingstein, P.; Berger, A.; Loutre, M.L.; Raynaud, D.; Thuiller, W.; Le Treut, H.; Houssais, M.N.; Duplessy, J.C.; Royer, J.F.; Douville, H.; Barberousse, A.; Quinon, P.

    2007-01-01

    The expert group on the climate evolution affirms that the global warming is unequivocal and that the human being is the main responsible. This document broaches the climatic change under many aspects: the principle, the historical aspect of the greenhouse effect, the GIEC, the carbon cycle, the paleo-climate theory, the antarctic ices and the impacts of the climatic change on the biodiversity, the simulations and the models, the climatic indicators and the climatic forcing by human activities. (A.L.B.)

  11. Report of the Material Control and Material Accounting Task Force: summary

    International Nuclear Information System (INIS)

    1978-03-01

    A special review was made of the safeguards maintained by licensees possessing 5 kg or more of strategic special nuclear material (SSNM), i.e., plutonium, uranium-233, or uranium enriched in the uranium-235 isotope to 20 percent or more. A Task Force was formed to define the roles and objectives of material control and material accounting in the NRC safeguards program; recommend goals for material control and material accounting systems based on their roles and objectives; assess the extent to which the existing regulatory base meets or provides the capability to meet the recommended goals; and to provide direction for material control and material accounting development, including both near-term and long-term upgrades. Based on results of Task Force investigations it is recommended that licensee plans for measurement control programs be submitted in response to Section 70.57(c) of Title 10 of the Code of Federal Regulations. Other recommendations include the review and upgrading, as necessary, of measurement error propagation models used by each licensee; revision of Nuclear Materials Management and Safeguards System (NMMSS) reporting entities for SSNM licensees to be consistent with the partitioning of facilities into plants or, if appropriate, accounting units; review of NMMSS reporting entities for SSNM licensees to assure that data for high enriched uranium operations are clearly separated from low enriched uranium operations; upgrading of the editing by NMMSS of reported licensee safeguards data for accuracy and consistency; and the acquisition of (a) a secure interactive computer capability for use in collecting, storing, sorting, and analyzing special nuclear material accounting data, and (b) associated flexible computer software that presents safeguards information in a succinct and comprehensive manner

  12. Design of a smart haptic system for repulsive force control under irregular manipulation environment

    International Nuclear Information System (INIS)

    Lee, Sang-Rock; Choi, Seung-Hyun; Choi, Seung-Bok; Cho, Myeong-Woo

    2014-01-01

    This paper describes how to make an operator feel the desired repulsive force in a haptic system. When an operator manipulates a haptic system, the repulsive force of the operator varies significantly, depending on many factors such as position, velocity and force. In order to reflect the desired repulsive force to the operator, it is commonly known that a haptic system must compensate for irregularly changing forces. The irregularity of the forces, however, has discouraged many researchers from establishing a clear principle on how to make the operator feel the desired repulsive force. To resolve this problem, we introduce a smart haptic framework that can reflect the desired repulsive force to the operator, regardless of the operator’s movement. A dummy governing equation technique is introduced and used to calculate the proper actuating force in real time. The actuating force is generated by a PID controller. To verify the proposed method, a mathematical proof is offered to show that the repulsive force converges to the desired repulsive force. Additionally, to demonstrate the performance of the proposed method, simulational and experimental tests are implemented. (paper)

  13. Position and force control of a vehicle with two or more steerable drive wheels

    Energy Technology Data Exchange (ETDEWEB)

    Reister, D.B.; Unseren, M.A.

    1992-10-01

    When a vehicle with two or more steerable drive wheels is traveling in a circle, the motion of the wheels is constrained. The wheel translational velocity divided by the radius to the center of rotation must be the same for all wheels. When the drive wheels are controlled independently using position control, the motion of the wheels may violate the constraints and the wheels may slip. Consequently, substantial errors can occur in the orientation of the vehicle. A vehicle with N drive wheels has (N - 1) constraints and one degree of freedom. We have developed a new approach to the control of a vehicle with N steerable drive wheels. The novel aspect of our approach is the use of force control. To control the vehicle, we have one degree of freedom for the position on the circle and (N - 1) forces that can be used to reduce errors. Recently, Kankaanranta and Koivo developed a control architecture that allows the force and position degrees of freedom to be decoupled. In the work of Kankaanranta and Koivo the force is an exogenous input. We have made the force endogenous by defining the force in terms of the errors in satisfying the rigid body kinematic constraints. We have applied the control architecture to the HERMIES-III robot and have measured a dramatic reduction in error (more than a factor of 20) compared to motions without force control.

  14. Analytical Model of the Nonlinear Dynamics of Cantilever Tip-Sample Surface Interactions for Various Acoustic-Atomic Force Microscopies

    Science.gov (United States)

    Cantrell, John H., Jr.; Cantrell, Sean A.

    2008-01-01

    A comprehensive analytical model of the interaction of the cantilever tip of the atomic force microscope (AFM) with the sample surface is developed that accounts for the nonlinearity of the tip-surface interaction force. The interaction is modeled as a nonlinear spring coupled at opposite ends to linear springs representing cantilever and sample surface oscillators. The model leads to a pair of coupled nonlinear differential equations that are solved analytically using a standard iteration procedure. Solutions are obtained for the phase and amplitude signals generated by various acoustic-atomic force microscope (A-AFM) techniques including force modulation microscopy, atomic force acoustic microscopy, ultrasonic force microscopy, heterodyne force microscopy, resonant difference-frequency atomic force ultrasonic microscopy (RDF-AFUM), and the commonly used intermittent contact mode (TappingMode) generally available on AFMs. The solutions are used to obtain a quantitative measure of image contrast resulting from variations in the Young modulus of the sample for the amplitude and phase images generated by the A-AFM techniques. Application of the model to RDF-AFUM and intermittent soft contact phase images of LaRC-cp2 polyimide polymer is discussed. The model predicts variations in the Young modulus of the material of 24 percent from the RDF-AFUM image and 18 percent from the intermittent soft contact image. Both predictions are in good agreement with the literature value of 21 percent obtained from independent, macroscopic measurements of sheet polymer material.

  15. Study on electromagnetism force of CARR control rod drive mechanism experimental machine

    International Nuclear Information System (INIS)

    Zhu Xuewei; Zhen Jianxiao; Wang Yulin; Jia Yueguang; Yang Kun; Yin Haozhe

    2015-01-01

    With the aim of acquiring electromagnetic force and electromagnetic field distributions of control rod drive mechanism (CRDM) in China Advanced Research Reactor (CARR), the force analysis on the CRDM was taken. Manufacturing the experimental machine, the electromagnetic force experiment was taken on it. The electromagnetic field and electromagnetic force simulation analyses of experimental machine were taken, working out distribution data of electromagnetic force and magnetic induction intensity distribution curve, and the effects of permanent magnetic field on electromagnetic field and structure parameters on electromagnetic force. The simulation value is accord with experiment value, the research results provide a reference to electromagnetic force study on CRDM in CARR, and also provide a reference to design of the same type CRDM. (authors)

  16. Reconstruction of the Tip-Surface Interaction Potential by Analysis of the Brownian Motion of an Atomic Force Microscope Tip

    NARCIS (Netherlands)

    Willemsen, O.H.; Kuipers, L.; van der Werf, Kees; de Grooth, B.G.; Greve, Jan

    2000-01-01

    The thermal movement of an atomic force microscope (AFM) tip is used to reconstruct the tip-surface interaction potential. If a tip is brought into the vicinity of a surface, its movement is governed by the sum of the harmonic cantilever potential and the tip-surface interaction potential. By

  17. An Atomic Force Microscopy Study of the Interactions Involving Polymers and Silane Networks

    Directory of Open Access Journals (Sweden)

    Rodrigo L. Oréfice

    1998-12-01

    Full Text Available ABSTRACT: Silane coupling agents have been frequently used as interfacial agents in polymer composites to improve interfacial strength and resistance to fluid migration. Although the capability of these agents in improving properties and performance of composites has been reported, there are still many uncertainties regarding the processing-structure-property relationships and the mechanisms of coupling developed by silane agents. In this work, an Atomic Force Microscope (AFM was used to measure interactions between polymers and silica substrates, where silane networks with a series of different structures were processed. The influence of the structure of silane networks on the interactions with polymers was studied and used to determine the mechanisms involved in the coupling phenomenon. The AFM results showed that phenomena such as chain penetration, entanglements, intersegment bonding, chain conformation in the vicinities of rigid surfaces were identified as being relevant for the overall processes of adhesion and adsorption of polymeric chains within a silane network. AFM adhesion curves showed that penetration of polymeric chains through a more open silane network can lead to higher levels of interactions between polymer and silane agents.

  18. Force Control and Nonlinear Master-Slave Force Profile to Manage an Admittance Type Multi-Fingered Haptic User Interface

    Energy Technology Data Exchange (ETDEWEB)

    Anthony L. Crawford

    2012-08-01

    Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in remote and/or hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space to name a few. In order to achieve this end the research presented in this paper has developed an admittance type exoskeleton like multi-fingered haptic hand user interface that secures the user’s palm and provides 3-dimensional force feedback to the user’s fingertips. Atypical to conventional haptic hand user interfaces that limit themselves to integrating the human hand’s characteristics just into the system’s mechanical design this system also perpetuates that inspiration into the designed user interface’s controller. This is achieved by manifesting the property differences of manipulation and grasping activities as they pertain to the human hand into a nonlinear master-slave force relationship. The results presented in this paper show that the admittance-type system has sufficient bandwidth that it appears nearly transparent to the user when the user is in free motion and when the system is subjected to a manipulation task, increased performance is achieved using the nonlinear force relationship compared to the traditional linear scaling techniques implemented in the vast majority of systems.

  19. Prosthetic finger phalanges with lifelike skin compliance for low-force social touching interactions

    Directory of Open Access Journals (Sweden)

    Ge Shuzhi

    2011-03-01

    Full Text Available Abstract Background Prosthetic arms and hands that can be controlled by the user's electromyography (EMG signals are emerging. Eventually, these advanced prosthetic devices will be expected to touch and be touched by other people. As realistic as they may look, the currently available prosthetic hands have physical properties that are still far from the characteristics of human skins because they are much stiffer. In this paper, different configurations of synthetic finger phalanges have been investigated for their skin compliance behaviour and have been compared with the phalanges of the human fingers and a phalanx from a commercially available prosthetic hand. Methods Handshake tests were performed to identify which areas on the human hand experience high contact forces. After these areas were determined, experiments were done on selected areas using an indenting probe to obtain the force-displacement curves. Finite element simulations were used to compare the force-displacement results of the synthetic finger phalanx designs with that of the experimental results from the human and prosthetic finger phalanges. The simulation models were used to investigate the effects of (a varying the internal topology of the finger phalanx and (b varying different materials for the internal and external layers. Results and Conclusions During handshake, the high magnitudes of contact forces were observed at the areas where the full grasping enclosure of the other person's hand can be achieved. From these areas, the middle phalanges of the (a little, (b ring, and (c middle fingers were selected. The indentation experiments on these areas showed that a 2 N force corresponds to skin tissue displacements of more than 2 mm. The results from the simulation model show that introducing an open pocket with 2 mm height on the internal structure of synthetic finger phalanges increased the skin compliance of the silicone material to 235% and the polyurethane material to

  20. A ''Fifth Force'' search using a controlled local mass

    International Nuclear Information System (INIS)

    Nelson, P.; Graham, D.; Nelson, P.; Newman, R.

    1988-01-01

    We present a progress report on a search for composition dependence in the forces acting on lead and copper test masses on a torsion balance due to a copper or lead attracting mass. The attracting mass in this experiment is a ring of radius R positioned so that the torsion balance lies on its axis at a distance z = √3/2.R from the ring's center. The ring is moved periodically between symmetric positions on opposite sides of the balance. The resulting change in gravitational field experienced by the balance is spatially uniform to a very high degree: all derivatives of the change in field at the center of the balance vanish through third order. The problem of gravitational field gradients coupling to the balance is thus minimized. This experiment should provide useful limits on the strength of composition dependent anomalous forces, independent of their range (for ranges greater than about 50 cm), and independent of assumptions about surrounding topography. We describe the performance of a first version of the experiment using a 28 kg copper ring, and discuss plans for an experiment using a 300 kg lead ring. No results are reported

  1. Exoskeleton master controller with force-reflecting telepresence

    Science.gov (United States)

    Burke, James B.; Bartholet, Stephen J.; Nelson, David K.

    1992-01-01

    A thorough understanding of the requirements for successful master-slave robotic systems is becoming increasingly desirable. Such systems can aid in the accomplishment of tasks that are hazardous or inaccessible to humans. Although a history of use has proven master-slave systems to be viable, system requirements and the impact of specifications on the human factors side of system performance are not well known. In support of the next phase of teleoperation research being conducted at the Armstrong Research Laboratory, a force-reflecting, seven degree of freedom exoskeleton for master-slave teleoperation has been concepted, and is presently being developed. The exoskeleton has a unique kinematic structure that complements the structure of the human arm. It provides a natural means for teleoperating a dexterous, possibly redundant manipulator. It allows ease of use without operator fatigue and faithfully follows human arm and wrist motions. Reflected forces and moments are remotely transmitted to the operator hand grip using a cable transmission scheme. This paper presents the exoskeleton concept and development results to date. Conceptual design, hardware, algorithms, computer architecture, and software are covered.

  2. Dynamic Characterization and Interaction Control of the CBM-Motus Robot for Upper-Limb Rehabilitation

    Directory of Open Access Journals (Sweden)

    Loredana Zollo

    2013-10-01

    Full Text Available This paper presents dynamic characterization and control of an upper-limb rehabilitation machine aimed at improving robot performance in the interaction with the patient. An integrated approach between mechanics and control is the key issue of the paper for the development of a robotic machine with desirable dynamic properties. Robot inertial and acceleration properties are studied in the workspace via a graphical representation based on ellipses. Robot friction is experimentally retrieved by means of a parametric identification procedure. A current-based impedance control is developed in order to compensate for friction and enhance control performance in the interaction with the patient by means of force feedback, without increasing system inertia. To this end, servo-amplifier motor currents are monitored to provide force feedback in the interaction, thus avoiding the need for force sensors mounted at the robot end-effector. Current-based impedance control is implemented on the robot; experimental results in free space as well as in constrained space are provided.

  3. Interactive Control System, Intended Strategy, Implemented Strategy dan Emergent Strategy

    Directory of Open Access Journals (Sweden)

    Tubagus Ismail

    2012-09-01

    Full Text Available The purpose of this study was to examine the relationship between management control system (MCS and strategy formation processes, namely: intended strategy, emergent strategy and impelemented strategy. The focus of MCS in this study was interactive control system. The study was based on Structural Equation Modeling (SEM as its multivariate analyses instrument. The samples were upper middle managers of manufacturing company in Banten Province, DKI Jakarta Province and West Java Province. AMOS Software 16 program is used as an additional instrument to resolve the problem in SEM modeling. The study found that interactive control system brought a positive and significant influence on Intended strategy; interactive control system brought a positive and significant influence on implemented strategy; interactive control system brought a positive and significant influence on emergent strategy. The limitation of this study is that our empirical model only used one way relationship between the process of strategy formation and interactive control system.

  4. A computed torque method based attitude control with optimal force distribution for articulated body mobile robots

    International Nuclear Information System (INIS)

    Fukushima, Edwardo F.; Hirose, Shigeo

    2000-01-01

    This paper introduces an attitude control scheme based in optimal force distribution using quadratic programming which minimizes joint energy consumption. This method shares similarities with force distribution for multifingered hands, multiple coordinated manipulators and legged walking robots. In particular, an attitude control scheme was introduced inside the force distribution problem, and successfully implemented for control of the articulated body mobile robot KR-II. This is an actual mobile robot composed of cylindrical segments linked in series by prismatic joints and has a long snake-like appearance. These prismatic joints are force controlled so that each segment's vertical motion can automatically follow the terrain irregularities. An attitude control is necessary because this system acts like a system of wheeled inverted pendulum carts connected in series, being unstable by nature. The validity and effectiveness of the proposed method is verified by computer simulation and experiments with the robot KR-II. (author)

  5. Force control of a magnetorheological damper using an elementary hysteresis model-based feedforward neural network

    International Nuclear Information System (INIS)

    Ekkachai, Kittipong; Nilkhamhang, Itthisek; Tungpimolrut, Kanokvate

    2013-01-01

    An inverse controller is proposed for a magnetorheological (MR) damper that consists of a hysteresis model and a voltage controller. The force characteristics of the MR damper caused by excitation signals are represented by a feedforward neural network (FNN) with an elementary hysteresis model (EHM). The voltage controller is constructed using another FNN to calculate a suitable input signal that will allow the MR damper to produce the desired damping force. The performance of the proposed EHM-based FNN controller is experimentally compared to existing control methodologies, such as clipped-optimal control, signum function control, conventional FNN, and recurrent neural network with displacement or velocity inputs. The results show that the proposed controller, which does not require force feedback to implement, provides excellent accuracy, fast response time, and lower energy consumption. (paper)

  6. van der Waals forces in density functional theory: Perturbational long-range electron-interaction corrections

    International Nuclear Information System (INIS)

    Angyan, Janos G.; Gerber, Iann C.; Savin, Andreas; Toulouse, Julien

    2005-01-01

    Long-range exchange and correlation effects, responsible for the failure of currently used approximate density functionals in describing van der Waals forces, are taken into account explicitly after a separation of the electron-electron interaction in the Hamiltonian into short- and long-range components. We propose a 'range-separated hybrid' functional based on a local density approximation for the short-range exchange-correlation energy, combined with a long-range exact exchange energy. Long-range correlation effects are added by a second-order perturbational treatment. The resulting scheme is general and is particularly well adapted to describe van der Waals complexes, such as rare gas dimers

  7. Interaction forces between nanoparticles in Lennard-Jones (L-J) solvents

    International Nuclear Information System (INIS)

    Sinha, Indrajit; Mukherjee, Ashim K

    2014-01-01

    Molecular simulations, such as Monte Carlo (MC) and molecular dynamics (MD) have been recently used for understanding the forces between colloidal nanoparticles that determine the dispersion and stability of nanoparticle suspensions. Herein we review the current status of research in the area of nanoparticles immersed in L-J solvents. The first study by Shinto et al. used large smooth spheres to depict nanoparticles in L-J and soft sphere solvents. The nanoparticles were held fixed at a particular interparticle distance and only the solvents were allowed to equilibrate. Both Van-der-waals and solvation forces were computed at different but fixed interparticle separation. Later Qin and Fitchthorn improved on this model by considering the nanoparticles as collection of molecules, thus taking into the account the effect of surface roughness of nanoparticles. Although the inter particle distance was fixed, the rotation of such nanoparticles with respect to each other was also investigated. Recently, in keeping with the experimental situation, we modified this model by allowing the nanoparticles to move and rotate freely. Solvophilic, neutral and solvophobic interactions between the solvent atoms and those that make up the nanoparticles were modelled. While neutral and solvophobic nanoparticles coalesce even at intermediate distances, solvophilic nanoparticles are more stable in solution due to the formation of a solvent shield

  8. Identification and Modeling of Electrohydraulic Force Control of the Material Test System (MTS)

    International Nuclear Information System (INIS)

    Ruan, J; Pei, X; Zhu, F M

    2006-01-01

    In the heavy-duty material test device, an electrohydraulic force servo system is usually utilized to load the tested samples. The signal from the pressure sensor is compared with the instruction and the difference between them is then fed to a digital servo valve to form a closed loop control to the target force. The performance of the electrohydraulic force servo system is not only closely related to how accurate to feed the flow rate to the hydraulic cylinder, but also the stiffness of the system which is dominated by the compressibility of oil. Thus the clarification of the characteristic parameters becomes the key of the solution to optimal force control. To identify the electrohydraulic force servo system various step signals are input to excite the dynamic response of the system. From the relationship between the step magnitude and the force response, the system model and the key control parameters are determined. The electrohydraulic force servo system is identified as a first order system with time constant varied with the pressure. Based on the identification of the system optimal control parameters are finally obtained and force rate error is reduced to 0.2% from original 3%

  9. Force control in the absence of visual and tactile feedback

    NARCIS (Netherlands)

    Mugge, W.; Abbink, D.A.; Schouten, Alfred Christiaan; van der Helm, F.C.T.; Arendzen, J.H.; Meskers, C.G.M.

    2013-01-01

    Motor control tasks like stance or object handling require sensory feedback from proprioception, vision and touch. The distinction between tactile and proprioceptive sensors is not frequently made in dynamic motor control tasks, and if so, mostly based on signal latency. We previously found that

  10. Relative importance of driving force and electrostatic interactions in the reduction of multihaem cytochromes by small molecules.

    Science.gov (United States)

    Quintas, Pedro O; Cepeda, Andreia P; Borges, Nuno; Catarino, Teresa; Turner, David L

    2013-06-01

    Multihaem cytochromes are essential to the energetics of organisms capable of bioremediation and energy production. The haems in several of these cytochromes have been discriminated thermodynamically and their individual rates of reduction by small electron donors were characterized. The kinetic characterization of individual haems used the Marcus theory of electron transfer and assumed that the rates of reduction of each haem by sodium dithionite depend only on the driving force, while electrostatic interactions were neglected. To determine the relative importance of these factors in controlling the rates, we studied the effect of ionic strength on the redox potential and the rate of reduction by dithionite of native Methylophilus methylotrophus cytochrome c″ and three mutants at different pH values. We found that the main factor determining the rate is the driving force and that Marcus theory describes this satisfactorily. This validates the method of the simultaneous fitting of kinetic and thermodynamic data in multihaem cytochromes and opens the way for further investigation into the mechanisms of these proteins. Copyright © 2013 Elsevier B.V. All rights reserved.

  11. Motion Control of Four-Wheel Independently Actuated Electric Ground Vehicles considering Tire Force Saturations

    Directory of Open Access Journals (Sweden)

    Rongrong Wang

    2013-01-01

    Full Text Available A vehicle stability control approach for four-wheel independently actuated (FWIA electric vehicles is presented. The proposed control method consists of a higher-level controller and a lower-level controller. An adaptive control-based higher-level controller is designed to yield the vehicle virtual control efforts to track the desired vehicle motions due to the possible modeling inaccuracies and parametric uncertainties. The lower-level controller considering tire force saturation is given to allocate the required control efforts to the four in-wheel motors for providing the desired tire forces. An analytic method is given to distribute the high-level control efforts, without using the numerical-optimization-based control allocation algorithms. Simulations based on a high-fidelity, CarSim, and full-vehicle model show the effectiveness of the control approach.

  12. Prediction of forces and moments for flight vehicle control effectors. Part 1: Validation of methods for predicting hypersonic vehicle controls forces and moments

    Science.gov (United States)

    Maughmer, Mark D.; Ozoroski, L.; Ozoroski, T.; Straussfogel, D.

    1990-01-01

    Many types of hypersonic aircraft configurations are currently being studied for feasibility of future development. Since the control of the hypersonic configurations throughout the speed range has a major impact on acceptable designs, it must be considered in the conceptual design stage. The ability of the aerodynamic analysis methods contained in an industry standard conceptual design system, APAS II, to estimate the forces and moments generated through control surface deflections from low subsonic to high hypersonic speeds is considered. Predicted control forces and moments generated by various control effectors are compared with previously published wind tunnel and flight test data for three configurations: the North American X-15, the Space Shuttle Orbiter, and a hypersonic research airplane concept. Qualitative summaries of the results are given for each longitudinal force and moment and each control derivative in the various speed ranges. Results show that all predictions of longitudinal stability and control derivatives are acceptable for use at the conceptual design stage. Results for most lateral/directional control derivatives are acceptable for conceptual design purposes; however, predictions at supersonic Mach numbers for the change in yawing moment due to aileron deflection and the change in rolling moment due to rudder deflection are found to be unacceptable. Including shielding effects in the analysis is shown to have little effect on lift and pitching moment predictions while improving drag predictions.

  13. Plant neighbour identity matters to belowground interactions under controlled conditions.

    Science.gov (United States)

    Armas, Cristina; Pugnaire, Francisco Ignacio

    2011-01-01

    Root competition is an almost ubiquitous feature of plant communities with profound effects on their structure and composition. Far beyond the traditional view that plants interact mainly through resource depletion (exploitation competition), roots are known to be able to interact with their environment using a large variety of mechanisms that may inhibit or enhance access of other roots to the resource or affect plant growth (contest interactions). However, an extensive analysis on how these contest root interactions may affect species interaction abilities is almost lacking. In a common garden experiment with ten perennial plant species we forced pairs of plants of the same or different species to overlap their roots and analyzed how belowground contest interactions affected plant performance, biomass allocation patterns, and competitive abilities under abundant resource supply. Our results showed that net interaction outcome ranged from negative to positive, affecting total plant mass and allocation patterns. A species could be a strong competitor against one species, weaker against another one, and even facilitator to a third species. This leads to sets of species where competitive hierarchies may be clear but also to groups where such rankings are not, suggesting that intransitive root interactions may be crucial for species coexistence. The outcome of belowground contest interactions is strongly dependent on neighbours' identity. In natural plant communities this conditional outcome may hypothetically help species to interact in non-hierarchical and intransitive networks, which in turn might promote coexistence.

  14. Hybrid Force Control Based on ICMAC for an Astronaut Rehabilitative Training Robot

    Directory of Open Access Journals (Sweden)

    Lixun Zhang

    2012-08-01

    Full Text Available A novel Astronaut Rehabilitative Training Robot (ART based on a cable-driven mechanism is represented in this paper. ART, a typical passive force servo system, can help astronauts to bench press in a microgravity environment. The purpose of this paper is to design controllers to eliminate the surplus force caused by an astronaut's active movements. Based on the dynamics modelling of the cable-driven unit, a hybrid force controller based on improved credit assignment CMAC (ICMAC is presented. A planning method for the cable tension is proposed so that the dynamic load produced by the ART can realistically simulate the gravity and inertial force of the barbell in a gravity environment. Finally, MATLAB simulation results of the man-machine cooperation system are provided in order to verify the effectiveness of the proposed control strategy. The simulation results show that the hybrid control method based on the structure invariance principle can inhibit the surplus force and that ICMAC can improve the dynamic performance of the passive force servo system. Furthermore, the hybrid force controller based on ICMAC can ensure the stability of the system.

  15. ISAC - A tool for aeroservoelastic modeling and analysis. [Interaction of Structures, Aerodynamics, and Control

    Science.gov (United States)

    Adams, William M., Jr.; Hoadley, Sherwood T.

    1993-01-01

    This paper discusses the capabilities of the Interaction of Structures, Aerodynamics, and Controls (ISAC) system of program modules. The major modeling, analysis, and data management components of ISAC are identified. Equations of motion are displayed for a Laplace-domain representation of the unsteady aerodynamic forces. Options for approximating a frequency-domain representation of unsteady aerodynamic forces with rational functions of the Laplace variable are shown. Linear time invariant state-space equations of motion that result are discussed. Model generation and analyses of stability and dynamic response characteristics are shown for an aeroelastic vehicle which illustrate some of the capabilities of ISAC as a modeling and analysis tool for aeroelastic applications.

  16. Anticipatory planning and control of grasp positions and forces for dexterous two-digit manipulation.

    Science.gov (United States)

    Fu, Qiushi; Zhang, Wei; Santello, Marco

    2010-07-07

    Dexterous object manipulation requires anticipatory control of digit positions and forces. Despite extensive studies on sensorimotor learning of digit forces, how humans learn to coordinate digit positions and forces has never been addressed. Furthermore, the functional role of anticipatory modulation of digit placement to object properties remains to be investigated. We addressed these questions by asking human subjects (12 females, 12 males) to grasp and lift an inverted T-shaped object using precision grip at constrained or self-chosen locations. The task requirement was to minimize object roll during lift. When digit position was not constrained, subjects could have implemented many equally valid digit position-force coordination patterns. However, choice of digit placement might also have resulted in large trial-to-trial variability of digit position, hence challenging the extent to which the CNS could have relied on sensorimotor memories for anticipatory control of digit forces. We hypothesized that subjects would modulate digit placement for optimal force distribution and digit forces as a function of variable digit positions. All subjects learned to minimize object roll within the first three trials, and the unconstrained device was associated with significantly smaller grip forces but larger variability of digit positions. Importantly, however, digit load force modulation compensated for position variability, thus ensuring consistent object roll minimization on each trial. This indicates that subjects learned object manipulation by integrating sensorimotor memories with sensory feedback about digit positions. These results are discussed in the context of motor equivalence and sensorimotor integration of grasp kinematics and kinetics.

  17. A comprehensive modeling and vibration analysis of AFM microcantilevers subjected to nonlinear tip-sample interaction forces

    International Nuclear Information System (INIS)

    Eslami, Sohrab; Jalili, Nader

    2012-01-01

    Precise and accurate representation of an Atomic Force Microscopy (AFM) system is essential in studying the effects of boundary interaction forces present between the probe's tip and the sample. In this paper, a comprehensive analytical model for the AFM system utilizing a distributed-parameters based approach is proposed. More specifically, we consider two important attributes of these systems; namely the rotary inertia and shear deformation when compared with the Euler–Bernoulli beam theory. Moreover, a comprehensive nonlinear interaction force is assumed between probe's and sample in order to reveal the response of the system more realistically. This nanoscale interaction force is based on a general form consisting of both attractive and repulsive components as well as a function of the tip-sample distance and the microcantilever's base and sample oscillations. Mechanical properties of the sample could interact with the nanomechanical coupling field between the probe' tip and sample and be implemented in studying the composition information of the sample and the ultra-small features inside it. Therefore, by modulating the dynamics of the AFM system such as the driving amplitude of the microcantilever the procedure for the subsurface imaging is described. The presented approach here could be implemented for designing the AFM probes by examining the tip-sample interaction forces dominant by the van der Waals forces. Several numerical case studies are presented and the force–distance diagram reveals that the proposed nonlinear nanomechanical force along with the distributed-parameters model for the microcantilever is able to fulfill the mechanics of the Lennard–Jones potential. -- Highlights: ► We present a comprehensive distributed-parameters model for AFM microcantilever. ► Assuming a nonlinear and implicit interaction force between tip and sample. ► Timoshenko beam is compared with the Euler–Bernoulli having the same force model. ► Frequency

  18. Human-Human Interaction Forces and Interlimb Coordination During Side-by-Side Walking With Hand Contact.

    Science.gov (United States)

    Sylos-Labini, Francesca; d'Avella, Andrea; Lacquaniti, Francesco; Ivanenko, Yury

    2018-01-01

    Handholding can naturally occur between two walkers. When people walk side-by-side, either with or without hand contact, they often synchronize their steps. However, despite the importance of haptic interaction in general and the natural use of hand contact between humans during walking, few studies have investigated forces arising from physical interactions. Eight pairs of adult subjects participated in this study. They walked on side-by-side treadmills at 4 km/h independently and with hand contact. Only hand contact-related sensory information was available for unintentional synchronization, while visual and auditory communication was obstructed. Subjects walked at their natural cadences or following a metronome. Limb kinematics, hand contact 3D interaction forces and EMG activity of 12 upper limb muscles were recorded. Overall, unintentional step frequency locking was observed during about 40% of time in 88% of pairs walking with hand contact. On average, the amplitude of contact arm oscillations decreased while the contralateral (free) arm oscillated in the same way as during normal walking. Interestingly, EMG activity of the shoulder muscles of the contact arm did not decrease, and their synergistic pattern remained similar. The amplitude of interaction forces and of trunk oscillations was similar for synchronized and non-synchronized steps, though the synchronized steps were characterized by significantly more regular orientations of interaction forces. Our results further support the notion that gait synchronization during natural walking is common, and that it may occur through interaction forces. Conservation of the proximal muscle activity of the contact (not oscillating) arm is consistent with neural coupling between cervical and lumbosacral pattern generation circuitries ("quadrupedal" arm-leg coordination) during human gait. Overall, the findings suggest that individuals might integrate force interaction cues to communicate and coordinate steps during

  19. Human-Human Interaction Forces and Interlimb Coordination During Side-by-Side Walking With Hand Contact

    Directory of Open Access Journals (Sweden)

    Francesca Sylos-Labini

    2018-03-01

    Full Text Available Handholding can naturally occur between two walkers. When people walk side-by-side, either with or without hand contact, they often synchronize their steps. However, despite the importance of haptic interaction in general and the natural use of hand contact between humans during walking, few studies have investigated forces arising from physical interactions. Eight pairs of adult subjects participated in this study. They walked on side-by-side treadmills at 4 km/h independently and with hand contact. Only hand contact-related sensory information was available for unintentional synchronization, while visual and auditory communication was obstructed. Subjects walked at their natural cadences or following a metronome. Limb kinematics, hand contact 3D interaction forces and EMG activity of 12 upper limb muscles were recorded. Overall, unintentional step frequency locking was observed during about 40% of time in 88% of pairs walking with hand contact. On average, the amplitude of contact arm oscillations decreased while the contralateral (free arm oscillated in the same way as during normal walking. Interestingly, EMG activity of the shoulder muscles of the contact arm did not decrease, and their synergistic pattern remained similar. The amplitude of interaction forces and of trunk oscillations was similar for synchronized and non-synchronized steps, though the synchronized steps were characterized by significantly more regular orientations of interaction forces. Our results further support the notion that gait synchronization during natural walking is common, and that it may occur through interaction forces. Conservation of the proximal muscle activity of the contact (not oscillating arm is consistent with neural coupling between cervical and lumbosacral pattern generation circuitries (“quadrupedal” arm-leg coordination during human gait. Overall, the findings suggest that individuals might integrate force interaction cues to communicate and

  20. Reform of Command and Control Structures in North Atlantic Treaty Organization Special Operations Forces

    National Research Council Canada - National Science Library

    Berg, Robert S

    2007-01-01

    .... The central research question is as follows: Does NATO require a standing Special Operations Force Command and Control structure and combat capability to meet the emerging global security requirements of the Alliance...

  1. Centralized Command and Control of Theater Missile Defense: The Joint Force Missile Defense Component Coordinator

    National Research Council Canada - National Science Library

    Bucey, William H

    2006-01-01

    .... The numerous commands, decentralized command and control, and limited and expensive resources involved in TMD require changes to the joint doctrine in order to provide unity of command and economy of force...

  2. Sliding mode-based lateral vehicle dynamics control using tyre force measurements

    Science.gov (United States)

    Kunnappillil Madhusudhanan, Anil; Corno, Matteo; Holweg, Edward

    2015-11-01

    In this work, a lateral vehicle dynamics control based on tyre force measurements is proposed. Most of the lateral vehicle dynamics control schemes are based on yaw rate whereas tyre forces are the most important variables in vehicle dynamics as tyres are the only contact points between the vehicle and road. In the proposed method, active front steering is employed to uniformly distribute the required lateral force among the front left and right tyres. The force distribution is quantified through the tyre utilisation coefficients. In order to address the nonlinearities and uncertainties of the vehicle model, a gain scheduling sliding-mode control technique is used. In addition to stabilising the lateral dynamics, the proposed controller is able to maintain maximum lateral acceleration. The proposed method is tested and validated on a multi-body vehicle simulator.

  3. Vehicle Sliding Mode Control with Adaptive Upper Bounds: Static versus Dynamic Allocation to Saturated Tire Forces

    Directory of Open Access Journals (Sweden)

    Ali Tavasoli

    2012-01-01

    Full Text Available Nonlinear vehicle control allocation is achieved through distributing the task of vehicle control among individual tire forces, which are constrained to nonlinear saturation conditions. A high-level sliding mode control with adaptive upper bounds is considered to assess the body yaw moment and lateral force for the vehicle motion. The proposed controller only requires the online adaptation of control gains without acquiring the knowledge of upper bounds on system uncertainties. Static and dynamic control allocation approaches have been formulated to distribute high-level control objectives among the system inputs. For static control allocation, the interior-point method is applied to solve the formulated nonlinear optimization problem. Based on the dynamic control allocation method, a dynamic update law is derived to allocate vehicle control to tire forces. The allocated tire forces are fed into a low-level control module, where the applied torque and active steering angle at each wheel are determined through a slip-ratio controller and an inverse tire model. Computer simulations are used to prove the significant effects of the proposed control allocation methods on improving the stability and handling performance. The advantages and limitations of each method have been discussed, and conclusions have been derived.

  4. Analytic nuclear forces and molecular properties from full configuration interaction quantum Monte Carlo

    International Nuclear Information System (INIS)

    Thomas, Robert E.; Overy, Catherine; Opalka, Daniel; Alavi, Ali; Knowles, Peter J.; Booth, George H.

    2015-01-01

    Unbiased stochastic sampling of the one- and two-body reduced density matrices is achieved in full configuration interaction quantum Monte Carlo with the introduction of a second, “replica” ensemble of walkers, whose population evolves in imaginary time independently from the first and which entails only modest additional computational overheads. The matrices obtained from this approach are shown to be representative of full configuration-interaction quality and hence provide a realistic opportunity to achieve high-quality results for a range of properties whose operators do not necessarily commute with the Hamiltonian. A density-matrix formulated quasi-variational energy estimator having been already proposed and investigated, the present work extends the scope of the theory to take in studies of analytic nuclear forces, molecular dipole moments, and polarisabilities, with extensive comparison to exact results where possible. These new results confirm the suitability of the sampling technique and, where sufficiently large basis sets are available, achieve close agreement with experimental values, expanding the scope of the method to new areas of investigation

  5. Consequences of Inconsistency in Air Force Tobacco Control Policy.

    Science.gov (United States)

    Lando-King, Elizabeth A; Malone, Ruth E; Haddock, Christopher K; Poston, Walker S Carlos; Lando, Harry A; Jahnke, Sara A; Hawk, Nita; Smith, Elizabeth A

    2017-04-01

    Although the United States Air Force (USAF) has been a leader in efforts to reduce tobacco use among service members, tobacco continues to be a problem and initiatives to decrease tobacco use further require buy-in from leadership. We explored line leaderships' perspectives on tobacco. A diverse group of 10 senior commissioned and 10 non-commissioned personnel were interviewed. Respondents reported substantial changes in the culture of tobacco use during their years of service, from near ubiquity to restricted use areas. They also perceived mixed messages coming from the USAF, including simultaneous discouragement of and accommodations for tobacco use, and variability in policies and enforcement. Many respondents indicated that allowing tobacco use creates conflict and undermines military discipline and suggested that a tobacco-free policy would be the best way to eliminate these contradictions. Although there has been substantial movement away from a culture of tobacco in the USAF, current policies and variable enforcement of these policies create unnecessary contradictions. Establishing a tobacco-free service would resolve these issues in addition to improving the health of service members and veterans.

  6. Vehicle Dynamics Control of In-wheel Electric Motor Drive Vehicles Based on Averaging of Tire Force Usage

    Science.gov (United States)

    Masaki, Nobuo; Iwano, Haruo; Kamada, Takayoshi; Nagai, Masao

    For in-wheel electric motor drive vehicles, a new vehicle dynamics control which is based on the tire force usage rate is proposed. The new controller adopts non-linear optimal control could manage the interference between direct yaw-moment control and the tire force usage rate. The new control is considered total longitudinal and transverse tire force. Therefore the controller can prevent tire force saturation near tire force limit during cornering. Simulations and test runs by the custom made four wheel drive in-wheel motor electric vehicle show that higher driving stability performance compared to the performance of the same vehicle without control.

  7. The cumulative measure of a force: A unified kinetic theory for rigid-sphere and inverse-square force law interactions

    Directory of Open Access Journals (Sweden)

    Yongbin Chang

    2011-09-01

    Full Text Available By introducing a cutoff on the cumulative measure of a force, a unified kinetic theory is developed for both rigid-sphere and inverse-square force laws. The difference between the two kinds of interactions is characterized by a parameter, γ, which is 1 for rigid-sphere interactions and -3 for inverse-square force law interactions. The quantities governed by γ include the specific reaction rates, kernels, collision frequencies, arbitrarily high orders of transition moments, arbitrarily high orders of Fokker-Planck expansion (also called Kramers-Moyal expansion coefficients, and arbitrarily high orders of energy exchange rates. The cutoff constants are shown to be incomplete gamma functions of different orders. The widely used cutoff constant in plasma physics (usually known as Coulomb logarithm is found to be exactly the zeroth order of the incomplete gamma function. The well known Arrhenius reaction rate formula comes from the first order of the incomplete gamma functions, while the negative first order can be used for fitting the fusion reaction rate between deuterium and tritium.

  8. Subatomic forces

    International Nuclear Information System (INIS)

    Sutton, C.

    1989-01-01

    Inside the atom, particles interact through two forces which are never felt in the everyday world. But they may hold the key to the Universe. These ideas on subatomic forces are discussed with respect to the strong force, the electromagnetic force and the electroweak force. (author)

  9. Composite adaptive control of belt polishing force for aero-engine blade

    Science.gov (United States)

    Zhsao, Pengbing; Shi, Yaoyao

    2013-09-01

    The existing methods for blade polishing mainly focus on robot polishing and manual grinding. Due to the difficulty in high-precision control of the polishing force, the blade surface precision is very low in robot polishing, in particular, quality of the inlet and exhaust edges can not satisfy the processing requirements. Manual grinding has low efficiency, high labor intensity and unstable processing quality, moreover, the polished surface is vulnerable to burn, and the surface precision and integrity are difficult to ensure. In order to further improve the profile accuracy and surface quality, a pneumatic flexible polishing force-exerting mechanism is designed and a dual-mode switching composite adaptive control(DSCAC) strategy is proposed, which combines Bang-Bang control and model reference adaptive control based on fuzzy neural network(MRACFNN) together. By the mode decision-making mechanism, Bang-Bang control is used to track the control command signal quickly when the actual polishing force is far away from the target value, and MRACFNN is utilized in smaller error ranges to improve the system robustness and control precision. Based on the mathematical model of the force-exerting mechanism, simulation analysis is implemented on DSCAC. Simulation results show that the output polishing force can better track the given signal. Finally, the blade polishing experiments are carried out on the designed polishing equipment. Experimental results show that DSCAC can effectively mitigate the influence of gas compressibility, valve dead-time effect, valve nonlinear flow, cylinder friction, measurement noise and other interference on the control precision of polishing force, which has high control precision, strong robustness, strong anti-interference ability and other advantages compared with MRACFNN. The proposed research achieves high-precision control of the polishing force, effectively improves the blade machining precision and surface consistency, and

  10. Combining spanwise morphing, inline motion and model based optimization for force magnitude and direction control

    Science.gov (United States)

    Scheller, Johannes; Braza, Marianna; Triantafyllou, Michael

    2016-11-01

    Bats and other animals rapidly change their wingspan in order to control the aerodynamic forces. A NACA0013 type airfoil with dynamically changing span is proposed as a simple model to experimentally study these biomimetic morphing wings. Combining this large-scale morphing with inline motion allows to control both force magnitude and direction. Force measurements are conducted in order to analyze the impact of the 4 degree of freedom flapping motion on the flow. A blade-element theory augmented unsteady aerodynamic model is then used to derive optimal flapping trajectories.

  11. Interactions between fluvial forces and vegetation size, density and morphology influence plant mortality during experimental floods

    Science.gov (United States)

    Stella, J. C.; Kui, L.; Manners, R.; Wilcox, A. C.; Lightbody, A.; Sklar, L. S.

    2015-12-01

    Introduction and methods Fluvial disturbance is a key driver of riparian vegetation dynamics in river corridors. Despite an increasing understanding of ecohydraulic interactions between plants and fluvial forces, the interactive influences of plant morphology and sediment supply on plant mortality, a key demographic factor, are largely unknown. To better understand these processes, we designed and conducted a series of flume experiments to: (1) quantify effects of plant traits that interact with flow and sediment transport on plant loss to scour during floods; and (2) predict plant dislodgement for different species across a range of plant sizes, patch densities, and sediment condition (equilibrium transport versus sediment deficit). We ran ten experimental floods in a 28 m long × 0.6 m wide × 0.71 m tall flume, using live, 1-3 year-old tamarisk and cottonwood seedlings with contrasting morphologies with varied combinations of size and density. Results and discussion Both sediment supply and plant traits (morphology and composition) have significant impacts on plant vulnerability during floods. Sediment deficit resulted in bed degradation and a 35% greater risk of plant loss compared to equilibrium sediment conditions. The probability of plant dislodgement in sparse patches was 4.5 times greater than in dense patches. Tamarisk plants and patches had greater frontal area, basal diameter and longer roots compared to cottonwood across all seedling heights. These traits, as well as its lower crown position reduced tamarisk's vulnerability to scour by 75%. Compared with cottonwood, tamarisk exhibits better resistance to floods, due to its greater root biomass and longer roots that stabilize soil, and its greater frontal area and lower crown that effectively trap sediment. These traits likely contribute to riverscape-scale changes in channel morphology that are evident where tamarisk has invaded native riparian communities, and explain the persistence of tamarisk

  12. Dicyclopentadiene Hydrogenation in Trickle Bed Reactor under Forced Periodic Control

    Czech Academy of Sciences Publication Activity Database

    Skála, D.; Hanika, Jiří

    2008-01-01

    Roč. 62, č. 2 (2008), s. 215-218 ISSN 1336-7242 R&D Projects: GA MPO(CZ) FT-TA/039 Institutional research plan: CEZ:AV0Z40720504 Keywords : periodic control * trickle -bed reactor * dicyclopentadiene Subject RIV: CI - Industrial Chemistry, Chemical Engineering

  13. An atomic force microscope for the study of the effects of tip sample interactions on dimensional metrology

    Science.gov (United States)

    Yacoot, Andrew; Koenders, Ludger; Wolff, Helmut

    2007-02-01

    An atomic force microscope (AFM) has been developed for studying interactions between the AFM tip and the sample. Such interactions need to be taken into account when making quantitative measurements. The microscope reported here has both the conventional beam deflection system and a fibre optical interferometer for measuring the movement of the cantilever. Both can be simultaneously used so as to not only servo control the tip movements, but also detect residual movement of the cantilever. Additionally, a high-resolution homodyne differential optical interferometer is used to measure the vertical displacement between the cantilever holder and the sample, thereby providing traceability for vertical height measurements. The instrument is compatible with an x-ray interferometer, thereby facilitating high resolution one-dimensional scans in the X-direction whose metrology is based on the silicon d220 lattice spacing (0.192 nm). This paper concentrates on the first stage of the instrument's development and presents some preliminary results validating the instrument's performance and showing its potential.

  14. Effects of temperature and cellular interactions on the mechanics and morphology of human cancer cells investigated by atomic force microscopy.

    Science.gov (United States)

    Li, Mi; Liu, LianQing; Xi, Ning; Wang, YueChao; Xiao, XiuBin; Zhang, WeiJing

    2015-09-01

    Cell mechanics plays an important role in cellular physiological activities. Recent studies have shown that cellular mechanical properties are novel biomarkers for indicating the cell states. In this article, temperature-controllable atomic force microscopy (AFM) was applied to quantitatively investigate the effects of temperature and cellular interactions on the mechanics and morphology of human cancer cells. First, AFM indenting experiments were performed on six types of human cells to investigate the changes of cellular Young's modulus at different temperatures and the results showed that the mechanical responses to the changes of temperature were variable for different types of cancer cells. Second, AFM imaging experiments were performed to observe the morphological changes in living cells at different temperatures and the results showed the significant changes of cell morphology caused by the alterations of temperature. Finally, by co-culturing human cancer cells with human immune cells, the mechanical and morphological changes in cancer cells were investigated. The results showed that the co-culture of cancer cells and immune cells could cause the distinct mechanical changes in cancer cells, but no significant morphological differences were observed. The experimental results improved our understanding of the effects of temperature and cellular interactions on the mechanics and morphology of cancer cells.

  15. Toxic cocaine- and convulsant-induced modification of forced swimming behaviors and their interaction with ethanol: comparison with immobilization stress

    Science.gov (United States)

    Hayase, Tamaki; Yamamoto, Yoshiko; Yamamoto, Keiichi

    2002-01-01

    Background Swimming behaviors in the forced swimming test have been reported to be depressed by stressors. Since toxic convulsion-inducing drugs related to dopamine [cocaine (COC)], benzodiazepine [methyl 6,7-dimethoxy-4-ethyl-β-carboline-carboxylate (DMCM)], γ-aminobutyric acid (GABA) [bicuculline (BIC)], and glutamate [N-methyl-D-aspartate (NMDA)] receptors can function as stressors, the present study compared their effects on the forced swimming behaviors with the effects of immobilization stress (IM) in rats. Their interactions with ethanol (EtOH), the most frequently coabused drug with COC which also induces convulsions as withdrawal symptoms but interferes with the convulsions caused by other drugs, were also investigated. Results Similar to the IM (10 min) group, depressed swimming behaviors (attenuated time until immobility and activity counts) were observed in the BIC (5 mg/kg IP) and DMCM (10 mg/kg IP) groups at the 5 h time point, after which no toxic behavioral symptoms were observed. However, they were normalized to the control levels at the 12 h point, with or without EtOH (1.5 g/kg IP). In the COC (60 mg/kg IP) and NMDA (200 mg/kg IP) groups, the depression occurred late (12 h point), and was normalized by the EtOH cotreatment. At the 5 h point, the COC treatment enhanced the swimming behaviors above the control level. Conclusions Although the physiological stress (IM), BIC, and DMCM also depressed the swimming behaviors, a delayed occurrence and EtOH-induced recovery of depressed swimming were observed only in the COC and NMDA groups. This might be correlated with the previously-reported delayed responses of DA and NMDA neurons rather than direct effects of the drugs, which could be suppressed by EtOH. Furthermore, the characteristic psychostimulant effects of COC seemed to be correlated with an early enhancement of swimming behaviors. PMID:12425723

  16. Using the modern CNC controllers capabilities for estimating the machining forces during the milling process

    Directory of Open Access Journals (Sweden)

    Breaz Radu-Eugen

    2017-01-01

    Full Text Available Machining forces can nowadays be measured by using 3D dynamometers, which are usually very expensive devices and hardly available for most of the CNC machine-tools users. On the other hand, modern CNC controllers have nowadays the ability to display and save many outputs within the machining process, such as the currents or even the torques at the shaft's level for the feed motors on each axis. These outputs can be used for estimating the machining forces, but it is to be noticed that the above-mentioned currents and torques are proportional with the overall resistant forces, which includes not only technological forces, but also friction, inertial and pre-tensioning forces. This paper presents an approach for estimating the machining forces during a milling process, by using the outputs stored in the CNC controller and separating the effects of technological forces from the other forces involved in the process. The separation was made by running two sets of experiments, one set for dry-run regime and the other one for machining regime.

  17. Robust Operation of Tendon-Driven Robot Fingers Using Force and Position-Based Control Laws

    Science.gov (United States)

    Abdallah, Muhammad E (Inventor); Platt, Jr., Robert J. (Inventor); Reiland, Matthew J (Inventor); Hargrave, Brian (Inventor); Diftler, Myron A (Inventor); Strawser, Philip A (Inventor); Ihrke, Chris A. (Inventor)

    2013-01-01

    A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.

  18. Ground reaction force comparison of controlled resistance methods to isoinertial loading of the squat exercise - biomed 2010.

    Science.gov (United States)

    Paulus, David C; Reynolds, Michael C; Schilling, Brian K

    2010-01-01

    The ground reaction force during the concentric (raising) portion of the squat exercise was compared to that of isoinertial loading (free weights) for three pneumatically controlled resistance methods: constant resistance, cam force profile, and proportional force control based on velocity. Constant force control showed lower ground reaction forces than isoinertial loading throughout the range of motion (ROM). The cam force profile exhibited slightly greater ground reaction forces than isoinertial loading at 10 and 40% ROM with fifty-percent greater loading at 70% ROM. The proportional force control consistently elicited greater ground reaction force than isoinertial loading, which progressively ranged from twenty to forty percent increase over isoinertial loading except for being approximately equal at 85% ROM. Based on these preliminary results, the proportional control shows the most promise for providing loading that is comparable in magnitude to isoinertial loading. This technology could optimize resistance exercise for sport-specific training or as a countermeasure to atrophy during spaceflight.

  19. Estimation of excitation forces for wave energy converters control using pressure measurements

    Science.gov (United States)

    Abdelkhalik, O.; Zou, S.; Robinett, R.; Bacelli, G.; Wilson, D.

    2017-08-01

    Most control algorithms of wave energy converters require prediction of wave elevation or excitation force for a short future horizon, to compute the control in an optimal sense. This paper presents an approach that requires the estimation of the excitation force and its derivatives at present time with no need for prediction. An extended Kalman filter is implemented to estimate the excitation force. The measurements in this approach are selected to be the pressures at discrete points on the buoy surface, in addition to the buoy heave position. The pressures on the buoy surface are more directly related to the excitation force on the buoy as opposed to wave elevation in front of the buoy. These pressure measurements are also more accurate and easier to obtain. A singular arc control is implemented to compute the steady-state control using the estimated excitation force. The estimated excitation force is expressed in the Laplace domain and substituted in the control, before the latter is transformed to the time domain. Numerical simulations are presented for a Bretschneider wave case study.

  20. Control of dynamical self-assembly of strongly Brownian nanoparticles through convective forces induced by ultrafast laser

    Science.gov (United States)

    Ilday, Serim; Akguc, Gursoy B.; Tokel, Onur; Makey, Ghaith; Yavuz, Ozgun; Yavuz, Koray; Pavlov, Ihor; Ilday, F. Omer; Gulseren, Oguz

    We report a new dynamical self-assembly mechanism, where judicious use of convective and strong Brownian forces enables effective patterning of colloidal nanoparticles that are almost two orders of magnitude smaller than the laser beam. Optical trapping or tweezing effects are not involved, but the laser is used to create steep thermal gradients through multi-photon absorption, and thereby guide the colloids through convective forces. Convective forces can be thought as a positive feedback mechanism that helps to form and reinforce pattern, while Brownian motion act as a competing negative feedback mechanism to limit the growth of the pattern, as well as to increase the possibilities of bifurcation into different patterns, analogous to the competition observed in reaction-diffusion systems. By steering stochastic processes through these forces, we are able to gain control over the emergent pattern such as to form-deform-reform of a pattern, to change its shape and transport it spatially within seconds. This enables us to dynamically initiate and control large patterns comprised of hundreds of colloids. Further, by not relying on any specific chemical, optical or magnetic interaction, this new method is, in principle, completely independent of the material type being assembled.

  1. Design of a new adaptive fuzzy controller and its implementation for the damping force control of a magnetorheological damper

    International Nuclear Information System (INIS)

    Phu, Do Xuan; Shah, Kruti; Choi, Seung-Bok

    2014-01-01

    This paper presents a new adaptive fuzzy controller and its implementation for the damping force control of a magnetorheological (MR) fluid damper in order to validate the effectiveness of the control performance. An interval type 2 fuzzy model is built, and then combined with modified adaptive control to achieve the desired damping force. In the formulation of the new adaptive controller, an enhanced iterative algorithm is integrated with the fuzzy model to decrease the time of calculation (D Wu 2013 IEEE Trans. Fuzzy Syst. 21 80–99) and the control algorithm is synthesized based on the H ∞ tracking technique. In addition, for the verification of good control performance of the proposed controller, a cylindrical MR damper which can be applied to the vibration control of a washing machine is designed and manufactured. For the operating fluid, a recently developed plate-like particle-based MR fluid is used instead of a conventional MR fluid featuring spherical particles. To highlight the control performance of the proposed controller, two existing adaptive fuzzy control algorithms proposed by other researchers are adopted and altered for a comparative study. It is demonstrated from both simulation and experiment that the proposed new adaptive controller shows better performance of damping force control in terms of response time and tracking accuracy than the existing approaches. (papers)

  2. Control of grid interactive AC microgrids

    DEFF Research Database (Denmark)

    Wang, Xiongfei; Guerrero, Josep M.; Chen, Zhe

    2010-01-01

    Over the last decade, distributed energy resources (DER) technology has undergone a fast development. Increased penetration of DER units and wide spread use of renewable energy sources challenge the entire architecture of traditional power system. Microgrid, characterizing higher flexibility......, microgrid controls and power management strategies are presented. Future trends of microgrid are discussed pointing out how this concept can be a key to achieve a more intelligent and flexible AC grid....

  3. Design of Robust AMB Controllers for Rotors Subjected to Varying and Uncertain Seal Forces

    DEFF Research Database (Denmark)

    Lauridsen, Jonas Skjødt; Santos, Ilmar

    2017-01-01

    This paper demonstrates the design and simulation results of model based controllers for AMB systems, subjectedto uncertain and changing dynamic seal forces. Specifically, a turbocharger with a hole-pattern seal mounted acrossthe balance piston is considered. The dynamic forces of the seal, which...... are dependent on the operational conditions,have a significant effect on the overall system dynamics. Furthermore, these forces are considered uncertain.The nominal and the uncertainty representation of the seal model are established using results from conventionalmodelling approaches, i.e. CFD and Bulkflow......, and experimental results. Three controllers are synthesized: I) AnH∞ controller based on nominal plant representation, II) A µ controller, designed to be robust against uncertaintiesin the dynamic seal model and III) a Linear Parameter Varying (LPV) controller, designed to provide a unifiedperformance over a large...

  4. Validation of engineering methods for predicting hypersonic vehicle controls forces and moments

    Science.gov (United States)

    Maughmer, M.; Straussfogel, D.; Long, L.; Ozoroski, L.

    1991-01-01

    This work examines the ability of the aerodynamic analysis methods contained in an industry standard conceptual design code, the Aerodynamic Preliminary Analysis System (APAS II), to estimate the forces and moments generated through control surface deflections from low subsonic to high hypersonic speeds. Predicted control forces and moments generated by various control effectors are compared with previously published wind-tunnel and flight-test data for three vehicles: the North American X-15, a hypersonic research airplane concept, and the Space Shuttle Orbiter. Qualitative summaries of the results are given for each force and moment coefficient and each control derivative in the various speed ranges. Results show that all predictions of longitudinal stability and control derivatives are acceptable for use at the conceptual design stage.

  5. Quantitative modeling assesses the contribution of bond strengthening, rebinding and force sharing to the avidity of biomolecule interactions.

    Directory of Open Access Journals (Sweden)

    Valentina Lo Schiavo

    Full Text Available Cell adhesion is mediated by numerous membrane receptors. It is desirable to derive the outcome of a cell-surface encounter from the molecular properties of interacting receptors and ligands. However, conventional parameters such as affinity or kinetic constants are often insufficient to account for receptor efficiency. Avidity is a qualitative concept frequently used to describe biomolecule interactions: this includes incompletely defined properties such as the capacity to form multivalent attachments. The aim of this study is to produce a working description of monovalent attachments formed by a model system, then to measure and interpret the behavior of divalent attachments under force. We investigated attachments between antibody-coated microspheres and surfaces coated with sparse monomeric or dimeric ligands. When bonds were subjected to a pulling force, they exhibited both a force-dependent dissociation consistent with Bell's empirical formula and a force- and time-dependent strengthening well described by a single parameter. Divalent attachments were stronger and less dependent on forces than monovalent ones. The proportion of divalent attachments resisting a force of 30 piconewtons for at least 5 s was 3.7 fold higher than that of monovalent attachments. Quantitative modeling showed that this required rebinding, i.e. additional bond formation between surfaces linked by divalent receptors forming only one bond. Further, experimental data were compatible with but did not require stress sharing between bonds within divalent attachments. Thus many ligand-receptor interactions do not behave as single-step reactions in the millisecond to second timescale. Rather, they exhibit progressive stabilization. This explains the high efficiency of multimerized or clustered receptors even when bonds are only subjected to moderate forces. Our approach provides a quantitative way of relating binding avidity to measurable parameters including bond

  6. Quantitative Modeling Assesses the Contribution of Bond Strengthening, Rebinding and Force Sharing to the Avidity of Biomolecule Interactions

    Science.gov (United States)

    Lo Schiavo, Valentina; Robert, Philippe; Limozin, Laurent; Bongrand, Pierre

    2012-01-01

    Cell adhesion is mediated by numerous membrane receptors. It is desirable to derive the outcome of a cell-surface encounter from the molecular properties of interacting receptors and ligands. However, conventional parameters such as affinity or kinetic constants are often insufficient to account for receptor efficiency. Avidity is a qualitative concept frequently used to describe biomolecule interactions: this includes incompletely defined properties such as the capacity to form multivalent attachments. The aim of this study is to produce a working description of monovalent attachments formed by a model system, then to measure and interpret the behavior of divalent attachments under force. We investigated attachments between antibody-coated microspheres and surfaces coated with sparse monomeric or dimeric ligands. When bonds were subjected to a pulling force, they exhibited both a force-dependent dissociation consistent with Bell’s empirical formula and a force- and time-dependent strengthening well described by a single parameter. Divalent attachments were stronger and less dependent on forces than monovalent ones. The proportion of divalent attachments resisting a force of 30 piconewtons for at least 5 s was 3.7 fold higher than that of monovalent attachments. Quantitative modeling showed that this required rebinding, i.e. additional bond formation between surfaces linked by divalent receptors forming only one bond. Further, experimental data were compatible with but did not require stress sharing between bonds within divalent attachments. Thus many ligand-receptor interactions do not behave as single-step reactions in the millisecond to second timescale. Rather, they exhibit progressive stabilization. This explains the high efficiency of multimerized or clustered receptors even when bonds are only subjected to moderate forces. Our approach provides a quantitative way of relating binding avidity to measurable parameters including bond maturation, rebinding and

  7. Biological forcing controls the chemistry of the coral exoskeleton

    Science.gov (United States)

    Meibom, A.; Mostefaoui, S.; Cuif, J.; Yurimoto, H.; Dauphin, Y.; Houlbreque, F.; Dunbar, R.; Constantz, B.

    2006-12-01

    A multitude of marine organisms produce calcium carbonate skeletons that are used extensively to reconstruct water temperature variability of the tropical and subtropical oceans - a key parameter in global climate-change models. Such paleo-climate reconstructions are based on the notion that skeletal oxygen isotopic composition and certain trace-element abundances (e.g., Sr/Ca and Mg/Ca ratios) vary in response to changes in the water temperature. However, it is a fundamental problem that poorly understood biological processes introduce large compositional deviations from thermodynamic equilibrium and hinder precise calibrations of many paleo-climate proxies. Indeed, the role of water temperature in controlling the composition of the skeleton is far from understood. We have studied trace-element abundances as well as oxygen and carbon isotopic compositions of individual skeletal components in the zooxanthellate and non-zooxanthellate corals at ultra-structural, i.e. micrometer to sub-micrometer length scales. From this body of work we draw the following, generalized conclusions: 1) Centers of calcification (COC) are not in equilibrium with seawater. Notably, the Sr/Ca ratio is higher than expected for aragonite equilibrium with seawater at the temperature at which the skeleton was formed. Furthermore, the COC are further away from equilibrium with seawater than fibrous skeleton in terms of stable isotope composition. 2) COC are dramatically different from the fibrous aragonite skeleton in terms of trace element composition. 3) Neither trace element nor stable isotope variations in the fibrous (bulk) part of the skeleton are directly related to changes in SST. In fact, changes in SST can have very little to do with the observed compositional variations. 4) Trace element variations in the fibrous (bulk) part of the skeleton are not related to the activity of zooxanthellae. These observations are directly relevant to the issue of biological versus non

  8. Modes of Escherichia coli Dps Interaction with DNA as Revealed by Atomic Force Microscopy.

    Directory of Open Access Journals (Sweden)

    Vladislav V Melekhov

    Full Text Available Multifunctional protein Dps plays an important role in iron assimilation and a crucial role in bacterial genome packaging. Its monomers form dodecameric spherical particles accumulating ~400 molecules of oxidized iron ions within the protein cavity and applying a flexible N-terminal ends of each subunit for interaction with DNA. Deposition of iron is a well-studied process by which cells remove toxic Fe2+ ions from the genetic material and store them in an easily accessible form. However, the mode of interaction with linear DNA remained mysterious and binary complexes with Dps have not been characterized so far. It is widely believed that Dps binds DNA without any sequence or structural preferences but several lines of evidence have demonstrated its ability to differentiate gene expression, which assumes certain specificity. Here we show that Dps has a different affinity for the two DNA fragments taken from the dps gene regulatory region. We found by atomic force microscopy that Dps predominantly occupies thermodynamically unstable ends of linear double-stranded DNA fragments and has high affinity to the central part of the branched DNA molecule self-assembled from three single-stranded oligonucleotides. It was proposed that Dps prefers binding to those regions in DNA that provide more contact pads for the triad of its DNA-binding bundle associated with one vertex of the protein globule. To our knowledge, this is the first study revealed the nucleoid protein with an affinity to branched DNA typical for genomic regions with direct and inverted repeats. As a ubiquitous feature of bacterial and eukaryotic genomes, such structural elements should be of particular care, but the protein system evolutionarily adapted for this function is not yet known, and we suggest Dps as a putative component of this system.

  9. Reynolds stress analysis of EMHD-controlled wall turbulence. Part I. Streamwise forcing

    International Nuclear Information System (INIS)

    Crawford, C.H.; Karniadakis, G.E.

    1997-01-01

    In this work we investigate numerically turbulent flow of low electrical conductivity fluid subject to electro-magnetic (EMHD) forcing. The configuration is similar to the one considered in the experimental work of Henoch and Stace [Phys. Fluids 7, 1371 (1995)] but in a channel geometry. The lower wall of the channel is covered with alternating streamwise electrodes and magnets to create a Lorentz force in the positive streamwise direction. Two cases are considered in detail corresponding to interaction parameter values of 0.4 (case 1) and 0.1 (case 2). The effect of switching off and on the electrodes is also studied for the two cases. At the Reynolds number considered (Re τ ∼200), a drag increase was obtained for all cases, in agreement with the experiments of Henoch and Stace. A Reynolds stress analysis was performed based on a new decomposition of the gradients normal to the wall of the Reynolds stress -u'v'. It was found that the vortex stretching term w'w 2 ' and the spanwise variation of the stress component u'w' are responsible for the drag increase. More specifically, the term ∂(u'w')/∂x 3 is associated with secondary vortical motions in the near-wall and becomes large and positive for large shear stress in regions where fluid is moving toward the wall. In contrast, negative values are associated with regions of lower shear where fluid is being lifted away from the wall. Unlike the unperturbed flow, in the controlled flow high speed near-wall streamwise jets are present (case 1) even in the time-averaged fields. Other changes in turbulence structure are quantified using streak spacing, vortex lines, vorticity quadrant analysis, and plots of the rms value of the vorticity angle. copyright 1997 American Institute of Physics

  10. End-Point Contact Force Control with Quantitative Feedback Theory for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Shuhuan Wen

    2012-12-01

    Full Text Available Robot force control is an important issue for intelligent mobile robotics. The end-point stiffness of a robot is a key and open problem in the research community. The control strategies are mostly dependent on both the specifications of the task and the environment of the robot. Due to the limited stiffness of the end-effector, we may adopt inherent torque to feedback the oscillations of the controlled force. This paper proposes an effective control strategy which contains a controller using quantitative feedback theory. The nested loop controllers take into account the physical limitation of the system's inner variables and harmful interference. The biggest advantage of the method is its simplicity in both the design process and the implementation of the control algorithm in engineering practice. Taking the one-link manipulator as an example, numerical experiments are carried out to verify the proposed control method. The results show the satisfactory performance.

  11. Development of master slave system for interventional radiology with force-rate control

    International Nuclear Information System (INIS)

    Ide, Masaru; Zobel, P.B.; Claudio, P.D.; Mohri, Makoto; Komeda, Takashi

    2010-01-01

    The objective of this study is to develop a master-slave system for a catheter-guided operation, which is performed by using radiology, through the vascular system. When the master-slave system is used, the surgeon is not exposed to x-rays during the operation. The master tool is managed by an operator away from the slave tool, which is near the patient. The system must provide a realistic picture to the surgeon, particularly in term of force information because this operation is performed by observing three-dimensional fields on a two-dimensional monitor. In this paper, we describe the development of a master slave system that involves the use of force-rate control for guiding the catheter without using force sensors. The master tool has a force-display function. This system can be controlled by force and velocity controlling; hence, this system realized an innovative mechanism and algorism. Finally, the preliminary experiment indicated that the new control method was effective. Further, the force display was stable and achieved fast response. (author)

  12. iCub Whole-body Control through Force Regulation on Rigid Noncoplanar Contacts

    Directory of Open Access Journals (Sweden)

    Francesco eNori

    2015-03-01

    Full Text Available This paper details the implementation on the humanoid robot iCub of state-of-the-art algorithms for whole-body control. We regulate the forces between the robot and its surrounding environment to stabilize a desired robot posture. We assume that the forces and torques are exerted on rigid contacts. The validity of this assumption is guaranteed by constraining the contact forces and torques, e.g. the contact forces must belong to the associated friction cones. The implementation of this control strategy requires to estimate the external forces acting on the robot, and the internal joint torques. We then detail algorithms to obtain these estimations when using a robot with an iCub-like sensor set, i.e. distributed six-axis force-torque sensors and whole-body tactile sensors. A general theory for identifying the robot inertial parameters is also presented. From an actuation standpoint, we show how to implement a joint torque control in the case of DC brushless motors. In addition, the coupling mechanism of the iCub torso is investigated. The soundness of the entire control architecture is validated in a real scenario involving the robot iCub balancing and making contacts at both arms.

  13. Probing the nanoscale interaction forces and elastic properties of organic and inorganic materials using force-distance (F-D) spectroscopy

    Science.gov (United States)

    Vincent, Abhilash

    Due to their therapeutic applications such as radical scavenging, MRI contrast imaging, Photoluminescence imaging, drug delivery, etc., nanoparticles (NPs) have a significant importance in bio-nanotechnology. The reason that prevents the utilizing NPs for drug delivery in medical field is mostly due to their biocompatibility issues (incompatibility can lead to toxicity and cell death). Changes in the surface conditions of NPs often lead to NP cytotoxicity. Investigating the role of NP surface properties (surface charges and surface chemistry) on their interactions with biomolecules (Cells, protein and DNA) could enhance the current understanding of NP cytotoxicity. Hence, it is highly beneficial to the nanotechnology community to bring more attention towards the enhancement of surface properties of NPs to make them more biocompatible and less toxic to biological systems. Surface functionalization of NPs using specific ligand biomolecules have shown to enhance the protein adsorption and cellular uptake through more favorable interaction pathways. Cerium oxide NPs (CNPs also known as nanoceria) are potential antioxidants in cell culture models and understanding the nature of interaction between cerium oxide NPs and biological proteins and cells are important due to their therapeutic application (especially in site specific drug delivery systems). The surface charges and surface chemistry of CNPs play a major role in protein adsorption and cellular uptake. Hence, by tuning the surface charges and by selecting proper functional molecules on the surface, CNPs exhibiting strong adhesion to biological materials can be prepared. By probing the nanoscale interaction forces acting between CNPs and protein molecules using Atomic Force Microscopy (AFM) based force-distance (F-D) spectroscopy, the mechanism of CNP-protein adsorption and CNP cellular uptake can be understood more quantitatively. The work presented in this dissertation is based on the application of AFM in

  14. Interaction forces model on a bubble growing for nuclear best estimate computer codes

    International Nuclear Information System (INIS)

    Espinosa-Paredes, Gilberto; Nunez-Carrera, Alejandro; Martinez-Mendez, Elizabeth J.

    2005-01-01

    This paper presents a mathematical model that takes into account the bubble radius variation that take place in a boiling water nuclear reactor during transients with changes in the pressure vessel, changes in the inlet core mass flow rate, density-wave phenomena or flow regime instability. The model with expansion effects was developed considering the interaction force between a dilute dispersion of gas bubbles and a continuous liquid phase. The closure relationships were formulated as an associated problem with the spatial deviation around averaging variables as a function of known variables. In order to solve the closure problem, a geometric model given by an eccentric unit cell was applied as an approach of heterogeneous structure of the two-phase flow. The closure relationship includes additional terms that represent combined effects between translation and pulsation due to displacement and size variation of the bubbles, respectively. This result can be implanted straightforward in best estimate thermo-hydraulics models. An example, the implementation of the closure relationships into TRAC best estimate computer code is presented

  15. Thermal characterization of static and dynamical properties of the confined molecular systems interacting through dispersion force.

    Science.gov (United States)

    Ramos, Sergio Luis L M; Ogino, Michihiko; Oguni, Masaharu

    2015-01-28

    We investigated the thermal properties of liquid methylcyclohexane and racemic sec-butylcyclohexane, as representatives of a molecular system with only dispersion-force intermolecular interactions, confined in the pores (thickness/diameter d = 12, 6, 1.1 nm) of silica gels by adiabatic calorimetry. The results imply a heterogeneous picture for molecular aggregate under confinement consisting of an interfacial region and an inner pore one. In the vicinity of a glass-transition temperature T(g,bulk) of bulk liquid, two distinguishable relaxation phenomena were observed for the confined systems and their origins were attributed to the devitrification, namely glass transition, processes of (1) a layer of interfacial molecules adjacent to the pore walls and (2) the molecules located in the middle of the pore. A third glass-transition phenomenon was observed at lower temperatures and ascribed to a secondary relaxation process. The glass transition of the interfacial-layer molecules was found to proceed at temperatures rather above T(g,bulk), whereas that of the molecules located in the inner pore region occurred at temperatures below T(g,bulk). We discuss the reason why the molecules located in different places in the pores reveal the respectively different dynamical properties.

  16. MDM2-MDM4 molecular interaction investigated by atomic force spectroscopy and surface plasmon resonance.

    Science.gov (United States)

    Moscetti, Ilaria; Teveroni, Emanuela; Moretti, Fabiola; Bizzarri, Anna Rita; Cannistraro, Salvatore

    Murine double minute 2 (MDM2) and 4 (MDM4) are known as the main negative regulators of p53, a tumor suppressor. They are able to form heterodimers that are much more effective in the downregulation of p53. Therefore, the MDM2-MDM4 complex could be a target for promising therapeutic restoration of p53 function. To this aim, a deeper understanding of the molecular mechanisms underlining the heterodimerization is needed. The kinetic and thermodynamic characterization of the MDM2-MDM4 complex was performed with two complementary approaches: atomic force spectroscopy and surface plasmon resonance. Both techniques revealed an equilibrium dissociation constant (KD ) in the micromolar range for the MDM2-MDM4 heterodimer, similar to related complexes involved in the p53 network. Furthermore, the MDM2-MDM4 complex is characterized by a relatively high free energy, through a single energy barrier, and by a lifetime in the order of tens of seconds. New insights into the MDM2-MDM4 interaction could be highly important for developing innovative anticancer drugs focused on p53 reactivation.

  17. Insights into the Interactions of Amino Acids and Peptides with Inorganic Materials Using Single-Molecule Force Spectroscopy.

    Science.gov (United States)

    Das, Priyadip; Duanias-Assaf, Tal; Reches, Meital

    2017-03-06

    The interactions between proteins or peptides and inorganic materials lead to several interesting processes. For example, combining proteins with minerals leads to the formation of composite materials with unique properties. In addition, the undesirable process of biofouling is initiated by the adsorption of biomolecules, mainly proteins, on surfaces. This organic layer is an adhesion layer for bacteria and allows them to interact with the surface. Understanding the fundamental forces that govern the interactions at the organic-inorganic interface is therefore important for many areas of research and could lead to the design of new materials for optical, mechanical and biomedical applications. This paper demonstrates a single-molecule force spectroscopy technique that utilizes an AFM to measure the adhesion force between either peptides or amino acids and well-defined inorganic surfaces. This technique involves a protocol for attaching the biomolecule to the AFM tip through a covalent flexible linker and single-molecule force spectroscopy measurements by atomic force microscope. In addition, an analysis of these measurements is included.

  18. ANALYTICAL SYNTHESIS OF FORCED PULSE ELECTRONIC DRIVE CONTROL OF A TRACKING SYSTEM

    Directory of Open Access Journals (Sweden)

    A. S. Abufanas

    2017-01-01

    Full Text Available The problem of analytical synthesis of a control signal by a linear dynamical system is considered. As an optimization criterion, it is proposed to consider the transition time of the system from the initial state to a given final state. This type of control is called forced, providing the maximum system speed. The principle of solving this problem is considered on the basis of application of uncertain Lagrange multipliers and the Pontryagin maximum principle. Expressions are obtained for the matrix of transitions of the system and the control signal in a vector form.As an example, the electric drive described by the widespread second-order mathematical model is considered to evaluate the efficiency of the proposed method. Qualitative illustrations of the operability of the proposed approach, obtained by modeling in the Mathcad environment, and quantitative characteristics of the change in the input and output signals of the hypothetical control system are presented. It is shown that the use of forced control does not lead to the output of variables characterizing the state of the system, beyond the limits of admissible values.The use of forced control makes it possible to synthesize the control law in the form of a sequence of rectangular pulses of constant amplitude determined by the power source, variable duty cycle and polarity. This approach can be used for the control of DC-type DC motors used in various tracking systems used on unmanned aerial vehicles. Key words: forced control, target function, electric drive, pulse train. The use of forced control makes it possible to synthesize the control law in the form of a sequence of rectangular pulses of constant amplitude determined by the power source, variable duty cycle and polarity. This approach can be used for the control of DC-type DC motors used in various tracking systems used on unmanned aerial vehicles.

  19. Interaction framework for loosely-coupled controllers

    DEFF Research Database (Denmark)

    Falsig, Simon

    2011-01-01

    terminology provide a common grounding for new work in the field of robotic controllers, whereas the TosNet framework allows researchers to focus on the actual functionality of robotic systems, and keeps them from wasting time implementing redundant, ad-hoc communication and infrastructure. It has been......Implementing communication and interfacing in research and prototype embedded systems is often done ad-hoc rather than in a standardized way. This leads to much time wasted due to redundantly implementing the same functionality in slightly different ways for each new project. This PhD project...... will aim to present both theoretical and practical work that can help reduce this waste by fostering reuse, simplicity and the use of a consistent, common terminology. Through a quick analysis of a few ad-hoc systems already implemented at the university, a number of undesirable characteristics...

  20. The Interaction between Negative Emotionality and Effortful Control in Early

    Science.gov (United States)

    Moran, Lyndsey R.; Lengua, Liliana J.; Zalewski, Maureen

    2013-01-01

    Interactions between reactive and regulatory dimensions of temperament may be particularly relevant to children's adjustment but are examined infrequently. This study investigated these interactions by examining effortful control as a moderator of the relations of fear and frustration reactivity to children's social competence, internalizing, and…

  1. Quantification of the Interaction Forces between Metals and Graphene by Quantum Chemical Calculations and Dynamic Force Measurements under Ambient Conditions

    Czech Academy of Sciences Publication Activity Database

    Lazar, P.; Zhang, S.; Šafářová, K.; LI, Q.; Froning, J. P.; Granatier, Jaroslav; Hobza, Pavel; Zbořil, R.; Besenbacher, F.; Dong, M.; Otyepka, M.

    2013-01-01

    Roč. 7, č. 2 (2013), s. 1646-1651 ISSN 1936-0851 R&D Projects: GA ČR GBP208/12/G016 Grant - others:European Regional Development Fund(XE) CZ.1.05/2.1.00/03.0058; GA MŠk(CZ) EE2.3.20.0017 Program:EE Institutional support: RVO:61388963 Keywords : graphene * nanoparticle * interaction energy * gold * platinum * copper Subject RIV: CF - Physical ; Theoretical Chemistry Impact factor: 12.033, year: 2013

  2. Virtual Control of Prosthetic Hand Based on Grasping Patterns and Estimated Force from Semg

    Directory of Open Access Journals (Sweden)

    Zhu Gao-Ke

    2016-01-01

    Full Text Available Myoelectric prosthetic hands aim to serve upper limb amputees. The myoelectric control of the hand grasp action is a kind of real-time or online method. Thus it is of great necessity to carry on a study of online prosthetic hand electrical control. In this paper, the strategy of simultaneous EMG decoding of grasping patterns and grasping force was realized by controlling a virtual multi-degree-freedom prosthetic hand and a real one-degree-freedom prosthetic hand simultaneously. The former realized the grasping patterns from the recognition of the sEMG pattern. The other implemented the grasping force from sEMG force decoding. The results show that the control method is effective and feasible.

  3. Controlling Second Harmonic Efficiency of Laser Beam Interactions

    Science.gov (United States)

    Barnes, Norman P. (Inventor); Walsh, Brian M. (Inventor); Reichle, Donald J. (Inventor)

    2011-01-01

    A method is provided for controlling second harmonic efficiency of laser beam interactions. A laser system generates two laser beams (e.g., a laser beam with two polarizations) for incidence on a nonlinear crystal having a preferred direction of propagation. Prior to incidence on the crystal, the beams are optically processed based on the crystal's beam separation characteristics to thereby control a position in the crystal along the preferred direction of propagation at which the beams interact.

  4. Fiscal Interactions and the Costs of Controlling Pollution from Electricity

    OpenAIRE

    Parry, Ian

    2004-01-01

    This paper quantifies the costs of controlling SO2, carbon, and NOx emissions from power generation, accounting for interactions between environmental policies and the broader fiscal system. We distinguish a dirty technology (coal) that satisfies baseload demand and a clean technology (gas) that is used during peak periods, and we distinguish sectors with and without regulated prices. Estimated emissions control costs are substantially lower than in previous models of fiscal interactions that...

  5. Quantifying feedforward control: a linear scaling model for fingertip forces and object weight.

    Science.gov (United States)

    Lu, Ying; Bilaloglu, Seda; Aluru, Viswanath; Raghavan, Preeti

    2015-07-01

    The ability to predict the optimal fingertip forces according to object properties before the object is lifted is known as feedforward control, and it is thought to occur due to the formation of internal representations of the object's properties. The control of fingertip forces to objects of different weights has been studied extensively by using a custom-made grip device instrumented with force sensors. Feedforward control is measured by the rate of change of the vertical (load) force before the object is lifted. However, the precise relationship between the rate of change of load force and object weight and how it varies across healthy individuals in a population is not clearly understood. Using sets of 10 different weights, we have shown that there is a log-linear relationship between the fingertip load force rates and weight among neurologically intact individuals. We found that after one practice lift, as the weight increased, the peak load force rate (PLFR) increased by a fixed percentage, and this proportionality was common among the healthy subjects. However, at any given weight, the level of PLFR varied across individuals and was related to the efficiency of the muscles involved in lifting the object, in this case the wrist and finger extensor muscles. These results quantify feedforward control during grasp and lift among healthy individuals and provide new benchmarks to interpret data from neurologically impaired populations as well as a means to assess the effect of interventions on restoration of feedforward control and its relationship to muscular control. Copyright © 2015 the American Physiological Society.

  6. Single Molecule Science for Personalized Nanomedicine: Atomic Force Microscopy of Biopolymer-Protein Interactions

    Science.gov (United States)

    Hsueh, Carlin

    Nanotechnology has a unique and relatively untapped utility in the fields of medicine and dentistry at the level of single-biopolymer and -molecule diagnostics. In recent years atomic force microscopy (AFM) has garnered much interest due to its ability to obtain atomic-resolution of molecular structures and probe biophysical behaviors of biopolymers and proteins in a variety of biologically significant environments. The work presented in this thesis focuses on the nanoscale manipulation and observation of biopolymers to develop an innovative technology for personalized medicine while understanding complex biological systems. These studies described here primarily use AFM to observe biopolymer interactions with proteins and its surroundings with unprecedented resolution, providing a better understanding of these systems and interactions at the nanoscale. Transcriptional profiling, the measure of messenger RNA (mRNA) abundance in a single cell, is a powerful technique that detects "behavior" or "symptoms" at the tissue and cellular level. We have sought to develop an alternative approach, using our expertise in AFM and single molecule nanotechnology, to achieve a cost-effective high throughput method for sensitive detection and profiling of subtle changes in transcript abundance. The technique does not require amplification of the mRNA sample because the AFM provides three-dimensional views of molecules with unprecedented resolution, requires minimal sample preparation, and utilizes a simple tagging chemistry on cDNA molecules. AFM images showed collagen polymers in teeth and of Drebrin-A remodeling of filamentous actin structure and mechanics. AFM was used to image collagen on exposed dentine tubules and confirmed tubule occlusion with a desensitizing prophylaxis paste by Colgate-Palmolive. The AFM also superseded other microscopy tools in resolving F-actin helix remodeling and possible cooperative binding by a neuronal actin binding protein---Drebrin-A, an

  7. The effect of including tensor forces in nucleon-nucleon interaction on three-nucleon binding energy

    International Nuclear Information System (INIS)

    Osman, A.; Ramadan, S.

    1986-01-01

    Separable two-body interactions are used in considering the three-nucleon problem. The nucleon-nucleon potentials are taken to include attraction and repulsion as well as tensor forces. The separable approximation is used in order to investigate the effect of the tensor forces. The separable expansion is introduced in the three-nucleon problem, by which the Faddeev equations are reduced to a well-behaved set of coupled integral equations. Numerical calculations are carried out for the obtained integral equations using potential functions of the Yamaguchi, Gaussian, Takabin, Mongan and Reid forms. The present calculated values of the binding energies of the 3 H and 3 He nuclei are in good agreement with the experimental values. The effect of including the tensor forces in the nucleon-nucleon interactions is found to improve the three-nucleon binding energy by about 4.490% to 8.324%. 37 refs., 2 tabs. (author)

  8. Toward the description of electrostatic interactions between globular proteins: potential of mean force in the primitive model.

    Science.gov (United States)

    Dahirel, Vincent; Jardat, Marie; Dufrêche, Jean-François; Turq, Pierre

    2007-09-07

    Monte Carlo simulations are used to calculate the exact potential of mean force between charged globular proteins in aqueous solution. The aim of the present paper is to study the influence of the ions of the added salt on the effective interaction between these nanoparticles. The charges of the model proteins, either identical or opposite, are either central or distributed on a discrete pattern. Contrarily to Poisson-Boltzmann predictions, attractive, and repulsive direct forces between proteins are not screened similarly. Moreover, it has been shown that the relative orientations of the charge patterns strongly influence salt-mediated interactions. More precisely, for short distances between the proteins, ions enhance the difference of the effective forces between (i) like-charged and oppositely charged proteins, (ii) attractive and repulsive relative orientations of the proteins, which may affect the selectivity of protein/protein recognition. Finally, such results observed with the simplest models are applied to a more elaborate one to demonstrate their generality.

  9. Optimization of Process Parameters of Edge Robotic Deburring with Force Control

    Directory of Open Access Journals (Sweden)

    Burghardt A.

    2016-12-01

    Full Text Available The issues addressed in the paper present a part of the scientific research conducted within the framework of the automation of the aircraft engine part manufacturing processes. The results of the research presented in the article provided information in which tolerances while using a robotic control station with the option of force control we can make edge deburring.

  10. Optimization of Process Parameters of Edge Robotic Deburring with Force Control

    Science.gov (United States)

    Burghardt, A.; Szybicki, D.; Kurc, K.; Muszyńska, M.

    2016-12-01

    The issues addressed in the paper present a part of the scientific research conducted within the framework of the automation of the aircraft engine part manufacturing processes. The results of the research presented in the article provided information in which tolerances while using a robotic control station with the option of force control we can make edge deburring.

  11. Template model inspired leg force feedback based control can assist human walking.

    Science.gov (United States)

    Zhao, Guoping; Sharbafi, Maziar; Vlutters, Mark; van Asseldonk, Edwin; Seyfarth, Andre

    2017-07-01

    We present a novel control approach for assistive lower-extremity exoskeletons. In particular, we implement a virtual pivot point (VPP) template model inspired leg force feedback based controller on a lower-extremity powered exoskeleton (LOPES II) and demonstrate that it can effectively assist humans during walking. It has been shown that the VPP template model is capable of stabilizing the trunk and reproduce a human-like hip torque during the stance phase of walking. With leg force and joint angle feedback inspired by the VPP template model, our controller provides hip and knee torque assistance during the stance phase. A pilot experiment was conducted with four healthy subjects. Joint kinematics, leg muscle electromyography (EMG), and metabolic cost were measured during walking with and without assistance. Results show that, for 0.6 m/s walking, our controller can reduce leg muscle activations, especially for the medial gastrocnemius (about 16.0%), while hip and knee joint kinematics remain similar to the condition without the controller. Besides, the controller also reduces 10% of the net metabolic cost during walking. This paper demonstrates walking assistance benefits of the VPP template model for the first time. The support of human walking is achieved by a force feedback of leg force applied to the control of hip and knee joints. It can help us to provide a framework for investigating walking assistance control in the future.

  12. Time domain models for damping-controlled fluidelastic instability forces in multi-span tubes with loose supports

    International Nuclear Information System (INIS)

    Hassan, M.A.; Rogers, R.J.; Gerber, A.G.

    2009-01-01

    This paper presents simulations of a loosely supported multi-span tube subjected to turbulence and fluidelastic instability forces. Several time-domain fluid force models simulating the damping controlled fluidelastic instability mechanism in tube arrays have been presented. These models include the negative damping model based on the Connors equation, fluid force coefficient-based models (Chen and Tanaka and Takahara), and two semi-analytical models (Price and Paidoussis; and Lever and Weaver) were implemented in an in-house finite code. Time domain modeling challenges for each of these theories were discussed. The implemented models were validated against available experimental data. The linear simulations showed that the Connors-equation based model exhibits the most conservative prediction of the critical flow velocity when the recommended design values for the Connors equation were used. The models were then utilized to simulate the nonlinear response of a three-span cantilever tube in a square lattice bar support subjected to air crossflow. The tube was subjected to a single-phase flow passing over one of the tube's spans. For each of these models the flow velocity and the support clearance were varied. Special attention was paid to the tube/support interaction parameters that affect wear, such as impact forces, contact ratio, and normal work rate. As the prediction of the linear threshold varies depending on the utilized model, the nonlinear response also differs. The investigated models exhibit similar response characteristics for the impact force, tip lift response, and work rate. Simulation results show that the Connors-based model underestimates the response and the tube/support interaction parameters for the loose support case. (author)

  13. Fundamental investigation on interaction forces in bubble swarms and its application to the design of centrifugal separators

    International Nuclear Information System (INIS)

    Wisman, R.

    1979-01-01

    The present investigation deals with two aspects of gas-liquid flows, viz. interaction forces between the phases in bubble swarms and numerical description of rotating gas-liquid flows. The insight obtained was applied to the development of axial gas-liquid cyclones, as used i.a. as primary separators in nuclear boiling water reactors. (Auth.)

  14. Multiscale modeling of interaction of alane clusters on Al(111) surfaces : a reactive force field and infrared absorbtion spectroscopy approach

    NARCIS (Netherlands)

    Ojwang, J.G.O.; Chaudhuri, S.; Duin, van A.C.T.; Chabal, Y.J.; Veyan, J.-F.; Santen, van R.A.; Kramer, G.J.; Goddard III, W.A.

    2010-01-01

    We have used reactive force field (ReaxFF) to investigate the mechanism of interaction of alanes on Al(111) surface. Our simulations show that, on the Al(111) surface, alanes oligomerize into larger alanes. In addition, from our simulations, adsorption of atomic hydrogen on Al(111) surface leads to

  15. Quantification of the Force of Nanoparticle-Cell Membrane Interactions and Its Influence on Intracellular Trafficking of Nanoparticles

    Science.gov (United States)

    Vasir, Jaspreet K.; Labhasetwar, Vinod

    2008-01-01

    Understanding the interaction of nanoparticles (NPs) with the cell membrane and their trafficking through cells is imperative to fully explore the use of NPs for efficient intracellular delivery of therapeutics. Here, we report a novel method of measuring the force of NP-cell membrane interactions using atomic force microscopy (AFM). Poly(dl-lactide co-glycolide, PLGA) NPs functionalized with poly-l-lysine were used as a model system, to demonstrate that this force determines the adhesive interaction of NPs with the cell membrane and in turn the extent of cellular uptake of NPs, and hence that of the encapsulated therapeutic. Cellular uptake of NPs was monitored using AFM imaging, and the dynamics of their intracellular distribution was quantified using confocal microscopy. Results demonstrated that the functionalized NPs have a five-fold greater force of adhesion with the cell membrane and the time-lapse AFM images show their rapid internalization than unmodified NPs. The intracellular trafficking study showed that the functionalized NPs escape more rapidly and efficiently from late endosomes than unmodified NPs and result in 10-fold higher intracellular delivery of the encapsulated model protein. The findings described herein enhance our basic understanding of the NP-cell membrane interaction on the basis of physical phenomena that could have wider applications in developing efficient nanocarrier systems for intracellular delivery of therapeutics. PMID:18692238

  16. Flight mechanics and control of escape manoeuvres in hummingbirds. II. Aerodynamic force production, flight control and performance limitations.

    Science.gov (United States)

    Cheng, Bo; Tobalske, Bret W; Powers, Donald R; Hedrick, Tyson L; Wang, Yi; Wethington, Susan M; Chiu, George T-C; Deng, Xinyan

    2016-11-15

    The superior manoeuvrability of hummingbirds emerges from complex interactions of specialized neural and physiological processes with the unique flight dynamics of flapping wings. Escape manoeuvring is an ecologically relevant, natural behaviour of hummingbirds, from which we can gain understanding into the functional limits of vertebrate locomotor capacity. Here, we extend our kinematic analysis of escape manoeuvres from a companion paper to assess two potential limiting factors of the manoeuvring performance of hummingbirds: (1) muscle mechanical power output and (2) delays in the neural sensing and control system. We focused on the magnificent hummingbird (Eugenes fulgens, 7.8 g) and the black-chinned hummingbird (Archilochus alexandri, 3.1 g), which represent large and small species, respectively. We first estimated the aerodynamic forces, moments and the mechanical power of escape manoeuvres using measured wing kinematics. Comparing active-manoeuvring and passive-damping aerodynamic moments, we found that pitch dynamics were lightly damped and dominated by the effect of inertia, while roll dynamics were highly damped. To achieve observed closed-loop performance, pitch manoeuvres required faster sensorimotor transduction, as hummingbirds can only tolerate half the delay allowed in roll manoeuvres. Accordingly, our results suggested that pitch control may require a more sophisticated control strategy, such as those based on prediction. For the magnificent hummingbird, we estimated that escape manoeuvres required muscle mass-specific power 4.5 times that during hovering. Therefore, in addition to the limitation imposed by sensorimotor delays, muscle power could also limit the performance of escape manoeuvres. © 2016. Published by The Company of Biologists Ltd.

  17. Application of the nuclear field theory to monopole interactions which include all the vertices of a general force

    International Nuclear Information System (INIS)

    Bes, D.R.; Dussel, G.G.; Liotta, R.J.; Sofia, H.M.; Broglia, R.A.

    1976-01-01

    The field treatment is applied to the monopole pairing and monopole particle-hole interactions in a two-level model. All the vertices of realistic interactions appear, and the problems treated here have most of the complexities of real nuclei. Yet, the model remains sufficiently simple, so that a close comparison with the results of a (conventional) treatment in which only the fermion degrees of freedom are considered is possible. The applicability to actual physical situations appears to be feasible, both for schematic or realistic forces. The advantage of including the exchange components of the interaction in the construction of the phonon is discussed. (Auth.)

  18. A novel feedback control system – Controlling the material flow in deep drawing using distributed blank-holder force

    DEFF Research Database (Denmark)

    Endelt, Benny Ørtoft; Tommerup, Søren; Danckert, Joachim

    2013-01-01

    The performance of a feedback control system is often limited by the quality of the model on which it is based, and often the controller design is based on trial and error due to insufficient modeling capabilities. A framework is proposed where the controller design is based on classical state...... on a deep drawing operation where the objective was to control material flow throughout the part using only spatial information regarding flange draw-in. The control system controls both the magnitude and distribution of the blank-holder force. The methodology proved stable and flexible with respect...

  19. Timing at peak force may be the hidden target controlled in continuation and synchronization tapping.

    Science.gov (United States)

    Du, Yue; Clark, Jane E; Whitall, Jill

    2017-05-01

    Timing control, such as producing movements at a given rate or synchronizing movements to an external event, has been studied through a finger-tapping task where timing is measured at the initial contact between finger and tapping surface or the point when a key is pressed. However, the point of peak force is after the time registered at the tapping surface and thus is a less obvious but still an important event during finger tapping. Here, we compared the time at initial contact with the time at peak force as participants tapped their finger on a force sensor at a given rate after the metronome was turned off (continuation task) or in synchrony with the metronome (sensorimotor synchronization task). We found that, in the continuation task, timing was comparably accurate between initial contact and peak force. These two timing events also exhibited similar trial-by-trial statistical dependence (i.e., lag-one autocorrelation). However, the central clock variability was lower at the peak force than the initial contact. In the synchronization task, timing control at peak force appeared to be less variable and more accurate than that at initial contact. In addition to lower central clock variability, the mean SE magnitude at peak force (SEP) was around zero while SE at initial contact (SEC) was negative. Although SEC and SEP demonstrated the same trial-by-trial statistical dependence, we found that participants adjusted the time of tapping to correct SEP, but not SEC, toward zero. These results suggest that timing at peak force is a meaningful target of timing control, particularly in synchronization tapping. This result may explain the fact that SE at initial contact is typically negative as widely observed in the preexisting literature.

  20. To the Problem of Electromechanical Interaction in Elevators with Controlled Electric Drive and Fuzzy Speed Controller

    Directory of Open Access Journals (Sweden)

    A. S. Koval

    2010-01-01

    Full Text Available The paper considers problems concerning electromechanical interaction in elevators with an adjustable asynchronous electric drive equipped with the vector control systems under direct torque control and direct torque control with pulse-width modulator. A mathematical description of electromechanical elevator system with due account of nonlinearity of the worm gear is given in the paper. The paper presents a simplified circuit design of a control system with a fuzzy speed controller. It has been established that the factor of electromechanical interaction in electromechanical system with the adjustable asynchronous electric drive and an fuzzy speed controller is within the range which corresponds to existence of the essential electromechanical interaction.

  1. The Director of Mobility Forces' Role in the Command Control of Air Mobility Assets During Humanitarian Relief Operations

    National Research Council Canada - National Science Library

    Bush, Timothy E

    2000-01-01

    ...). Air Force doctrine recommends a command and control (C2) structure that permits the same organizational concept to be used throughout the spectrum of conflict, tailored to suit the specific operational objectives of a Joint Task Force (JFT...

  2. Interaction between benzenedithiolate and gold: Classical force field for chemical bonding

    Science.gov (United States)

    Leng, Yongsheng; Krstić, Predrag S.; Wells, Jack C.; Cummings, Peter T.; Dean, David J.

    2005-06-01

    We have constructed a group of classical potentials based on ab initio density-functional theory (DFT) calculations to describe the chemical bonding between benzenedithiolate (BDT) molecule and gold atoms, including bond stretching, bond angle bending, and dihedral angle torsion involved at the interface between the molecule and gold clusters. Three DFT functionals, local-density approximation (LDA), PBE0, and X3LYP, have been implemented to calculate single point energies (SPE) for a large number of molecular configurations of BDT-1, 2 Au complexes. The three DFT methods yield similar bonding curves. The variations of atomic charges from Mulliken population analysis within the molecule/metal complex versus different molecular configurations have been investigated in detail. We found that, except for bonded atoms in BDT-1, 2 Au complexes, the Mulliken partial charges of other atoms in BDT are quite stable, which significantly reduces the uncertainty in partial charge selections in classical molecular simulations. Molecular-dynamics (MD) simulations are performed to investigate the structure of BDT self-assembled monolayer (SAM) and the adsorption geometry of S adatoms on Au (111) surface. We found that the bond-stretching potential is the most dominant part in chemical bonding. Whereas the local bonding geometry of BDT molecular configuration may depend on the DFT functional used, the global packing structure of BDT SAM is quite independent of DFT functional, even though the uncertainty of some force-field parameters for chemical bonding can be as large as ˜100%. This indicates that the intermolecular interactions play a dominant role in determining the BDT SAMs global packing structure.

  3. The constrained control of force and position in multi-joint movements.

    Science.gov (United States)

    van Ingen Schenau, G J; Boots, P J; de Groot, G; Snackers, R J; van Woensel, W W

    1992-01-01

    In many arm or leg movements the hand or foot has to exert an external force on the environment. Based on an inverse dynamical analysis of cycling, it is shown that the distribution of net moments in the joints needed to control the direction of the external force is often opposite to the direction of joint displacements associated with this task. Kinetic and kinematic data were obtained from five experienced cyclists during ergometer cycling by means of film analysis and pedal force measurement. An inverse dynamic analysis, based on a linked segments model, yielded net joint moments, joint powers and muscle shortening velocities of eight leg muscles. Activation patterns of the muscles were obtained by means of surface electromyography. The results show that the transfer of rotations in hip, knee and ankle joints into the translation of the pedal is constrained by conflicting requirements. This occurs between the joint moments necessary to contribute to joint power and the moments necessary to establish a direction of the force on the pedal which allows this force to do work on the pedal. Co-activation of mono-articular agonists and their bi-articular antagonists appear to provide a unique solution for these conflicting requirements: bi-articular muscles appear to be able to control the desired direction of the external force on the pedal by adjusting the relative distribution of net moments over the joints while mono-articular muscles appear to be primarily activated when they are in the position to shorten and thus to contribute to positive work. Examples are given to illustrate the universal nature of this constrained control of force (external) and position (joint). Based on this study and published data it is suggested that different processes may underlie the organization of the control of mono- and bi-articular muscles.

  4. Examining platelet-fibrin interactions during traumatic shock in a swine model using platelet contractile force and clot elastic modulus.

    Science.gov (United States)

    White, Nathan J; Martin, Erika J; Brophy, Donald F; Ward, Kevin R

    2011-07-01

    A significant proportion of severely injured patients develop early coagulopathy, characterized by abnormal clot formation, which impairs resuscitation and increases mortality. We have previously demonstrated an isolated decrease in clot strength by thrombelastography in a swine model of nonresuscitated traumatic shock. In order to more closely examine platelet-fibrin interactions in this setting, we define the observed decrease in clot strength in terms of platelet-induced clot contraction and clot elastic modulus using the Hemostasis Analysis System (HAS) (Hemodyne Inc., Richmond, Virginia, USA). Whole blood was sampled for HAS measurements, metabolic measurements, cell counts, and fibrinogen concentration at baseline prior to injury and again at a predetermined level of traumatic shock defined by oxygen debt. Male swine (N=17) received femur fracture and controlled arterial hemorrhage to achieve an oxygen debt of 80 ml/kg. Platelet counts were unchanged, but fibrinogen concentration was reduced significantly during shock (167.6 vs. 66.7 mg/dl, P=0.0007). Platelet contractile force generated during clot formation did not change during shock (11.7 vs. 10.4 kdynes, P=0.41), but clot elastic modulus was dynamically altered, resulting in a lower final value (22.9 vs. 17.3 kdynes/cm, Pshock, platelet function was preserved, whereas terminal clot elastic modulus was reduced during shock in a manner most consistent with early changes in the mechanical properties of the developing fibrin fiber network.

  5. Natural enemy interactions constrain pest control in complex agricultural landscapes.

    Science.gov (United States)

    Martin, Emily A; Reineking, Björn; Seo, Bumsuk; Steffan-Dewenter, Ingolf

    2013-04-02

    Biological control of pests by natural enemies is a major ecosystem service delivered to agriculture worldwide. Quantifying and predicting its effectiveness at large spatial scales is critical for increased sustainability of agricultural production. Landscape complexity is known to benefit natural enemies, but its effects on interactions between natural enemies and the consequences for crop damage and yield are unclear. Here, we show that pest control at the landscape scale is driven by differences in natural enemy interactions across landscapes, rather than by the effectiveness of individual natural enemy guilds. In a field exclusion experiment, pest control by flying insect enemies increased with landscape complexity. However, so did antagonistic interactions between flying insects and birds, which were neutral in simple landscapes and increasingly negative in complex landscapes. Negative natural enemy interactions thus constrained pest control in complex landscapes. These results show that, by altering natural enemy interactions, landscape complexity can provide ecosystem services as well as disservices. Careful handling of the tradeoffs among multiple ecosystem services, biodiversity, and societal concerns is thus crucial and depends on our ability to predict the functional consequences of landscape-scale changes in trophic interactions.

  6. Casimir interaction between a cylinder and a plate at finite temperature: Exact results and comparison to proximity force approximation

    International Nuclear Information System (INIS)

    Teo, L. P.

    2011-01-01

    We study the finite temperature Casimir interaction between a cylinder and a plate using the exact formula derived from the Matsubara representation and the functional determinant representation. We consider the scalar field with Dirichlet and Neumann boundary conditions. The asymptotic expansions of the Casimir free energy and the Casimir force when the separation a between the cylinder and the plate is small are derived. As in the zero temperature case, it is found that the leading terms of the Casimir free energy and the Casimir force agree with those derived from the proximity force approximation when rT>>1, where r is the radius of the cylinder. Specifically, when aT 5/2 whereas, for the Casimir force, it is of order T 7/2 . In this case, the leading terms are independent of the separation a. When 1 3/2 , whereas, for the force, it is inversely proportional to a 5/2 . The first order corrections to the proximity force approximations in different temperature regions are computed using the perturbation approach. In the zero temperature case, the results agree with those derived in [M. Bordag, Phys. Rev. D 73, 125018 (2006)].

  7. Design of Optimal Hybrid Position/Force Controller for a Robot Manipulator Using Neural Networks

    Directory of Open Access Journals (Sweden)

    Vikas Panwar

    2007-01-01

    Full Text Available The application of quadratic optimization and sliding-mode approach is considered for hybrid position and force control of a robot manipulator. The dynamic model of the manipulator is transformed into a state-space model to contain two sets of state variables, where one describes the constrained motion and the other describes the unconstrained motion. The optimal feedback control law is derived solving matrix differential Riccati equation, which is obtained using Hamilton Jacobi Bellman optimization. The optimal feedback control law is shown to be globally exponentially stable using Lyapunov function approach. The dynamic model uncertainties are compensated with a feedforward neural network. The neural network requires no preliminary offline training and is trained with online weight tuning algorithms that guarantee small errors and bounded control signals. The application of the derived control law is demonstrated through simulation with a 4-DOF robot manipulator to track an elliptical planar constrained surface while applying the desired force on the surface.

  8. Comparison of two temperature control techniques in a forced water heater solar system

    Science.gov (United States)

    Hernández, E.; E Guzmán, R.; Santos, A.; Cordoba, E.

    2017-12-01

    a study on the performance of a forced solar heating system in which a comparative analysis of two control strategies, including the classic on-off control and PID control is presented. From the experimental results it was found that the two control strategies show a similar behaviour in the solar heating system forced an approximate settling time of 60 min and over-elongation 2°C for the two control strategies. Furthermore, the maximum temperature in the storage tank was 46°C and the maximum efficiency of flat plate collector was 76.7% given that this efficiency is the ratio of the energy of the radiation on the collector and the energy used to heat water. The efficiency obtained is a fact well accepted because the business efficiencies of flat plate collectors are approximately 70%.

  9. External Periodic Force Control of a Single-Degree-of-Freedom Vibroimpact System

    Directory of Open Access Journals (Sweden)

    Jingyue Wang

    2013-01-01

    Full Text Available A single-degree-of-freedom mechanical model of vibro-impact system is established. Bifurcation and chaos in the system are revealed with the time history diagram, phase trajectory map, and Poincaré map. According to the bifurcation and chaos of the actual vibro-impact system, the paper puts forward external periodic force control strategy. The method of controlling chaos by external periodic force feedback controller is developed to guide chaotic motions towards regular motions. The stability of the control system is also analyzed especially by theory. By selecting appropriate feedback coefficients, the unstable periodic orbits of the original chaotic orbit can be stabilized to the stable periodic orbits. The effectiveness of this control method is verified by numerical simulation.

  10. Design of Active Magnetic Bearing Controllers for Rotors Subjected to Gas Seal Forces

    DEFF Research Database (Denmark)

    Lauridsen, Jonas Skjødt; Santos, Ilmar F.

    2018-01-01

    Proper design of feedback controllers is crucial for ensuring high performance of Active Magnetic Bearing (AMB) supported rotor dynamic systems. Annular seals in those systems can contribute with significant forces, which, in many cases, are hard to model in advance due to complex geometries...... of the seal and multiphase fluids. Hence, it can be challenging to design AMB controllers that will guarantee robust performance for these kinds of systems. This paper demonstrates the design, simulation and experimental results of model based controllers for AMB systems, subjected to dynamic seal forces....... The controllers are found using H-infinity - and µ synthesis and are based on a global rotor dynamic model in-which the seal coefficients are identified in-situ. The controllers are implemented in a rotor-dynamic test facility with two radial AMBs and one annular seal with an adjustable inlet pressure. The seal...

  11. Comparison between sEMG and force as control interfaces to support planar arm movements in adults with Duchenne: a feasibility study.

    Science.gov (United States)

    Lobo-Prat, Joan; Nizamis, Kostas; Janssen, Mariska M H P; Keemink, Arvid Q L; Veltink, Peter H; Koopman, Bart F J M; Stienen, Arno H A

    2017-07-12

    Adults with Duchenne muscular dystrophy (DMD) can benefit from devices that actively support their arm function. A critical component of such devices is the control interface as it is responsible for the human-machine interaction. Our previous work indicated that surface electromyography (sEMG) and force-based control with active gravity and joint-stiffness compensation were feasible solutions for the support of elbow movements (one degree of freedom). In this paper, we extend the evaluation of sEMG- and force-based control interfaces to simultaneous and proportional control of planar arm movements (two degrees of freedom). Three men with DMD (18-23 years-old) with different levels of arm function (i.e. Brooke scores of 4, 5 and 6) performed a series of line-tracing tasks over a tabletop surface using an experimental active arm support. The arm movements were controlled using three control methods: sEMG-based control, force-based control with stiffness compensation (FSC), and force-based control with no compensation (FNC). The movement performance was evaluated in terms of percentage of task completion, tracing error, smoothness and speed. For subject S1 (Brooke 4) FNC was the preferred method and performed better than FSC and sEMG. FNC was not usable for subject S2 (Brooke 5) and S3 (Brooke 6). Subject S2 presented significantly lower movement speed with sEMG than with FSC, yet he preferred sEMG since FSC was perceived to be too fatiguing. Subject S3 could not successfully use neither of the two force-based control methods, while with sEMG he could reach almost his entire workspace. Movement performance and subjective preference of the three control methods differed with the level of arm function of the participants. Our results indicate that all three control methods have to be considered in real applications, as they present complementary advantages and disadvantages. The fact that the two weaker subjects (S2 and S3) experienced the force-based control

  12. Multi-muscle FES force control of the human arm for arbitrary goals.

    Science.gov (United States)

    Schearer, Eric M; Liao, Yu-Wei; Perreault, Eric J; Tresch, Matthew C; Memberg, William D; Kirsch, Robert F; Lynch, Kevin M

    2014-05-01

    We present a method for controlling a neuroprosthesis for a paralyzed human arm using functional electrical stimulation (FES) and characterize the errors of the controller. The subject has surgically implanted electrodes for stimulating muscles in her shoulder and arm. Using input/output data, a model mapping muscle stimulations to isometric endpoint forces measured at the subject's hand was identified. We inverted the model of this redundant and coupled multiple-input multiple-output system by minimizing muscle activations and used this inverse for feedforward control. The magnitude of the total root mean square error over a grid in the volume of achievable isometric endpoint force targets was 11% of the total range of achievable forces. Major sources of error were random error due to trial-to-trial variability and model bias due to nonstationary system properties. Because the muscles working collectively are the actuators of the skeletal system, the quantification of errors in force control guides designs of motion controllers for multi-joint, multi-muscle FES systems that can achieve arbitrary goals.

  13. Kinesthetic Force Feedback and Belt Control for the Treadport Locomotion Interface.

    Science.gov (United States)

    Hejrati, Babak; Crandall, Kyle L; Hollerbach, John M; Abbott, Jake J

    2015-01-01

    This paper describes an improved control system for the Treadport immersive locomotion interface, with results that generalize to any treadmill that utilizes an actuated tether to enable self-selected walking speed. A new belt controller is implemented to regulate the user's position; when combined with the user's own volition, this controller also enables the user to naturally self-select their walking speed as they would when walking over ground. A new kinesthetic-force-feedback controller is designed for the tether that applies forces to the user's torso. This new controller is derived based on maintaining the user's sense of balance during belt acceleration, rather than by rendering an inertial force as was done in our prior work. Based on the results of a human-subjects study, the improvements in both controllers significantly contribute to an improved perception of realistic walking on the Treadport. The improved control system uses intuitive dynamic-system and anatomical parameters and requires no ad hoc gain tuning. The control system simply requires three measurements to be made for a given user: the user's mass, the user's height, and the height of the tether attachment point on the user's torso.

  14. Investigation of the Interaction between Patulin and Human Serum Albumin by a Spectroscopic Method, Atomic Force Microscopy, and Molecular Modeling

    Directory of Open Access Journals (Sweden)

    Li Yuqin

    2014-01-01

    Full Text Available The interaction of patulin with human serum albumin (HSA was studied in vitro under normal physiological conditions. The study was performed using fluorescence, ultraviolet-visible spectroscopy (UV-Vis, circular dichroism (CD, atomic force microscopy (AFM, and molecular modeling techniques. The quenching mechanism was investigated using the association constants, the number of binding sites, and basic thermodynamic parameters. A dynamic quenching mechanism occurred between HSA and patulin, and the binding constants (K were 2.60 × 104, 4.59 × 104, and 7.01 × 104 M−1 at 288, 300, and 310 K, respectively. Based on fluorescence resonance energy transfer, the distance between the HSA and patulin was determined to be 2.847 nm. The ΔG0, ΔH0, and ΔS0 values across various temperatures indicated that hydrophobic interaction was the predominant binding force. The UV-Vis and CD results confirmed that the secondary structure of HSA was altered in the presence of patulin. The AFM results revealed that the individual HSA molecule dimensions were larger after interaction with patulin. In addition, molecular modeling showed that the patulin-HSA complex was stabilized by hydrophobic and hydrogen bond forces. The study results suggested that a weak intermolecular interaction occurred between patulin and HSA. Overall, the results are potentially useful for elucidating the toxigenicity of patulin when it is combined with the biomolecular function effect, transmembrane transport, toxicological, testing and other experiments.

  15. The interaction of 2-mercaptobenzimidazole with human serum albumin as determined by spectroscopy, atomic force microscopy and molecular modeling.

    Science.gov (United States)

    Li, Yuqin; Jia, Baoxiu; Wang, Hao; Li, Nana; Chen, Gaopan; Lin, Yuejuan; Gao, Wenhua

    2013-04-01

    The interaction of 2-mercaptobenzimidazole (MBI) with human serum albumin (HSA) was studied in vitro by equilibrium dialysis under normal physiological conditions. This study used fluorescence, ultraviolet-visible spectroscopy (UV-vis), Fourier transform infrared (FT-IR), circular dichroism (CD) and Raman spectroscopy, atomic force microscopy (AFM) and molecular modeling techniques. Association constants, the number of binding sites and basic thermodynamic parameters were used to investigate the quenching mechanism. Based on the fluorescence resonance energy transfer, the distance between the HSA and MBI was 2.495 nm. The ΔG(0), ΔH(0), and ΔS(0) values across temperature indicated that the hydrophobic interaction was the predominant binding Force. The UV, FT-IR, CD and Raman spectra confirmed that the HSA secondary structure was altered in the presence of MBI. In addition, the molecular modeling showed that the MBI-HSA complex was stabilized by hydrophobic forces, which resulted from amino acid residues. The AFM results revealed that the individual HSA molecule dimensions were larger after interaction with MBI. Overall, this study suggested a method for characterizing the weak intermolecular interaction. In addition, this method is potentially useful for elucidating the toxigenicity of MBI when it is combined with the biomolecular function effect, transmembrane transport, toxicological testing and other experiments. Copyright © 2012 Elsevier B.V. All rights reserved.

  16. Architectural study of the design and operation of advanced force feedback manual controllers

    Science.gov (United States)

    Tesar, Delbert; Kim, Whee-Kuk

    1990-01-01

    A teleoperator system consists of a manual controller, control hardware/software, and a remote manipulator. It was employed in either hazardous or unstructured, and/or remote environments. In teleoperation, the main-in-the-loop is the central concept that brings human intelligence to the teleoperator system. When teleoperation involves contact with an uncertain environment, providing the feeling of telepresence to the human operator is one of desired characteristics of the teleoperator system. Unfortunately, most available manual controllers in bilateral or force-reflecting teleoperator systems can be characterized by their bulky size, high costs, or lack of smoothness and transparency, and elementary architectures. To investigate other alternatives, a force-reflecting, 3 degree of freedom (dof) spherical manual controller is designed, analyzed, and implemented as a test bed demonstration in this research effort. To achieve an improved level of design to meet criteria such as compactness, portability, and a somewhat enhanced force-reflecting capability, the demonstration manual controller employs high gear-ratio reducers. To reduce the effects of the inertia and friction on the system, various force control strategies are applied and their performance investigated. The spherical manual controller uses a parallel geometry to minimize inertial and gravitational effects on its primary task of transparent information transfer. As an alternative to the spherical 3-dof manual controller, a new conceptual (or parallel) spherical 3-dof module is introduced with a full kinematic analysis. Also, the resulting kinematic properties are compared to those of other typical spherical 3-dof systems. The conceptual design of a parallel 6-dof manual controller and its kinematic analysis is presented. This 6-dof manual controller is similar to the Stewart Platform with the actuators located on the base to minimize the dynamic effects. Finally, a combination of the new 3-dof and 6-dof

  17. Salt bridge interactions within the β2 integrin α7 helix mediate force-induced binding and shear resistance ability.

    Science.gov (United States)

    Zhang, Xiao; Li, Linda; Li, Ning; Shu, Xinyu; Zhou, Lüwen; Lü, Shouqin; Chen, Shenbao; Mao, Debin; Long, Mian

    2018-01-01

    The functional performance of the αI domain α 7 helix in β 2 integrin activation depends on the allostery of the α 7 helix, which axially slides down; therefore, it is critical to elucidate what factors regulate the allostery. In this study, we determined that there were two conservative salt bridge interaction pairs that constrain both the upper and bottom ends of the α 7 helix. Molecular dynamics (MD) simulations for three β 2 integrin members, lymphocyte function-associated antigen-1 (LFA-1; α L β 2 ), macrophage-1 antigen (Mac-1; α M β 2 ) and α x β 2 , indicated that the magnitude of the salt bridge interaction is related to the stability of the αI domain and the strength of the corresponding force-induced allostery. The disruption of the salt bridge interaction, especially with double mutations in both salt bridges, significantly reduced the force-induced allostery time for all three members. The effects of salt bridge interactions of the αI domain α 7 helix on β 2 integrin conformational stability and allostery were experimentally validated using Mac-1 constructs. The results demonstrated that salt bridge mutations did not alter the conformational state of Mac-1, but they did increase the force-induced ligand binding and shear resistance ability, which was consistent with MD simulations. This study offers new insight into the importance of salt bridge interaction constraints of the αI domain α 7 helix and external force for β 2 integrin function. © 2017 Federation of European Biochemical Societies.

  18. Compliance control based on PSO algorithm to improve the feeling during physical human-robot interaction.

    Science.gov (United States)

    Jiang, Zhongliang; Sun, Yu; Gao, Peng; Hu, Ying; Zhang, Jianwei

    2016-01-01

    Robots play more important roles in daily life and bring us a lot of convenience. But when people work with robots, there remain some significant differences in human-human interactions and human-robot interaction. It is our goal to make robots look even more human-like. We design a controller which can sense the force acting on any point of a robot and ensure the robot can move according to the force. First, a spring-mass-dashpot system was used to describe the physical model, and the second-order system is the kernel of the controller. Then, we can establish the state space equations of the system. In addition, the particle swarm optimization algorithm had been used to obtain the system parameters. In order to test the stability of system, the root-locus diagram had been shown in the paper. Ultimately, some experiments had been carried out on the robotic spinal surgery system, which is developed by our team, and the result shows that the new controller performs better during human-robot interaction.

  19. Controlled Interactions between Two Dimensional Layered Inorganic Nanosheets and Polymers

    Science.gov (United States)

    2016-06-15

    AFRL-AFOSR-JP-TR-2016-0071 Controlled Interactions between Two Dimensional Layered Inorganic Nanosheets and Polymers Cheolmin Park YONSEI UNIVERSITY...Interactions between Two Dimensional Layered Inorganic Nanosheets and Polymers 5a.  CONTRACT NUMBER 5b.  GRANT NUMBER FA2386-14-1-4054 5c.  PROGRAM ELEMENT...prospects for a variety of emerging applications in a broad range of fields, such as electronics, energy conversion and storage, catalysis and polymer

  20. The role of the ion-molecule and molecule-molecule interactions in the formation of the two-ion average force interaction potential

    CERN Document Server

    Ajrian, E A; Sidorenko, S N

    2002-01-01

    The effect of the ion-molecule and intermolecular interactions on the formation of inter-ion average force potentials is investigated within the framework of a classical ion-dipole model of electrolyte solutions. These potentials are shown to possess the Coulomb asymptotics at large distances while in the region of mean distances they reveal creation and disintegration of solvent-shared ion pairs. The calculation results provide a qualitatively authentic physical picture which is experimentally observed in strong electrolytes solutions. In particular, an increased interaction between an ion and a molecule enhances formation of ion pairs in which the ions are separated by one solvent molecule

  1. Surface Forces Apparatus measurements of interactions between rough and reactive calcite surfaces.

    Science.gov (United States)

    Dziadkowiec, Joanna; Javadi, Shaghayegh; Bratvold, Jon Einar; Nilsen, Ola; Røyne, Anja

    2018-05-28

    Nm-range forces acting between calcite surfaces in water affect macroscopic properties of carbonate rocks and calcite-based granular materials, and are significantly influenced by calcite surface recrystallization. We suggest that the repulsive mechanical effects related to nm-scale surface recrystallization of calcite in water could be partially responsible for the observed decrease of cohesion in calcitic rocks saturated with water. Using the Surface Forces Apparatus (SFA), we simultaneously followed the calcite reactivity and measured the forces in water in two surface configurations: between two rough calcite surfaces (CC), or between rough calcite and a smooth mica surface (CM). We used nm-scale rough, polycrystalline calcite films prepared by Atomic Layer Deposition (ALD). We measured only repulsive forces in CC in CaCO 3 -saturated water, which was related to roughness and possibly to repulsive hydration effects. Adhesive or repulsive forces were measured in CM in CaCO 3 -saturated water depending on calcite roughness, and the adhesion was likely enhanced by electrostatic effects. The pull-off adhesive force in CM became stronger with time and this increase was correlated with a decrease of roughness at contacts, which parameter could be estimated from the measured force-distance curves. That suggested a progressive increase of real contact areas between the surfaces, caused by gradual pressure-driven deformation of calcite surface asperities during repeated loading-unloading cycles. Reactivity of calcite was affected by mass transport across nm to µm-thick gaps between the surfaces. Major roughening was observed only for the smoothest calcite films, where gaps between two opposing surfaces were nm-thick over µm-sized areas, and led to force of crystallization that could overcome confining pressures of the order of MPa. Any substantial roughening of calcite caused a significant increase of the repulsive mechanical force contribution.

  2. Performance and Usability of Various Robotic Arm Control Modes from Human Force Signals

    Directory of Open Access Journals (Sweden)

    Sébastien Mick

    2017-10-01

    Full Text Available Elaborating an efficient and usable mapping between input commands and output movements is still a key challenge for the design of robotic arm prostheses. In order to address this issue, we present and compare three different control modes, by assessing them in terms of performance as well as general usability. Using an isometric force transducer as the command device, these modes convert the force input signal into either a position or a velocity vector, whose magnitude is linearly or quadratically related to force input magnitude. With the robotic arm from the open source 3D-printed Poppy Humanoid platform simulating a mobile prosthesis, an experiment was carried out with eighteen able-bodied subjects performing a 3-D target-reaching task using each of the three modes. The subjects were given questionnaires to evaluate the quality of their experience with each mode, providing an assessment of their global usability in the context of the task. According to performance metrics and questionnaire results, velocity control modes were found to perform better than position control mode in terms of accuracy and quality of control as well as user satisfaction and comfort. Subjects also seemed to favor quadratic velocity control over linear (proportional velocity control, even if these two modes did not clearly distinguish from one another when it comes to performance and usability assessment. These results highlight the need to take into account user experience as one of the key criteria for the design of control modes intended to operate limb prostheses.

  3. Characterization of sliders for efficient force generation of electrostatically controlled linear actuator

    International Nuclear Information System (INIS)

    Nguyen, T A; Konishi, S

    2014-01-01

    In this paper, the characterization of sliders for efficient force generation of an electrostatically controlled linear actuator (ECLIA) is investigated. The ECLIA consists of a piezoactuator (PZT), driving and holding electrodes, multiple sliders and a guide structure. The stepping motion of the sliders is driven by the PZT actuator via an electrostatic clutch mechanism. Thus, multiple sliders can achieve parallel, independent, precise motion, and a large stroke. Previous studies have indicated that the Si bulk slider and Si electrode created an air gap owing to the deformation of the Si electrode. Thus, the Si slider generated a low pushing force. In this study, we propose a fishbone structure mounted on a flexible slider to enhance the pushing force of the slider. The flexible slider, that can deform and fit into the Si electrode to reduce the air gap, results in highly efficient electrostatic-force generation. The fishbone structure improves the longitudinal stiffness of the flexible slider for high pushing-force generation. The results show that the pushing force created by the fishbone slider was three times greater than that of the conventional Si slider. The fishbone and flexible sliders exhibited a high performance for the ECLIA. (paper)

  4. On Optimizing Steering Performance of Multi-axle Vehicle Based on Driving Force Control

    Directory of Open Access Journals (Sweden)

    Wu Zhicheng

    2017-01-01

    Full Text Available The steering performance of multi-axle vehicle with independent driving system is affected by the distribution of the wheel driving force. A nonlinear vehicle dynamics model including magic formula tire model for describing 11 DoF four-axle vehicle with dual-front-axle-steering (DFAS system was presented. The influence of different driving force distribution scheme on the steering performance of the vehicle was analyzed. A control strategy for improving the steady response and transient response of the vehicle steering is proposed. The results show: For the steady response, setting different drive force for internal and external wheels according to the actual steering characteristics of the vehicle can effectively improve its steering characteristics; For the transient response, adopting the zero sideslip angle control strategy and using the PID control algorithm to control the driving force of the outside wheel of tear-two-axle, under angle step input, the vehicle sideslip angle can quickly stabilize to 0 and yaw rate also significantly decreases.

  5. Inertial shear forces and the use of centrifuges in gravity research. What is the proper control?

    NARCIS (Netherlands)

    Loon, van J.J.W.A.; Folgering, H.T.E.; Bouten, C.V.C.; Veldhuijzen, J.P.; Smit, T.H.

    2003-01-01

    Centrifuges are used for 1×g controls in space flight microgravity experiments and in ground based research. Using centrifugation as a tool to generate an Earth like acceleration introduces unwanted inertial shear forces to the sample. Depending on the centrifuge and the geometry of the experiment

  6. A Cost-Effective Atomic Force Microscope for Undergraduate Control Laboratories

    Science.gov (United States)

    Jones, C. N.; Goncalves, J.

    2010-01-01

    This paper presents a simple, cost-effective and robust atomic force microscope (AFM), which has been purposely designed and built for use as a teaching aid in undergraduate controls labs. The guiding design principle is to have all components be open and visible to the students, so the inner functioning of the microscope has been made clear to…

  7. Force-controlled robotic assembly processes of rigid and flexible objects methodologies and applications

    CERN Document Server

    Ghalyan, Ibrahim Fahad Jasim

    2016-01-01

    This book provides comprehensive and integrated approaches for rigid and flexible object assembly. It presents comparison studies with the available force-guided robotic processes and covers contact-state modeling, scheme control strategies, and position searching algorithms. Further, it includes experimental validations for different assembly situations, including those for the assembly of industrial parts taken from the automotive industry. .

  8. Simulation of body force field effects on airfoil separation control and optimization of plasma actuator

    International Nuclear Information System (INIS)

    Abdoli, A; Mirzaee, I; Purmahmod, N; Anvari, A

    2008-01-01

    Among all active flow control methods, EHD, MHD and EMHD are the only methods which operate on the basis of body force induction on flow field. The EHD plasma actuator is the proper method which has been used in various flow control applications recently. In this paper, the effects of different body force fields on different domains have been studied for separation control on NACA 0021 and the results have been discussed. The airflow velocity has been assumed to be 35 m s -1 at a post-stall angle of attack of 23 deg. Three different domains have been used around the airfoil to investigate body forces with different strengths and directions and those which give the best result in separation control have been obtained for each domain. It has been shown that the results could be used for optimizing the plasma actuator by manipulating its electrode configuration. Two non-dimensional numbers, A b and D c , have been obtained and validated by different applied body forces. These numbers have been defined for plasma actuators to show their efficiency in different applications

  9. Simulation of body force field effects on airfoil separation control and optimization of plasma actuator

    Energy Technology Data Exchange (ETDEWEB)

    Abdoli, A; Mirzaee, I; Purmahmod, N [Faculty of Engineering, Urmia University, Urmia (Iran, Islamic Republic of); Anvari, A [Department of Physics, Sharif University of Technology, Tehran (Iran, Islamic Republic of)], E-mail: ab.abdoli@gmail.com

    2008-09-07

    Among all active flow control methods, EHD, MHD and EMHD are the only methods which operate on the basis of body force induction on flow field. The EHD plasma actuator is the proper method which has been used in various flow control applications recently. In this paper, the effects of different body force fields on different domains have been studied for separation control on NACA 0021 and the results have been discussed. The airflow velocity has been assumed to be 35 m s{sup -1} at a post-stall angle of attack of 23 deg. Three different domains have been used around the airfoil to investigate body forces with different strengths and directions and those which give the best result in separation control have been obtained for each domain. It has been shown that the results could be used for optimizing the plasma actuator by manipulating its electrode configuration. Two non-dimensional numbers, A{sub b} and D{sub c}, have been obtained and validated by different applied body forces. These numbers have been defined for plasma actuators to show their efficiency in different applications.

  10. A Novel Approach for Automatic Control of Piezoelectric Elements Used for Lorentz Force Detuning Compensation

    CERN Document Server

    Przygoda, K; Napieralski, A; Grecki, M

    2010-01-01

    Abstract: Linear accelerators such as Free Electron Lasers (FELs) use superconducting (SC) resonant cavities to accelerate electron beam to high energies. TESLA type resonators are extremely sensitive to detuning induced by mechanical deformations – Lorentz force detuning (LFD), mainly due to the extremely high quality factor (Q) of the 1.3 GHz resonance mode, in the range of 1e6. The resulting modulation of a resonance frequency of the cavity makes power consumption and stability performances of the Low-Latency Radio Frequency (LLRF) control more critical. In order to minimize the RF control efforts and desired stabilities, the fast piezoelectric actuators with digital control systems are commonly used. The paper presents a novel approach for automatic control of piezoelectric actuators used for compensation of Lorentz force detuning, the practical application and carried out tests in accelerating module ACC6 in Free-Electron Laser in Hamburg (FLASH).

  11. Variations in Static Force Control and Motor Unit Behavior with Error Amplification Feedback in the Elderly

    Directory of Open Access Journals (Sweden)

    Yi-Ching Chen

    2017-11-01

    Full Text Available Error amplification (EA feedback is a promising approach to advance visuomotor skill. As error detection and visuomotor processing at short time scales decline with age, this study examined whether older adults could benefit from EA feedback that included higher-frequency information to guide a force-tracking task. Fourteen young and 14 older adults performed low-level static isometric force-tracking with visual guidance of typical visual feedback and EA feedback containing augmented high-frequency errors. Stabilogram diffusion analysis was used to characterize force fluctuation dynamics. Also, the discharge behaviors of motor units and pooled motor unit coherence were assessed following the decomposition of multi-channel surface electromyography (EMG. EA produced different behavioral and neurophysiological impacts on young and older adults. Older adults exhibited inferior task accuracy with EA feedback than with typical visual feedback, but not young adults. Although stabilogram diffusion analysis revealed that EA led to a significant decrease in critical time points for both groups, EA potentiated the critical point of force fluctuations <ΔFc2>, short-term effective diffusion coefficients (Ds, and short-term exponent scaling only for the older adults. Moreover, in older adults, EA added to the size of discharge variability of motor units and discharge regularity of cumulative discharge rate, but suppressed the pooled motor unit coherence in the 13–35 Hz band. Virtual EA alters the strategic balance between open-loop and closed-loop controls for force-tracking. Contrary to expectations, the prevailing use of closed-loop control with EA that contained high-frequency error information enhanced the motor unit discharge variability and undermined the force steadiness in the older group, concerning declines in physiological complexity in the neurobehavioral system and the common drive to the motoneuronal pool against force destabilization.

  12. Automatic Control of Contextual Interaction Integrated with Affection and Architectural Attentional Control

    Directory of Open Access Journals (Sweden)

    Yanrong Jiang

    2013-03-01

    Full Text Available It is still a challenge for robots to interact with complex environments in a smooth and natural manner. The robot should be aware of its surroundings and inner status to make decisions accordingly and appropriately. Contexts benefit the interaction a lot, such as avoiding frequent interruptions (e.g., the explicit inputting requests and thus are essential for interaction. Other challenges, such as shifting attentional focus to a more important stimulus, etc., are also crucial in interaction control. This paper presents a hybrid automatic control approach for interaction, as well as its integration, with these multiple important factors, aiming at performing natural, human-like interactions in robots. In particular, a novel approach of architectural attentional control, based on affection is presented, which attempts to shift the attentional focus in a natural manner. Context-aware computing is combined with interaction to endow the robot with proactive abilities. The long-term interaction control approaches are described. Emotion and personality are introduced into the interaction and their influence mechanism on interaction is explored. We implemented the proposal in an interactive head robot (IHR and the experimental results indicate the effectiveness.

  13. Importance of the ion-pair interactions in the OPEP coarse-grained force field: parametrization and validation.

    Science.gov (United States)

    Sterpone, Fabio; Nguyen, Phuong H; Kalimeri, Maria; Derreumaux, Philippe

    2013-10-08

    We have derived new effective interactions that improve the description of ion-pairs in the OPEP coarse-grained force field without introducing explicit electrostatic terms. The iterative Boltzmann inversion method was used to extract these potentials from all atom simulations by targeting the radial distribution function of the distance between the center of mass of the side-chains. The new potentials have been tested on several systems that differ in structural properties, thermodynamic stabilities and number of ion-pairs. Our modeling, by refining the packing of the charged amino-acids, impacts the stability of secondary structure motifs and the population of intermediate states during temperature folding/unfolding; it also improves the aggregation propensity of peptides. The new version of the OPEP force field has the potentiality to describe more realistically a large spectrum of situations where salt-bridges are key interactions.

  14. Nonsmooth Newton method for Fischer function reformulation of contact force problems for interactive rigid body simulation

    DEFF Research Database (Denmark)

    Silcowitz, Morten; Niebe, Sarah Maria; Erleben, Kenny

    2009-01-01

    contact response. In this paper, we present a new approach to contact force determination. We reformulate the contact force problem as a nonlinear root search problem, using a Fischer function. We solve this problem using a generalized Newton method. Our new Fischer - Newton method shows improved...... qualities for specific configurations where the most widespread alternative, the Projected Gauss-Seidel method, fails. Experiments show superior convergence properties of the exact Fischer - Newton method....

  15. Influences of load characteristics on impaired control of grip forces in patients with cerebellar damage.

    Science.gov (United States)

    Brandauer, B; Timmann, D; Häusler, A; Hermsdörfer, J

    2010-02-01

    Various studies showed a clear impairment of cerebellar patients to modulate grip force in anticipation of the loads resulting from movements with a grasped object. This failure corroborated the theory of internal feedforward models in the cerebellum. Cerebellar damage also impairs the coordination of multiple-joint movements and this has been related to deficient prediction and compensation of movement-induced torques. To study the effects of disturbed torque control on feedforward grip-force control, two self-generated load conditions with different demands on torque control-one with movement-induced and the other with isometrically generated load changes-were directly compared in patients with cerebellar degeneration. Furthermore the cerebellum is thought to be more involved in grip-force adjustment to self-generated loads than to externally generated loads. Consequently, an additional condition with externally generated loads was introduced to further test this hypothesis. Analysis of 23 patients with degenerative cerebellar damage revealed clear impairments in predictive feedforward mechanisms in the control of both self-generated load types. Besides feedforward control, the cerebellar damage also affected more reactive responses when the externally generated load destabilized the grip, although this impairment may vary with the type of load as suggested by control experiments. The present findings provide further support that the cerebellum plays a major role in predictive control mechanisms. However, this impact of the cerebellum does not strongly depend on the nature of the load and the specific internal forward model. Contributions to reactive (grip force) control are not negligible, but seem to be dependent on the physical characteristics of an externally generated load.

  16. Comparative Effects of Different Balance-Training-Progression Styles on Postural Control and Ankle Force Production: A Randomized Controlled Trial.

    Science.gov (United States)

    Cuğ, Mutlu; Duncan, Ashley; Wikstrom, Erik

    2016-02-01

    Despite the effectiveness of balance training, the exact parameters needed to maximize the benefits of such programs remain unknown. One such factor is how individuals should progress to higher levels of task difficulty within a balance-training program. Yet no investigators have directly compared different balance-training-progression styles. To compare an error-based progression (ie, advance when proficient at a task) with a repetition-based progression (ie, advance after a set amount of repetitions) style during a balance-training program in healthy individuals. Randomized controlled trial. Research laboratory. A total of 28 (16 women, 12 men) physically healthy young adults (age = 21.57 ± 3.95 years, height = 171.60 ± 11.03 cm, weight = 72.96 ± 16.18 kg, body mass index = 24.53 ± 3.7). All participants completed 12 supervised balance-training sessions over 4 weeks. Each session consisted of a combination of dynamic unstable-surface tasks that incorporated a BOSU ball and lasted about 30 minutes. Static balance from an instrumented force plate, dynamic balance as measured via the Star Excursion Balance Test, and ankle force production in all 4 cardinal planes of motion as measured with a handheld dynamometer before and after the intervention. Selected static postural-control outcomes, dynamic postural control, and ankle force production in all planes of motion improved (P .05) for any of the outcome measures. A 4-week balance-training program consisting of dynamic unstable-surface exercises on a BOSU ball improved dynamic postural control and ankle force production in healthy young adults. These results suggest that an error-based balance-training program is comparable with but not superior to a repetition-based balance-training program in improving postural control and ankle force production in healthy young adults.

  17. Flight Dynamics of Flexible Aircraft with Aeroelastic and Inertial Force Interactions

    Science.gov (United States)

    Nguyen, Nhan T.; Tuzcu, Ilhan

    2009-01-01

    This paper presents an integrated flight dynamic modeling method for flexible aircraft that captures coupled physics effects due to inertial forces, aeroelasticity, and propulsive forces that are normally present in flight. The present approach formulates the coupled flight dynamics using a structural dynamic modeling method that describes the elasticity of a flexible, twisted, swept wing using an equivalent beam-rod model. The structural dynamic model allows for three types of wing elastic motion: flapwise bending, chordwise bending, and torsion. Inertial force coupling with the wing elasticity is formulated to account for aircraft acceleration. The structural deflections create an effective aeroelastic angle of attack that affects the rigid-body motion of flexible aircraft. The aeroelastic effect contributes to aerodynamic damping forces that can influence aerodynamic stability. For wing-mounted engines, wing flexibility can cause the propulsive forces and moments to couple with the wing elastic motion. The integrated flight dynamics for a flexible aircraft are formulated by including generalized coordinate variables associated with the aeroelastic-propulsive forces and moments in the standard state-space form for six degree-of-freedom flight dynamics. A computational structural model for a generic transport aircraft has been created. The eigenvalue analysis is performed to compute aeroelastic frequencies and aerodynamic damping. The results will be used to construct an integrated flight dynamic model of a flexible generic transport aircraft.

  18. Vesicle fusion with bilayer lipid membrane controlled by electrostatic interaction

    Directory of Open Access Journals (Sweden)

    Azusa Oshima

    2017-09-01

    Full Text Available The fusion of proteoliposomes is a promising approach for incorporating membrane proteins in artificial lipid membranes. In this study, we employed an electrostatic interaction between vesicles and supported bilayer lipid membranes (s-BLMs to control the fusion process. We combined large unilamellar vesicles (LUVs containing anionic lipids, which we used instead of proteoliposomes, and s-BLMs containing cationic lipids to control electrostatic interaction. Anionic LUVs were never adsorbed or ruptured on the SiO2 substrate with a slight negative charge, and selectively fused with cationic s-BLMs. The LUVs can be fused effectively to the target position. Furthermore, as the vesicle fusion proceeds and some of the positive charges are neutralized, the attractive interaction weakens and finally the vesicle fusion saturates. In other words, we can control the number of LUVs fused with s-BLMs by controlling the concentration of the cationic lipids in the s-BLMs. The fluidity of the s-BLMs after vesicle fusion was confirmed to be sufficiently high. This indicates that the LUVs attached to the s-BLMs were almost completely fused, and there were few intermediate state vesicles in the fusion process. We could control the position and amount of vesicle fusion with the s-BLMs by employing an electrostatic interaction.

  19. Preliminary Experimental Results for Indirect Vector-Control of Induction Motor Drives with Forced Dynamics

    Directory of Open Access Journals (Sweden)

    Jan Vittek

    2003-01-01

    Full Text Available The contribution presents an extension of indirect vector control of electric drives employing induction motors to 'Forced Dynamic Control'. This method of control offers an accurate realisation of dynamic response profiles, which can be selected by the user. The developed system can be integrated into a drive with a shaft position encoder or a shaft sensoriess drive, in which only the stator currents are measured. The applied stator voltages are determined by a computed inverter switching algorithm. Simulation results and preliminary experimental results for indirect vector control of an idle running induction motor indicate good agreement with the theoretical predictions.

  20. Evaluation of friction forces between control bars and guide tubes of CAREM fuel element

    International Nuclear Information System (INIS)

    Ghiselli, Alberto M.; Fiori, Jose M.; Yedros, Pablo A.

    2003-01-01

    The design of the MSAC (Mecanismo del Sistema de ajuste y control, Mechanism of the Adjustment and control system, MACS) for CAREM reactor shall consider all loads that the reactor shall support during its operation. Several charges are originated by friction forces produced on contact points of the control Bars/Guide tubes assembly against other components. A test facility was designed and manufactured for the determination of friction components and the damping characteristics of the assembly formed by guide tubes fuel element, the control bars and the guide of the bar of the MACS. In this work a description of the test performed and the results obtained is presented. (author)

  1. Resonance energy transfer (RET)-Induced intermolecular pairing force: a tunable weak interaction and its application in SWNT separation.

    Science.gov (United States)

    Pan, Xiaoyong; Chen, Hui; Wang, Wei Zhi; Ng, Siu Choon; Chan-Park, Mary B

    2011-07-21

    This paper explores evidence of an optically mediated interaction that is active in the separation mechanism of certain selective agents through consideration of the contrasting selective behaviors of two conjugated polymers with distinct optical properties. The involvement of a RET-induced intermolecular pairing force is implied by the different illumination response behaviors. The magnitude of this interaction scales with the external stimulus parameter, the illumination irradiance (I), and thus is tunable. This suggests a facile technique to modify the selectivity of polymers toward specific SWNT species by altering the polymer structure to adjust the corresponding intermolecular interaction. This is the first experimental verification and application of a RET-induced intermolecular pairing force to SWNT separation. With this kind of interaction taken into account, reasonable interpretation of some conflicting data, especially PLE maps, can be easily made. The above conclusion can be applied to other substances as long as they are electrically neutral and there is photon-induced RET between them. The significant magnitude of this interaction makes direct manipulation of molecules/particles possible and is expected to have applications in molecular engineering. © 2011 American Chemical Society

  2. Robust Clamping Force Control of an Electro-Mechanical Brake System for Application to Commercial City Buses

    Directory of Open Access Journals (Sweden)

    Sangjune Eum

    2017-02-01

    Full Text Available This paper proposes a sensor-less robust force control method for improving the control performance of an electro-mechanical brake (EMB which is applicable to commercial city buses. The EMB generates the accurate clamping force commanded by a driver through an independent motor control at each wheel instead of using existing mechanical components. In general, an EMB undergoes parameter variation and a backdrivability problem. For this reason, the cascade control strategy (e.g., force-position cascade control structure is proposed and the disturbance observer is employed to enhance control robustness against model variations. Additionally, this paper proposed the clamping force estimation method for a sensor-less control, i.e., the clamping force observer (CFO. Finally, in order to confirm the performance and effectiveness of a proposed robust control method, several experiments are performed and analyzed.

  3. Displacement and force coupling control design for automotive active front steering system

    Science.gov (United States)

    Zhao, Wanzhong; Zhang, Han; Li, Yijun

    2018-06-01

    A displacement and force coupling control design for active front steering (AFS) system of vehicle is proposed in this paper. In order to investigate the displacement and force characteristics of the AFS system of the vehicle, the models of AFS system, vehicle, tire as well as the driver model are introduced. Then, considering the nonlinear characteristics of the tire force and external disturbance, a robust yaw rate control method is designed by applying a steering motor to generate an active steering angle to adjust the yaw stability of the vehicle. Based on mixed H2/H∞ control, the system robustness and yaw rate tracking performance are enforced by H∞ norm constraint and the control effort is captured through H2 norm. In addition, based on the AFS system, a planetary gear set and an assist motor are both added to realize the road feeling control in this paper to dismiss the influence of extra steering angle through a compensating method. Evaluation of the overall system is accomplished by simulations and experiments under various driving condition. The simulation and experiment results show the proposed control system has excellent tracking performance and road feeling performance, which can improve the cornering stability and maneuverability of vehicle.

  4. A 3D Printed Linear Pneumatic Actuator for Position, Force and Impedance Control

    Directory of Open Access Journals (Sweden)

    Jeremy Krause

    2018-05-01

    Full Text Available Although 3D printing has the potential to provide greater customization and to reduce the costs of creating actuators for industrial applications, the 3D printing of actuators is still a relatively new concept. We have developed a pneumatic actuator with 3D-printed parts and placed sensors for position and force control. So far, 3D printing has been used to create pneumatic actuators of the bellows type, thus having a limited travel distance, utilizing low pressures for actuation and being capable of only limited force production and response rates. In contrast, our actuator is linear with a large travel distance and operating at a relatively higher pressure, thus providing great forces and response rates, and this the main novelty of the work. We demonstrate solutions to key challenges that arise during the design and fabrication of 3D-printed linear actuators. These include: (1 the strategic use of metallic parts in high stress areas (i.e., the piston rod; (2 post-processing of the inner surface of the cylinder for smooth finish; (3 piston head design and seal placement for strong and leak-proof action; and (4 sensor choice and placement for position and force control. A permanent magnet placed in the piston head is detected using Hall effect sensors placed along the length of the cylinder to measure the position, and pressure sensors placed at the supply ports were used for force measurement. We demonstrate the actuator performing position, force and impedance control. Our work has the potential to open new avenues for creating less expensive, customizable and capable actuators for industrial and other applications.

  5. Messaging Performance of FIPA Interaction Protocols in Networked Embedded Controllers

    Directory of Open Access Journals (Sweden)

    García JoséAPérez

    2008-01-01

    Full Text Available Abstract Agent-based technologies in production control systems could facilitate seamless reconfiguration and integration of mechatronic devices/modules into systems. Advances in embedded controllers which are continuously improving computational capabilities allow for software modularization and distribution of decisions. Agent platforms running on embedded controllers could hide the complexity of bootstrap and communication. Therefore, it is important to investigate the messaging performance of the agents whose main motivation is the resource allocation in manufacturing systems (i.e., conveyor system. The tests were implemented using the FIPA-compliant JADE-LEAP agent platform. Agent containers were distributed through networked embedded controllers, and agents were communicating using request and contract-net FIPA interaction protocols. The test scenarios are organized in intercontainer and intracontainer communications. The work shows the messaging performance for the different test scenarios using both interaction protocols.

  6. Messaging Performance of FIPA Interaction Protocols in Networked Embedded Controllers

    Directory of Open Access Journals (Sweden)

    Omar Jehovani López Orozco

    2007-12-01

    Full Text Available Agent-based technologies in production control systems could facilitate seamless reconfiguration and integration of mechatronic devices/modules into systems. Advances in embedded controllers which are continuously improving computational capabilities allow for software modularization and distribution of decisions. Agent platforms running on embedded controllers could hide the complexity of bootstrap and communication. Therefore, it is important to investigate the messaging performance of the agents whose main motivation is the resource allocation in manufacturing systems (i.e., conveyor system. The tests were implemented using the FIPA-compliant JADE-LEAP agent platform. Agent containers were distributed through networked embedded controllers, and agents were communicating using request and contract-net FIPA interaction protocols. The test scenarios are organized in intercontainer and intracontainer communications. The work shows the messaging performance for the different test scenarios using both interaction protocols.

  7. Web-based interactive drone control using hand gesture

    Science.gov (United States)

    Zhao, Zhenfei; Luo, Hao; Song, Guang-Hua; Chen, Zhou; Lu, Zhe-Ming; Wu, Xiaofeng

    2018-01-01

    This paper develops a drone control prototype based on web technology with the aid of hand gesture. The uplink control command and downlink data (e.g., video) are transmitted by WiFi communication, and all the information exchange is realized on web. The control command is translated from various predetermined hand gestures. Specifically, the hardware of this friendly interactive control system is composed by a quadrotor drone, a computer vision-based hand gesture sensor, and a cost-effective computer. The software is simplified as a web-based user interface program. Aided by natural hand gestures, this system significantly reduces the complexity of traditional human-computer interaction, making remote drone operation more intuitive. Meanwhile, a web-based automatic control mode is provided in addition to the hand gesture control mode. For both operation modes, no extra application program is needed to be installed on the computer. Experimental results demonstrate the effectiveness and efficiency of the proposed system, including control accuracy, operation latency, etc. This system can be used in many applications such as controlling a drone in global positioning system denied environment or by handlers without professional drone control knowledge since it is easy to get started.

  8. Web-based interactive drone control using hand gesture.

    Science.gov (United States)

    Zhao, Zhenfei; Luo, Hao; Song, Guang-Hua; Chen, Zhou; Lu, Zhe-Ming; Wu, Xiaofeng

    2018-01-01

    This paper develops a drone control prototype based on web technology with the aid of hand gesture. The uplink control command and downlink data (e.g., video) are transmitted by WiFi communication, and all the information exchange is realized on web. The control command is translated from various predetermined hand gestures. Specifically, the hardware of this friendly interactive control system is composed by a quadrotor drone, a computer vision-based hand gesture sensor, and a cost-effective computer. The software is simplified as a web-based user interface program. Aided by natural hand gestures, this system significantly reduces the complexity of traditional human-computer interaction, making remote drone operation more intuitive. Meanwhile, a web-based automatic control mode is provided in addition to the hand gesture control mode. For both operation modes, no extra application program is needed to be installed on the computer. Experimental results demonstrate the effectiveness and efficiency of the proposed system, including control accuracy, operation latency, etc. This system can be used in many applications such as controlling a drone in global positioning system denied environment or by handlers without professional drone control knowledge since it is easy to get started.

  9. Interactive Control System, Intended Strategy, Implemented Strategy dan Emergent Strategy

    OpenAIRE

    Tubagus Ismail; Darjat Sudrajat

    2012-01-01

    The purpose of this study was to examine the relationship between management control system (MCS) and strategy formation processes, namely: intended strategy, emergent strategy and impelemented strategy. The focus of MCS in this study was interactive control system. The study was based on Structural Equation Modeling (SEM) as its multivariate analyses instrument. The samples were upper middle managers of manufacturing company in Banten Province, DKI Jakarta Province and West Java Province. AM...

  10. Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter

    Directory of Open Access Journals (Sweden)

    Nobutomo Morita

    2018-01-01

    Full Text Available The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces—such as metal, paper, film, and so on—thus suggesting the potential application of LDV as a slip sensor for grasping various objects. However, the use of LDV as a slip sensor has not yet been reported because the size of LDVs is too large to be installed on a robotic fingertip. We have solved the size problem and enabled the performance of a feasibility test with a few-millimeter-scale LDV referred to as micro-LDV (μ-LDV by modifying the design which was adopted from MEMS (microelectromechanical systems fabrication process. In this paper, by applying our developed μ-LDV as a slip sensor, we have successfully demonstrated grasping force control with three target objects—aluminum block, wood block, and white acrylic block—considering that various objects made of these materials can be found in homes and factories, without grasping force feedback. We provide proofs that LDV is a new promising candidate slip sensor for grasping force control to execute target grasping.

  11. Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter.

    Science.gov (United States)

    Morita, Nobutomo; Nogami, Hirofumi; Higurashi, Eiji; Sawada, Renshi

    2018-01-23

    The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV) and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces-such as metal, paper, film, and so on-thus suggesting the potential application of LDV as a slip sensor for grasping various objects. However, the use of LDV as a slip sensor has not yet been reported because the size of LDVs is too large to be installed on a robotic fingertip. We have solved the size problem and enabled the performance of a feasibility test with a few-millimeter-scale LDV referred to as micro-LDV (μ-LDV) by modifying the design which was adopted from MEMS (microelectromechanical systems) fabrication process. In this paper, by applying our developed μ-LDV as a slip sensor, we have successfully demonstrated grasping force control with three target objects-aluminum block, wood block, and white acrylic block-considering that various objects made of these materials can be found in homes and factories, without grasping force feedback. We provide proofs that LDV is a new promising candidate slip sensor for grasping force control to execute target grasping.

  12. Visually and force controlled opening and closing of doors by means of a mobile robot arm

    OpenAIRE

    Milighetti, G.; Hoffmann, E.; Fetzner, Angelika; Kuntze, Helge-Björn

    2012-01-01

    A multi-sensory discrete-continuous control concept has been developed to realize interactive basic skills for humanoid and mobile service robots. In the upper hierarchy level a discrete task control structure enables the flexible execution of primitive skill sequences. In the lower continuous level a suitable controller is chosen with control parameters adapted to the current primitive skill. The basic skill for the frequently occurring task of unlocking and opening a door by means of a mobi...

  13. Integral force feedback control with input shaping: Application to piezo-based scanning systems in ECDLs

    Science.gov (United States)

    Zhang, Meng; Liu, Zhigang; Zhu, Yu; Bu, Mingfan; Hong, Jun

    2017-07-01

    In this paper, a hybrid control system is developed by integrating the closed-loop force feedback and input shaping method to overcome the problem of the hysteresis and dynamic behavior in piezo-based scanning systems and increase the scanning speed of tunable external cavity diode lasers. The flexible hinge and piezoelectric actuators are analyzed, and a dynamic model of the scanning systems is established. A force sensor and an integral controller are utilized in integral force feedback (IFF) to directly augment the damping of the piezoelectric scanning systems. Hysteresis has been effectively eliminated, but the mechanical resonance is still evident. Noticeable residual vibration occurred after the inflection points and then gradually disappeared. For the further control of mechanical resonance, based on the theory of minimum-acceleration trajectory planning, the time-domain input shaping method was developed. The turning sections of a scanning trajectory are replaced by smooth curves, while the linear sections are retained. The IFF method is combined with the input shaping method to control the non-linearity and mechanical resonance in high-speed piezo-based scanning systems. Experiments are conducted, and the results demonstrate the effectiveness of the proposed control approach.

  14. Integral force feedback control with input shaping: Application to piezo-based scanning systems in ECDLs.

    Science.gov (United States)

    Zhang, Meng; Liu, Zhigang; Zhu, Yu; Bu, Mingfan; Hong, Jun

    2017-07-01

    In this paper, a hybrid control system is developed by integrating the closed-loop force feedback and input shaping method to overcome the problem of the hysteresis and dynamic behavior in piezo-based scanning systems and increase the scanning speed of tunable external cavity diode lasers. The flexible hinge and piezoelectric actuators are analyzed, and a dynamic model of the scanning systems is established. A force sensor and an integral controller are utilized in integral force feedback (IFF) to directly augment the damping of the piezoelectric scanning systems. Hysteresis has been effectively eliminated, but the mechanical resonance is still evident. Noticeable residual vibration occurred after the inflection points and then gradually disappeared. For the further control of mechanical resonance, based on the theory of minimum-acceleration trajectory planning, the time-domain input shaping method was developed. The turning sections of a scanning trajectory are replaced by smooth curves, while the linear sections are retained. The IFF method is combined with the input shaping method to control the non-linearity and mechanical resonance in high-speed piezo-based scanning systems. Experiments are conducted, and the results demonstrate the effectiveness of the proposed control approach.

  15. Force analysis of the advanced neutron source control rod drive latch mechanism

    International Nuclear Information System (INIS)

    Damiano, B.

    1989-01-01

    The Advanced Neutron Source reactor (ANS), a proposed Department of Energy research reactor currently undergoing conceptual design at the Oak Ridge National Laboratory (ORNL), will generate a thermal neutron flux approximating 10 30 M -2 emdash S -1 . The compact core necessary to produce this flux provides little space for the shim safety control rods, which are located in the central annulus of the core. Without proper control rod drive design, the control rod drive magnets (which hold the control rod latch in a ready-to-scram position) may be unable to support the required load due to their restricted size. This paper describes the force analysis performed on the control rod latch mechanism to determine the fraction of control rod weight transferred to the drive magnet. This information will be useful during latch, control rod drive and magnet design. 5 refs., 12 figs

  16. A review of a method for dynamic load distribution, dynamical modeling, and explicit internal force control when two manipulators mutually lift and transport a rigid body object

    International Nuclear Information System (INIS)

    Unseren, M.A.

    1997-01-01

    The paper reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restrict the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system

  17. A review of a method for dynamic load distribution, dynamical modeling, and explicit internal force control when two manipulators mutually lift and transport a rigid body object

    Energy Technology Data Exchange (ETDEWEB)

    Unseren, M.A.

    1997-04-20

    The paper reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restrict the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.

  18. On contribution of three-body forces to Nd interaction at intermediate energies

    International Nuclear Information System (INIS)

    Uzikov, Yu.N.

    2001-01-01

    Available data on large-angle nucleon-deuteron elastic scattering Nd → dN below the pion threshold give a signal for three-body forces. There is a problem of separation of possible subtle aspects of these forces from off-shell effects in two-nucleon potentials. By considering the main mechanisms of the process Nd → dN, we show qualitatively that in the quasi-binary reaction N + d → (NN) + N with the final spin singlet NN-pair in the S-state the relative contribution of the 3N forces differs substantially from the elastic channel. It gives a new testing ground for the problem in question

  19. Kinematic control of aerodynamic forces on an inclined flapping wing with asymmetric strokes

    International Nuclear Information System (INIS)

    Park, Hyungmin; Choi, Haecheon

    2012-01-01

    In the present study, we conduct an experiment using a one-paired dynamically scaled model of an insect wing, to investigate how asymmetric strokes with different wing kinematic parameters are used to control the aerodynamics of a dragonfly-like inclined flapping wing in still fluid. The kinematic parameters considered are the angles of attack during the mid-downstroke (α md ) and mid-upstroke (α mu ), and the duration (Δτ) and time of initiation (τ p ) of the pitching rotation. The present dragonfly-like inclined flapping wing has the aerodynamic mechanism of unsteady force generation similar to those of other insect wings in a horizontal stroke plane, but the detailed effect of the wing kinematics on the force control is different due to the asymmetric use of the angle of attack during the up- and downstrokes. For example, high α md and low α mu produces larger vertical force with less aerodynamic power, and low α md and high α mu is recommended for horizontal force (thrust) production. The pitching rotation also affects the aerodynamics of a flapping wing, but its dynamic rotational effect is much weaker than the effect from the kinematic change in the angle of attack caused by the pitching rotation. Thus, the influences of the duration and timing of pitching rotation for the present inclined flapping wing are found to be very different from those for a horizontal flapping wing. That is, for the inclined flapping motion, the advanced and delayed rotations produce smaller vertical forces than the symmetric one and the effect of pitching duration is very small. On the other hand, for a specific range of pitching rotation timing, delayed rotation requires less aerodynamic power than the symmetric rotation. As for the horizontal force, delayed rotation with low α md and high α mu is recommended for long-duration flight owing to its high efficiency, and advanced rotation should be employed for hovering flight for nearly zero horizontal force. The present

  20. Teleoperator comfort and psychometric stability: Criteria for limiting master-controller forces of operation and feedback during telemanipulation

    Science.gov (United States)

    Wiker, Steven F.; Hershkowitz, Elaine; Zik, John

    1989-01-01

    The following question is addressed: How much force should operators exert, or experience, when operating a telemanipulator master-controller for sustained periods without encountering significant fatigue and discomfort, and without loss of stability in psychometric perception of force. The need to minimize exertion demands to avoid fatigue is diametrically opposed by the need to present a wide range of force stimuli to enhance perception of applied or reflected forces. For 104 minutes subjects repetitiously performed a series of 15 s isometric pinch grasps; controlled at 5, 15, and 25 percent of their maximum voluntary strength. Cyclic pinch grasps were separated by rest intervals of 7.5 and 15 s. Upon completion of every 10 minute period, subjects interrupted grasping activities to gage the intensity of fatigue and discomfort in the hand and forearm using a cross-modal matching technique. A series of psychometric tests were then conducted to determine accuracy and stability in the subject's perception of force experienced. Results showed that onset of sensations of discomfort and fatigue were dependent upon the magnitude of grasp force, work/rest ratio, and progression of task. Declines in force magnitude estimation slopes, indicating a reduction in force perception sensitivity, occurred with increased grasp force when work/rest ratios were greater than 1.0. Specific recommendations for avoiding discomfort and shifts in force perception, by limiting pinch grasp force required for master-controller operation and range of force reflection or work/rest ratios, are provided.

  1. Well-Controlled Cell-Trapping Systems for Investigating Heterogeneous Cell-Cell Interactions.

    Science.gov (United States)

    Kamiya, Koki; Abe, Yuta; Inoue, Kosuke; Osaki, Toshihisa; Kawano, Ryuji; Miki, Norihisa; Takeuchi, Shoji

    2018-03-01

    Microfluidic systems have been developed for patterning single cells to study cell-cell interactions. However, patterning multiple types of cells to understand heterogeneous cell-cell interactions remains difficult. Here, it is aimed to develop a cell-trapping device to assemble multiple types of cells in the well-controlled order and morphology. This device mainly comprises a parylene sheet for assembling cells and a microcomb for controlling the cell-trapping area. The cell-trapping area is controlled by moving the parylene sheet on an SU-8 microcomb using tweezers. Gentle downward flow is used as a driving force for the cell-trapping. The assembly of cells on a parylene sheet with round and line-shaped apertures is demonstrated. The cell-cell contacts of the trapped cells are then investigated by direct cell-cell transfer of calcein via connexin nanopores. Finally, using the device with a system for controlling the cell-trapping area, three different types of cells in the well-controlled order are assembled. The correct cell order rate obtained using the device is 27.9%, which is higher than that obtained without the sliding parylene system (0.74%). Furthermore, the occurrence of cell-cell contact between the three cell types assembled is verified. This cell-patterning device will be a useful tool for investigating heterogeneous cell-cell interactions. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  2. Experimental and numerical modelling of surface water-groundwater flow and pollution interactions under tidal forcing

    Science.gov (United States)

    Spanoudaki, Katerina; Bockelmann-Evans, Bettina; Schaefer, Florian; Kampanis, Nikolaos; Nanou-Giannarou, Aikaterini; Stamou, Anastasios; Falconer, Roger

    2015-04-01

    Surface water and groundwater are integral components of the hydrologic continuum and the interaction between them affects both their quantity and quality. However, surface water and groundwater are often considered as two separate systems and are analysed independently. This separation is partly due to the different time scales, which apply in surface water and groundwater flows and partly due to the difficulties in measuring and modelling their interactions (Winter et al., 1998). Coastal areas in particular are a difficult hydrologic environment to represent with a mathematical model due to the large number of contributing hydrologic processes. Accurate prediction of interactions between coastal waters, groundwater and neighbouring wetlands, for example, requires the use of integrated surface water-groundwater models. In the past few decades a large number of mathematical models and field methods have been developed in order to quantify the interaction between groundwater and hydraulically connected surface water bodies. Field studies may provide the best data (Hughes, 1995) but are usually expensive and involve too many parameters. In addition, the interpretation of field measurements and linking with modelling tools often proves to be difficult. In contrast, experimental studies are less expensive and provide controlled data. However, experimental studies of surface water-groundwater interaction are less frequently encountered in the literature than filed studies (e.g. Ebrahimi et al., 2007; Kuan et al., 2012; Sparks et al., 2013). To this end, an experimental model has been constructed at the Hyder Hydraulics Laboratory at Cardiff University to enable measurements to be made of groundwater transport through a sand embankment between a tidal water body such as an estuary and a non-tidal water body such as a wetland. The transport behaviour of a conservative tracer was studied for a constant water level on the wetland side of the embankment, while running a

  3. Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control

    Directory of Open Access Journals (Sweden)

    Victor Barasuol

    2018-06-01

    Full Text Available Hydraulic actuation is the most widely used alternative to electric motors for legged robots and manipulators. It is often selected for its high power density, robustness and high-bandwidth control performance that allows the implementation of force/impedance control. Force control is crucial for robots that are in contact with the environment, since it enables the implementation of active impedance and whole body control that can lead to a better performance in known and unknown environments. This paper presents the hydraulic Integrated Smart Actuator (ISA developed by Moog in collaboration with IIT, as well as smart manifolds for rotary hydraulic actuators. The ISA consists of an additive-manufactured body containing a hydraulic cylinder, servo valve, pressure/position/load/temperature sensing, overload protection and electronics for control and communication. The ISA v2 and ISA v5 have been specifically designed to fit into the legs of IIT’s hydraulic quadruped robots HyQ and HyQ-REAL, respectively. The key features of these components tackle 3 of today’s main challenges of hydraulic actuation for legged robots through: (1 built-in controllers running inside integrated electronics for high-performance control, (2 low-leakage servo valves for reduced energy losses, and (3 compactness thanks to metal additive manufacturing. The main contributions of this paper are the derivation of the representative dynamic models of these highly integrated hydraulic servo actuators, a control architecture that allows for high-bandwidth force control and their experimental validation with application-specific trajectories and tests. We believe that this is the first work that presents additive-manufactured, highly integrated hydraulic smart actuators for robotics.

  4. Comparison of timing and force control of foot tapping between elderly and young subjects.

    Science.gov (United States)

    Takimoto, Koji; Takebayashi, Hideaki; Miyamoto, Kenzo; Takuma, Yutaka; Inoue, Yoshikazu; Miyamoto, Shoko; Okabe, Takao; Okuda, Takahiro; Kaba, Hideto

    2016-06-01

    [Purpose] To examine the ability of young and elderly individuals to control the timing and force of periodic sequential foot tapping. [Subjects and Methods] Participants were 10 young (age, 22.1 ± 4.3 years) and 10 elderly individuals (74.8 ± 6.7 years) who were healthy and active. The foot tapping task consisted of practice (stimulus-synchronized tapping with visual feedback) and recall trials (self-paced tapping without visual feedback), periodically performed in this order, at 500-, 1,000-, and 2,000-ms target interstimulus-onset intervals, with a target force of 20% maximum voluntary contraction of the ankle plantar-flexor muscle. [Results] The coefficients of variation of force and intertap interval, used for quantifying the steadiness of the trials, were significantly greater in the elderly than in the young individuals. At the 500-ms interstimulus-onset interval, age-related effects were observed on the normalized mean absolute error of force, which was used to quantify the accuracy of the trials. The coefficients of variation of intertap interval for elderly individuals were significantly greater in the practice than in the recall trials at the 500- and 1,000-ms interstimulus-onset intervals. [Conclusion] The elderly individuals exhibited greater force and timing variability than the young individuals and showed impaired visuomotor processing during foot tapping sequences.

  5. Effective method to control the levitation force and levitation height in a superconducting maglev system

    International Nuclear Information System (INIS)

    Yang Peng-Tao; Yang Wan-Min; Wang Miao; Li Jia-Wei; Guo Yu-Xia

    2015-01-01

    The influence of the width of the middle magnet in the permanent magnet guideways (PMGs) on the levitation force and the levitation height of single-domain yttrium barium copper oxide (YBCO) bulks has been investigated at 77 K under the zero field cooled (ZFC) state. It is found that the largest levitation force can be obtained in the system with the width of the middle magnet of the PMG equal to the size of the YBCO bulk when the gap between the YBCO bulk and PMG is small. Both larger levitation force and higher levitation height can be obtained in the system with the width of the middle magnet of the PMG larger than the size of the YBCO bulk. The stiffness of the levitation force between the PMG and the YBCO bulk is higher in the system with a smaller width of the middle magnet in the PMG. These results provide an effective way to control the levitation force and the levitation height for the superconducting maglev design and applications. (paper)

  6. Proportional Derivative Active Force Control for “X” Configuration Quadcopter

    Directory of Open Access Journals (Sweden)

    Niam Tamami

    2014-12-01

    Full Text Available This paper present a control method “x” configuration quadcopter. The control method used PDAFC (Proportional Derivative Active Force Control. PD is used to stabilize quadcopter, and AFC is used to reject uncertainty disturbance (e.g. wind by estimate disturbance torque value of quadcopter. By adding PD with AFC, better result is obtained, AFC can minimize uncertainty disturbance effect. The sensitivity toward uncertainty disturbance can be set from sensitivity constant to get best performance of disturbance rejection. Stability analysis of PDAFC was evaluated by Lyapunov stability theory.

  7. Force Control for a Pneumatic Cylinder Using Generalized Predictive Controller Approach

    OpenAIRE

    Mohd Faudzi, Ahmad ’Athif; Mustafa, Nu’man Din; Osman, Khairuddin

    2014-01-01

    Pneumatic cylinder is a well-known device because of its high power to weight ratio, easy use, and environmental safety. Pneumatic cylinder uses air as its power source and converts it to a possible movement such as linear and rotary movement. In order to control the pneumatic cylinder, controller algorithm is needed to control the on-off solenoid valve with encoder and pressure sensor as the feedback inputs. In this paper, generalized predictive controller (GPC) is proposed as the control st...

  8. Interactive animated displayed of man-controlled and autonomous robots

    International Nuclear Information System (INIS)

    Crane, C.D. III; Duffy, J.

    1986-01-01

    An interactive computer graphics program has been developed which allows an operator to more readily control robot motions in two distinct modes; viz., man-controlled and autonomous. In man-controlled mode, the robot is guided by a joystick or similar device. As the robot moves, actual joint angle information is measured and supplied to a graphics system which accurately duplicates the robot motion. Obstacles are placed in the actual and animated workspace and the operator is warned of imminent collisions by sight and sound via the graphics system. Operation of the system in man-controlled mode is shown. In autonomous mode, a collision-free path between specified points is obtained by previewing robot motions on the graphics system. Once a satisfactory path is selected, the path characteristics are transmitted to the actual robot and the motion is executed. The telepresence system developed at the University of Florida has been successful in demonstrating that the concept of controlling a robot manipulator with the aid of an interactive computer graphics system is feasible and practical. The clarity of images coupled with real-time interaction and real-time determination of imminent collision with obstacles has resulted in improved operator performance. Furthermore, the ability for an operator to preview and supervise autonomous operations is a significant attribute when operating in a hazardous environment

  9. Physics of plasma-wall interactions in controlled fusion

    International Nuclear Information System (INIS)

    Post, D.E.; Behrisch, R.

    1984-01-01

    In the areas of plasma physics, atomic physics, surface physics, bulk material properties and fusion experiments and theory, the following topics are presented: the plasma sheath; plasma flow in the sheath and presheath of a scrape-off layer; probes for plasma edge diagnostics in magnetic confinement fusion devices; atomic and molecular collisions in the plasma boundary; physical sputtering of solids at ion bombardment; chemical sputtering and radiation enhanced sublimation of carbon; ion backscattering from solid surfaces; implantation, retention and release of hydrogen isotopes; surface erosion by electrical arcs; electron emission from solid surfaces;l properties of materials; plasma transport near material boundaries; plasma models for impurity control experiments; neutral particle transport; particle confinement and control in existing tokamaks; limiters and divertor plates; advanced limiters; divertor tokamak experiments; plasma wall interactions in heated plasmas; plasma-wall interactions in tandem mirror machines; and impurity control systems for reactor experiments

  10. The role of interactive control systems in obtaining internal consistency in the management control system package

    DEFF Research Database (Denmark)

    Toldbod, Thomas; Israelsen, Poul

    2014-01-01

    Companies rely on multiple Management Control Systems to obtain their short and long term objectives. When applying a multifaceted perspective on Management Control System the concept of internal consistency has been found to be important in obtaining goal congruency in the company. However, to d...... management is aware of this shortcoming they use the cybernetic controls more interactively to overcome this shortcoming, whereby the cybernetic controls are also used as a learning platform and not just for performance control....

  11. Force control tasks with pure haptic feedback promote short-term focused attention.

    Science.gov (United States)

    Wang, Dangxiao; Zhang, Yuru; Yang, Xiaoxiao; Yang, Gaofeng; Yang, Yi

    2014-01-01

    Focused attention has great impact on our quality of life. Our learning, social skills and even happiness are closely intertwined with our capacity for focused attention. Attention promotion is replete with examples of training-induced increases in attention capability, most of which rely on visual and auditory stimulation. Pure haptic stimulation to increase attention capability is rarely found. We show that accurate force control tasks with pure haptic feedback enhance short-term focused attention. Participants were trained by a force control task in which information from visual and auditory channels was blocked, and only haptic feedback was provided. The trainees were asked to exert a target force within a pre-defined force tolerance for a specific duration. The tolerance was adaptively modified to different levels of difficulty to elicit full participant engagement. Three attention tests showed significant changes in different aspects of focused attention in participants who had been trained as compared with those who had not, thereby illustrating the role of haptic-based sensory-motor tasks in the promotion of short-term focused attention. The findings highlight the potential value of haptic stimuli in brain plasticity and serve as a new tool to extend existing computer games for cognitive enhancement.

  12. Effect of different crystal faces on experimental interaction force and aggregation of hematite

    NARCIS (Netherlands)

    Hiemstra, T.; Riemsdijk, van W.H.

    1999-01-01

    Charging is a basic property of the solid/solution interface of minerals. The charging at different crystal faces depends on the surface chemical composition, that is, the type and number of proton-reactive surface groups. Atomic force microscopy has provided direct information on the pH-dependent

  13. Mechanism of interaction between cellulase action and applied shear force, an hypothesis

    NARCIS (Netherlands)

    Lenting, H.B.M.; Lenting, H.B.M.; Warmoeskerken, Marinus

    2001-01-01

    An overview is given of what is known in literature concerning the structure of both cellulose and cellulase enzymes and the enzymatic degradation of cellulose. Based on this knowledge, a hypothesis is formulated about the relation between cellulase performance and required applied shear force on

  14. Methodes de calcul des forces aerodynamiques pour les etudes des interactions aeroservoelastiques

    Science.gov (United States)

    Biskri, Djallel Eddine

    L'aeroservoelasticite est un domaine ou interagissent la structure flexible d'un avion, l'aerodynamique et la commande de vol. De son cote, la commande du vol considere l'avion comme une structure rigide et etudie l'influence du systeme de commande sur la dynamique de vol. Dans cette these, nous avons code trois nouvelles methodes d'approximation de forces aerodynamiques: Moindres carres corriges, Etat minimal corrige et Etats combines. Dans les deux premieres methodes, les erreurs d'approximation entre les forces aerodynamiques approximees par les methodes classiques et celles obtenues par les nouvelles methodes ont les memes formes analytiques que celles des forces aerodynamiques calculees par LS ou MS. Quant a la troisieme methode, celle-ci combine les formulations des forces approximees avec les methodes standards LS et MS. Les vitesses et frequences de battement et les temps d'executions calcules par les nouvelles methodes versus ceux calcules par les methodes classiques ont ete analyses.

  15. Knowledge-Based Trajectory Error Pattern Method Applied to an Active Force Control Scheme

    Directory of Open Access Journals (Sweden)

    Endra Pitowarno, Musa Mailah, Hishamuddin Jamaluddin

    2012-08-01

    Full Text Available The active force control (AFC method is known as a robust control scheme that dramatically enhances the performance of a robot arm particularly in compensating the disturbance effects. The main task of the AFC method is to estimate the inertia matrix in the feedback loop to provide the correct (motor torque required to cancel out these disturbances. Several intelligent control schemes have already been introduced to enhance the estimation methods of acquiring the inertia matrix such as those using neural network, iterative learning and fuzzy logic. In this paper, we propose an alternative scheme called Knowledge-Based Trajectory Error Pattern Method (KBTEPM to suppress the trajectory track error of the AFC scheme. The knowledge is developed from the trajectory track error characteristic based on the previous experimental results of the crude approximation method. It produces a unique, new and desirable error pattern when a trajectory command is forced. An experimental study was performed using simulation work on the AFC scheme with KBTEPM applied to a two-planar manipulator in which a set of rule-based algorithm is derived. A number of previous AFC schemes are also reviewed as benchmark. The simulation results show that the AFC-KBTEPM scheme successfully reduces the trajectory track error significantly even in the presence of the introduced disturbances.Key Words:  Active force control, estimated inertia matrix, robot arm, trajectory error pattern, knowledge-based.

  16. Site-controlled quantum dots fabricated using an atomic-force microscope assisted technique

    Directory of Open Access Journals (Sweden)

    Sakuma Y

    2006-01-01

    Full Text Available AbstractAn atomic-force microscope assisted technique is developed to control the position and size of self-assembled semiconductor quantum dots (QDs. Presently, the site precision is as good as ± 1.5 nm and the size fluctuation is within ± 5% with the minimum controllable lateral diameter of 20 nm. With the ability of producing tightly packed and differently sized QDs, sophisticated QD arrays can be controllably fabricated for the application in quantum computing. The optical quality of such site-controlled QDs is found comparable to some conventionally self-assembled semiconductor QDs. The single dot photoluminescence of site-controlled InAs/InP QDs is studied in detail, presenting the prospect to utilize them in quantum communication as precisely controlled single photon emitters working at telecommunication bands.

  17. Interaction of cement model systems with superplasticizers investigated by atomic force microscopy, zeta potential, and adsorption measurements.

    Science.gov (United States)

    Ferrari, Lucia; Kaufmann, Josef; Winnefeld, Frank; Plank, Johann

    2010-07-01

    Polyelectrolyte-based dispersants are commonly used in a wide range of industrial applications to provide specific workability to colloidal suspensions. Their working mechanism is based on adsorption onto the surfaces of the suspended particles. The adsorbed polymer layer can exercise an electrostatic and/or a steric effect which is responsible for achieving dispersion. This study is focused on the dispersion forces induced by polycarboxylate ether-based superplasticizers (PCEs) commonly used in concrete. They are investigated by atomic force microscopy (AFM) applying standard silicon nitride tips exposed to solutions with different ionic compositions in a wet cell. Adsorption isotherms and zeta potential analysis were performed to characterize polymer displacement in the AFM system on nonreactive model substrates (quartz, mica, calcite, and magnesium oxide) in order to avoid the complexity of cement hydration products. The results show that PCE is strongly adsorbed by positively charged materials. This fact reveals that, being silicon nitride naturally positively charged, in most cases the superplasticizer adsorbs preferably on the silicon nitride tip than on the AFM substrate. However, the force-distance curves displayed repulsive interactions between tip and substrates even when polymer was poorly adsorbed on both. These observations allow us to conclude that the dispersion due to PCE strongly depends on the particle charge. It differs between colloids adsorbing and not adsorbing PCE, and leads to different forces acting between the particles. Copyright 2010 Elsevier Inc. All rights reserved.

  18. Real-time changes in corticospinal excitability related to motor imagery of a force control task

    DEFF Research Database (Denmark)

    Tatemoto, Tsuyoshi; Tsuchiya, Junko; Numata, Atsuki

    2017-01-01

    Objective To investigate real-time excitability changes in corticospinal pathways related to motor imagery in a changing force control task, using transcranial magnetic stimulation (TMS). Methods Ten healthy volunteers learnt to control the contractile force of isometric right wrist dorsiflexion...... in order to track an on-screen sine wave form. Participants performed the trained task 40 times with actual muscle contraction in order to construct the motor image. They were then instructed to execute the task without actual muscle contraction, but by imagining contraction of the right wrist...... in dorsiflexion. Motor evoked potentials (MEPs), induced by TMS in the right extensor carpi radialis muscle (ECR) and flexor carpi radialis muscle (FCR), were measured during motor imagery. MEPs were induced at five time points: prior to imagery, during the gradual generation of the imaged wrist dorsiflexion...

  19. Resonant passive–active vibration absorber with integrated force feedback control

    International Nuclear Information System (INIS)

    Høgsberg, Jan; Brodersen, Mark L; Krenk, Steen

    2016-01-01

    A general format of a two-terminal vibration absorber is constructed by placing a passive unit in series with a hybrid unit, composed of an active actuator in parallel with a second passive element. The displacement of the active actuator is controlled by an integrated feedback control with the difference in force between the two passive elements as input. This format allows passive and active contributions to be combined arbitrarily within the hybrid unit, which results in a versatile absorber format with guaranteed closed-loop stability. This is demonstrated for resonant absorbers with inertia realized passively by a mechanical inerter or actively by the integrated force feedback. Accurate calibration formulae are presented for two particular absorber configurations and the performance is subsequently demonstrated with respect to both equal modal damping and effective response reduction. (technical note)

  20. Optimal arm posture control and tendon traction forces of a coupled tendon-driven manipulator

    International Nuclear Information System (INIS)

    Ma, Shugen

    1997-01-01

    In this study, the optimum arm posture of a coupled tendon-driven multijoint manipulator arm (or CT Arm) at maximum payload output was derived and the corresponding tendon traction forces were also analyzed, during management of a heavy payload by the manipulator in a gravity environment. The CT Arm is special tendon traction transmission mechanism in which a pair of tendons used to drive a joint is pulled from base actuators via pulleys mounted on the base-side joints. This mechanism enables optimal utilization of the coupled drive function of tendon traction forces and thus enables the lightweight manipulator to exhibit large payload capability. The properties of the CT Arm mechanism are elucidated by the proposed optimal posture control scheme. Computer simulation was also executed to verify the validity of the proposed control scheme. (author)

  1. Nanoscale tissue engineering: spatial control over cell-materials interactions

    International Nuclear Information System (INIS)

    Wheeldon, Ian; Farhadi, Arash; Bick, Alexander G; Khademhosseini, Ali; Jabbari, Esmaiel

    2011-01-01

    Cells interact with the surrounding environment by making tens to hundreds of thousands of nanoscale interactions with extracellular signals and features. The goal of nanoscale tissue engineering is to harness these interactions through nanoscale biomaterials engineering in order to study and direct cellular behavior. Here, we review two- and three-dimensional (2- and 3D) nanoscale tissue engineering technologies, and provide a holistic overview of the field. Techniques that can control the average spacing and clustering of cell adhesion ligands are well established and have been highly successful in describing cell adhesion and migration in 2D. Extension of these engineering tools to 3D biomaterials has created many new hydrogel and nanofiber scaffold technologies that are being used to design in vitro experiments with more physiologically relevant conditions. Researchers are beginning to study complex cell functions in 3D. However, there is a need for biomaterials systems that provide fine control over the nanoscale presentation of bioactive ligands in 3D. Additionally, there is a need for 2- and 3D techniques that can control the nanoscale presentation of multiple bioactive ligands and that can control the temporal changes in the cellular microenvironment. (topical review)

  2. AN INTELLIGENT NEURO-FUZZY TERMINAL SLIDING MODE CONTROL METHOD WITH APPLICATION TO ATOMIC FORCE MICROSCOPE

    Directory of Open Access Journals (Sweden)

    Seied Yasser Nikoo

    2016-11-01

    Full Text Available In this paper, a neuro-fuzzy fast terminal sliding mode control method is proposed for controlling a class of nonlinear systems with bounded uncertainties and disturbances. In this method, a nonlinear terminal sliding surface is firstly designed. Then, this sliding surface is considered as input for an adaptive neuro-fuzzy inference system which is the main controller. A proportinal-integral-derivative controller is also used to asist the neuro-fuzzy controller in order to improve the performance of the system at the begining stage of control operation. In addition, bee algorithm is used in this paper to update the weights of neuro-fuzzy system as well as the parameters of the proportinal-integral-derivative controller. The proposed control scheme is simulated for vibration control in a model of atomic force microscope system and the results are compared with conventional sliding mode controllers. The simulation results show that the chattering effect in the proposed controller is decreased in comparison with the sliding mode and the terminal sliding mode controllers. Also, the method provides the advantages of fast convergence and low model dependency compared to the conventional methods.

  3. Interaction of an anticancer peptide fragment of azurin with p53 and its isolated domains studied by atomic force spectroscopy.

    Science.gov (United States)

    Bizzarri, Anna Rita; Santini, Simona; Coppari, Emilia; Bucciantini, Monica; Di Agostino, Silvia; Yamada, Tohru; Beattie, Craig W; Cannistraro, Salvatore

    2011-01-01

    p28 is a 28-amino acid peptide fragment of the cupredoxin azurin derived from Pseudomonas aeruginosa that preferentially penetrates cancerous cells and arrests their proliferation in vitro and in vivo. Its antitumor activity reportedly arises from post-translational stabilization of the tumor suppressor p53 normally downregulated by the binding of several ubiquitin ligases. This would require p28 to specifically bind to p53 to inhibit specific ligases from initiating proteosome-mediated degradation. In this study, atomic force spectroscopy, a nanotechnological approach, was used to investigate the interaction of p28 with full-length p53 and its isolated domains at the single molecule level. Analysis of the unbinding forces and the dissociation rate constant suggest that p28 forms a stable complex with the DNA-binding domain of p53, inhibiting the binding of ubiquitin ligases other than Mdm2 to reduce proteasomal degradation of p53.

  4. Three-dimensional Force and Kinematic Interactions in V1 Skating at High Speeds.

    Science.gov (United States)

    Stöggl, Thomas; Holmberg, Hans-Christer

    2015-06-01

    To describe the detailed kinetics and kinematics associated with use of the V1 skating technique at high skiing speeds and to identify factors that predict performance. Fifteen elite male cross-country skiers performed an incremental roller-skiing speed test (Vpeak) on a treadmill using the V1 skating technique. Pole and plantar forces and whole-body kinematics were monitored at four submaximal speeds. The propulsive force of the "strong side" pole was greater than that of the "weak side" (P skating at high speeds. The faster skiers exhibit more symmetric leg motion on the "strong" and "weak" sides, as well as more synchronized poling. With respect to methods, the pressure insoles and three-dimensional kinematics in combination with the leg push-off model described here can easily be applied to all skating techniques, aiding in the evaluation of skiing techniques and comparison of effectiveness.

  5. Command and Control Architectures for Autonomous Micro-Robotic Forces - FY-2000 Project Report

    Energy Technology Data Exchange (ETDEWEB)

    Dudenhoeffer, Donald Dean

    2001-04-01

    Advances in Artificial Intelligence (AI) and micro-technologies will soon give rise to production of large-scale forces of autonomous micro-robots with systems of innate behaviors and with capabilities of self-organization and real world tasking. Such organizations have been compared to schools of fish, flocks of birds, herds of animals, swarms of insects, and military squadrons. While these systems are envisioned as maintaining a high degree of autonomy, it is important to understand the relationship of man with such machines. In moving from research studies to the practical deployment of large-scale numbers of robots, one of critical pieces that must be explored is the command and control architecture for humans to re-task and also inject global knowledge, experience, and intuition into the force. Tele-operation should not be the goal, but rather a level of adjustable autonomy and high-level control. If a herd of sheep is comparable to the collective of robots, then the human element is comparable to the shepherd pulling in strays and guiding the herd in the direction of greener pastures. This report addresses the issues and development of command and control for largescale numbers of autonomous robots deployed as a collective force.

  6. Force Plate Assessment of Quiet Standing Balance Control: Perspectives on Clinical Application within Stroke Rehabilitation

    Directory of Open Access Journals (Sweden)

    Avril Mansfield

    2015-01-01

    Full Text Available Assessment of balance control is essential to guide physical rehabilitation poststroke. However, current observational assessment tools available to physiotherapists provide limited information about underlying dyscontrol. This paper describes a force plate-based assessment of quiet standing balance control that we have implemented for individuals attending inpatient stroke rehabilitation. The assessment uses two force plates to measure location of ground reaction forces to maintain stability in quiet standing in five conditions (eyes open, eyes closed, standing symmetrically, and maximal loading on the less-affected and more-affected limbs. Measures of interest are variability of the centers of pressure under each foot and both feet combined, weight-bearing asymmetry, and correlation of center of pressure fluctuations between limbs. We present representative values for the above-mentioned measures and case examples to illustrate how the assessment can reveal patient-specific balance control problems and direct treatment. We identify limitations to our current assessment and recommendations for future research.

  7. Magnetic Field Equivalent Current Analysis-Based Radial Force Control for Bearingless Permanent Magnet Synchronous Motors

    Directory of Open Access Journals (Sweden)

    Huangqiu Zhu

    2015-05-01

    Full Text Available Bearingless permanent magnet synchronous motors (BPMSMs, with all advantages of permanent magnet motors (PMSMs and magnetic bearings, have become an important research direction in the bearingless motor field. To realize a stable suspension for the BPMSM, accurate decoupling control between the electromagnetic torque and radial suspension force is indispensable. In this paper, a concise and reliable analysis method based on a magnetic field equivalent current is presented. By this analysis method, the operation principle is analyzed theoretically, and the necessary conditions to produce a stable radial suspension force are confirmed. In addition, mathematical models of the torque and radial suspension force are established which is verified by the finite element analysis (FEA software ANSYS. Finally, an experimental prototype of a 2-4 poles surface-mounted BPMSM is tested with the customized control strategy. The simulation and experimental results have shown that the motor has good rotation and suspension performance, and validated the accuracy of the proposed analysis method and the feasibility of the control strategy.

  8. Aerodynamic Interactions of Propulsive Deceleration and Reaction Control System Jets on Mars-Entry Aeroshells

    Science.gov (United States)

    Alkandry, Hicham

    Future missions to Mars, including sample-return and human-exploration missions, may require alternative entry, descent, and landing technologies in order to perform pinpoint landing of heavy vehicles. Two such alternatives are propulsive deceleration (PD) and reaction control systems (RCS). PD can slow the vehicle during Mars atmospheric descent by directing thrusters into the incoming freestream. RCS can provide vehicle control and steering by inducing moments using thrusters on the hack of the entry capsule. The use of these PD and RCS jets, however, involves complex flow interactions that are still not well understood. The fluid interactions induced by PD and RCS jets for Mars-entry vehicles in hypersonic freestream conditions are investigated using computational fluid dynamics (CFD). The effects of central and peripheral PD configurations using both sonic and supersonic jets at various thrust conditions are examined in this dissertation. The RCS jet is directed either parallel or transverse to the freestream flow at different thrust conditions in order to examine the effects of the thruster orientation with respect to the center of gravity of the aeroshell. The physical accuracy of the computational method is also assessed by comparing the numerical results with available experimental data. The central PD configuration decreases the drag force acting on the entry capsule due to a shielding effect that prevents mass and momentum in the hypersonic freestream from reaching the aeroshell. The peripheral PD configuration also decreases the drag force by obstructing the flow around the aeroshell and creating low surface pressure regions downstream of the PD nozzles. The Mach number of the PD jets, however, does not have a significant effect on the induced fluid interactions. The reaction control system also alters the flowfield, surface, and aerodynamic properties of the aeroshell, while the jet orientation can have a significant effect on the control effectiveness

  9. Exploring Biomolecular Interactions Through Single-Molecule Force Spectroscopy and Computational Simulation

    OpenAIRE

    Yang, Darren

    2016-01-01

    Molecular interactions between cellular components such as proteins and nucleic acids govern the fundamental processes of living systems. Technological advancements in the past decade have allowed the characterization of these molecular interactions at the single-molecule level with high temporal and spatial resolution. Simultaneously, progress in computer simulation has enabled theoretical research at the atomistic level, assisting in the interpretation of experimental results. This thesi...

  10. Interactional Organization and Topic Control in Conciliation Hearings

    Directory of Open Access Journals (Sweden)

    Wânia Terezinha Ladeira

    2011-07-01

    Full Text Available We analyse discursive topic in talk-in-interaction within the institutional setting of three conciliation hearings held in a kind of small claims court for consumption conflict resolution. This research is based on Interactional Sociolinguistics and Conversation Analysis theories. The analysis shows that the participants of those meetings have asymmetric rights regarding the choice of discussion topics. Thus, the mediator is the one who has the right to suggest and control the discursive topics of the conversation. This topic control is the most important institutional procedure that can cause a reduction in accusations and adjacent replies. Consequently, the chance of mediators achieving their institutional task of reaching an agreement between parts in conflict is increased.

  11. Simulation of Fuzzy Adaptive PI Controlled Grid Interactive Inverter

    Directory of Open Access Journals (Sweden)

    Necmi ALTIN

    2009-03-01

    Full Text Available In this study, a voltage source grid interactive inverter is modeled and simulated in MATLAB/Simulink. Inverter is designed as current controlled and a fuzzy-PI current controller used for the generation of switching pattern to shape the inverter output current. The grid interactive inverter consists of a line frequency transformer and a LC type filter. Galvanic isolation between the grid and renewable energy source is obtained by the line frequency transformer and LC filter is employed to filter the high frequency harmonic components in current waveform due to PWM switching and to reduce the output current THD. Results of the MATLAB/Simulink simulation show that inverter output current is in sinusoidal waveform and in phase with line voltage, and current harmonics are in the limits of international standards (

  12. Enhancing the control of force in putting by video game training.

    Science.gov (United States)

    Fery, Y A; Ponserre, S

    2001-10-10

    Even if golf video games provide no proprioceptive afferences on actual putting movement, they may give sufficient substitutive visual cues to enhance force control in this skill. It was hypothesized that this usefulness requires, however, two conditions: the video game must provide reliable demonstrations of actual putts, and the user must want to use the game to make progress in actual putting. Accordingly, a video game was selected on the basis of its fidelity to the real-world game. It allowed two different methods of adjusting the virtual player's putting force in order to hole a putt: an analogue method that consisted of focusing on the virtual player's movement and a symbolic method that consisted of focusing on the movement of a gauge on a scale representing the virtual player's putting force. The participants had to use one of these methods with either the intention of making progress in actual putting or in a second condition to simply enjoy the game. Results showed a positive transfer of video playing to actual putting skill for the learning group and also, to a lesser degree, for the enjoyment group; but only when they used the symbolic method. Results are discussed in the context of how vision may convey force cues in sports video games.

  13. A positional code and anisotropic forces control tissue remodeling in Drosophila

    Science.gov (United States)

    Zallen, Jennifer

    A major challenge in developmental biology is to understand how tissue-scale changes in organism structure arise from events that occur on a cellular and molecular level. We are using cell biological, biophysical, and quantitative live-embryo imaging approaches to understand how genes encode the forces that shape tissues, and to identify the mechanisms that modulate cell behavior in response to local forces. In many animals, the elongated head-to-tail body axis is achieved by rapid and coordinated movements of hundreds of cells. We found that in the fruit fly, these cell movements are regulated by subcellular asymmetries in the localization of proteins that generate contractile and adhesive forces between cells. Asymmetries in the force-generating machinery are in turn controlled by a positional code of spatial information provided by an ancient family of Toll-related receptors that are widely used for pathogen recognition by the innate immune system. I will describe how this spatial system systematically orients local cell movements and collective rosette-like clusters in the Drosophila embryo. Rosettes have now also been shown to shape the body axis in chicks, frogs, and mice, demonstrating that rosette behaviors are a general mechanism linking cellular asymmetry to tissue reorganization.

  14. Feedback control and adaptive synchronization of chaotic forced Bonhoeffer-van der Pol oscillators

    Energy Technology Data Exchange (ETDEWEB)

    Kontchou, E W Chimi; Fotsin, H B [Laboratoire d' Electronique, Departement de Physique, Faculte des Sciences, Universite de Dschang, B P 67 Dschang (Cameroon); Woafo, P [Laboratory of Modelling and Simulation in Engineering and Biological Physics, Faculty of Science, University of Yaounde I, Box 812, Yaounde (Cameroon)], E-mail: hbfotsin@yahoo.fr

    2008-04-15

    This paper deals with chaos control and synchronization in forced Bonhoeffer-van der Pol (FBVP) oscillators. The state equations of the model are first established and the stability is analysed. A feedback control strategy for stabilizing the chaotic dynamics on a periodic orbit of the phase space is investigated. Adaptive synchronization of two FBVP oscillators, based on parameter estimation and a nonlinear observer approach, is also investigated. It appears that a particular unknown parameter of the model can be estimated, which gives the possibility of recovering information through chaotic masking. An application in secure communications is presented.

  15. Feedback control and adaptive synchronization of chaotic forced Bonhoeffer-van der Pol oscillators

    International Nuclear Information System (INIS)

    Kontchou, E W Chimi; Fotsin, H B; Woafo, P

    2008-01-01

    This paper deals with chaos control and synchronization in forced Bonhoeffer-van der Pol (FBVP) oscillators. The state equations of the model are first established and the stability is analysed. A feedback control strategy for stabilizing the chaotic dynamics on a periodic orbit of the phase space is investigated. Adaptive synchronization of two FBVP oscillators, based on parameter estimation and a nonlinear observer approach, is also investigated. It appears that a particular unknown parameter of the model can be estimated, which gives the possibility of recovering information through chaotic masking. An application in secure communications is presented

  16. Comparative Effects of Different Balance-Training–Progression Styles on Postural Control and Ankle Force Production: A Randomized Controlled Trial

    Science.gov (United States)

    Cuğ, Mutlu; Duncan, Ashley; Wikstrom, Erik

    2016-01-01

    Context:  Despite the effectiveness of balance training, the exact parameters needed to maximize the benefits of such programs remain unknown. One such factor is how individuals should progress to higher levels of task difficulty within a balance-training program. Yet no investigators have directly compared different balance-training–progression styles. Objective:  To compare an error-based progression (ie, advance when proficient at a task) with a repetition-based progression (ie, advance after a set amount of repetitions) style during a balance-training program in healthy individuals. Design:  Randomized controlled trial. Setting:  Research laboratory. Patients or Other Participants:  A total of 28 (16 women, 12 men) physically healthy young adults (age = 21.57 ± 3.95 years, height = 171.60 ± 11.03 cm, weight = 72.96 ± 16.18 kg, body mass index = 24.53 ± 3.7). Intervention(s):  All participants completed 12 supervised balance-training sessions over 4 weeks. Each session consisted of a combination of dynamic unstable-surface tasks that incorporated a BOSU ball and lasted about 30 minutes. Main Outcome Measure(s):  Static balance from an instrumented force plate, dynamic balance as measured via the Star Excursion Balance Test, and ankle force production in all 4 cardinal planes of motion as measured with a handheld dynamometer before and after the intervention. Results:  Selected static postural-control outcomes, dynamic postural control, and ankle force production in all planes of motion improved (P .05) for any of the outcome measures. Conclusions:  A 4-week balance-training program consisting of dynamic unstable-surface exercises on a BOSU ball improved dynamic postural control and ankle force production in healthy young adults. These results suggest that an error-based balance-training program is comparable with but not superior to a repetition-based balance-training program in improving postural control and ankle force production in

  17. Wind Turbine Converter Control Interaction with Complex Wind Farm Systems

    DEFF Research Database (Denmark)

    Kocewiak, Lukasz Hubert; Hjerrild, Jesper; Bak, Claus Leth

    2013-01-01

    . The same wind turbine converter control strategy is evaluated in two different wind farms. It is emphasised that the grid-side converter controller should be characterised by sufficient harmonic/noise rejection and adjusted depending on wind farms to which it is connected. Various stability indices......This study presents wind turbine converter stability analysis of wind farms in frequency domain. The interaction between the wind turbine control system and the wind farm structure in wind farms is deeply investigated. Two wind farms (i.e. Horns Rev II and Karnice) are taken into consideration...... in this study. It is shown that wind farm components, such as long high-voltage alternating current cables and park transformers, can introduce significant low-frequency series resonances seen from the wind turbine terminals that can affect wind turbine control system operation and overall wind farm stability...

  18. Forcings and feedbacks on convection in the 2010 Pakistan flood: Modeling extreme precipitation with interactive large-scale ascent

    Science.gov (United States)

    Nie, Ji; Shaevitz, Daniel A.; Sobel, Adam H.

    2016-09-01

    Extratropical extreme precipitation events are usually associated with large-scale flow disturbances, strong ascent, and large latent heat release. The causal relationships between these factors are often not obvious, however, the roles of different physical processes in producing the extreme precipitation event can be difficult to disentangle. Here we examine the large-scale forcings and convective heating feedback in the precipitation events, which caused the 2010 Pakistan flood within the Column Quasi-Geostrophic framework. A cloud-revolving model (CRM) is forced with large-scale forcings (other than large-scale vertical motion) computed from the quasi-geostrophic omega equation using input data from a reanalysis data set, and the large-scale vertical motion is diagnosed interactively with the simulated convection. Numerical results show that the positive feedback of convective heating to large-scale dynamics is essential in amplifying the precipitation intensity to the observed values. Orographic lifting is the most important dynamic forcing in both events, while differential potential vorticity advection also contributes to the triggering of the first event. Horizontal moisture advection modulates the extreme events mainly by setting the environmental humidity, which modulates the amplitude of the convection's response to the dynamic forcings. When the CRM is replaced by either a single-column model (SCM) with parameterized convection or a dry model with a reduced effective static stability, the model results show substantial discrepancies compared with reanalysis data. The reasons for these discrepancies are examined, and the implications for global models and theoretical models are discussed.

  19. Hybrid integral-differential simulator of EM force interactions/scenario-assessment tool with pre-computed influence matrix in applications to ITER

    Science.gov (United States)

    Rozov, V.; Alekseev, A.

    2015-08-01

    A necessity to address a wide spectrum of engineering problems in ITER determined the need for efficient tools for modeling of the magnetic environment and force interactions between the main components of the magnet system. The assessment of the operating window for the machine, determined by the electro-magnetic (EM) forces, and the check of feasibility of particular scenarios play an important role for ensuring the safety of exploitation. Such analysis-powered prevention of damages forms an element of the Machine Operations and Investment Protection strategy. The corresponding analysis is a necessary step in preparation of the commissioning, which finalizes the construction phase. It shall be supported by the development of the efficient and robust simulators and multi-physics/multi-system integration of models. The developed numerical model of interactions in the ITER magnetic system, based on the use of pre-computed influence matrices, facilitated immediate and complete assessment and systematic specification of EM loads on magnets in all foreseen operating regimes, their maximum values, envelopes and the most critical scenarios. The common principles of interaction in typical bilateral configurations have been generalized for asymmetry conditions, inspired by the plasma and by the hardware, including asymmetric plasma event and magnetic system fault cases. The specification of loads is supported by the technology of functional approximation of nodal and distributed data by continuous patterns/analytical interpolants. The global model of interactions together with the mesh-independent analytical format of output provides the source of self-consistent and transferable data on the spatial distribution of the system of forces for assessments of structural performance of the components, assemblies and supporting structures. The numerical model used is fully parametrized, which makes it very suitable for multi-variant and sensitivity studies (positioning, off

  20. Nanoscale tissue engineering: spatial control over cell-materials interactions

    Science.gov (United States)

    Wheeldon, Ian; Farhadi, Arash; Bick, Alexander G.; Jabbari, Esmaiel; Khademhosseini, Ali

    2011-01-01

    Cells interact with the surrounding environment by making tens to hundreds of thousands of nanoscale interactions with extracellular signals and features. The goal of nanoscale tissue engineering is to harness the interactions through nanoscale biomaterials engineering in order to study and direct cellular behaviors. Here, we review the nanoscale tissue engineering technologies for both two- and three-dimensional studies (2- and 3D), and provide a holistic overview of the field. Techniques that can control the average spacing and clustering of cell adhesion ligands are well established and have been highly successful in describing cell adhesion and migration in 2D. Extension of these engineering tools to 3D biomaterials has created many new hydrogel and nanofiber scaffolds technologies that are being used to design in vitro experiments with more physiologically relevant conditions. Researchers are beginning to study complex cell functions in 3D, however, there is a need for biomaterials systems that provide fine control over the nanoscale presentation of bioactive ligands in 3D. Additionally, there is a need for 2- and 3D techniques that can control the nanoscale presentation of multiple bioactive ligands and the temporal changes in cellular microenvironment. PMID:21451238

  1. Forced-Air Warming Provides Better Control of Body Temperature in Porcine Surgical Patients

    Directory of Open Access Journals (Sweden)

    Brian T. Dent

    2016-09-01

    Full Text Available Background: Maintaining normothermia during porcine surgery is critical in ensuring subject welfare and recovery, reducing the risk of immune system compromise and surgical-site infection that can result from hypothermia. In humans, various methods of patient heating have been demonstrated to be useful, but less evaluation has been performed in techniques to prevent hypothermia perioperatively in pigs. Methods: We compared body temperature regulation during surgery before and after modification of the ambient temperature of the operating laboratories. Three different methods of heating were then compared; a standard circulating water mattress, a resistive fabric blanket, and a forced hot air system. The primary measure was percentage of temperature readings outside a specification range of 36.7–40.0 °C. Results: Tighter control of the ambient temperature while using a circulating water mattress reduced the occurrence of out-of-specification body temperature readings from 20.8% to 5.0%, with most of these the result of hypothermia. Use of a resistive fabric blanket further reduced out-of-specification readings to 1.5%, with a slight increase in the occurrence of hyperthermia. Use of a forced air system reduced out-of-specification readings to less 0.1%. Conclusions: Maintenance of normothermia perioperatively in pig can be improved by tightly controlling ambient temperatures. Use of a resistive blanket or a forced air system can lead to better control than a circulating water mattress, with the forced air system providing a faster response to temperature variations and less chance of hyperthermia.

  2. Real-time changes in corticospinal excitability related to motor imagery of a force control task.

    Science.gov (United States)

    Tatemoto, Tsuyoshi; Tsuchiya, Junko; Numata, Atsuki; Osawa, Ryuji; Yamaguchi, Tomofumi; Tanabe, Shigeo; Kondo, Kunitsugu; Otaka, Yohei; Sugawara, Kenichi

    2017-09-29

    To investigate real-time excitability changes in corticospinal pathways related to motor imagery in a changing force control task, using transcranial magnetic stimulation (TMS). Ten healthy volunteers learnt to control the contractile force of isometric right wrist dorsiflexion in order to track an on-screen sine wave form. Participants performed the trained task 40 times with actual muscle contraction in order to construct the motor image. They were then instructed to execute the task without actual muscle contraction, but by imagining contraction of the right wrist in dorsiflexion. Motor evoked potentials (MEPs), induced by TMS in the right extensor carpi radialis muscle (ECR) and flexor carpi radialis muscle (FCR), were measured during motor imagery. MEPs were induced at five time points: prior to imagery, during the gradual generation of the imaged wrist dorsiflexion (Increasing phase), the peak value of the sine wave, during the gradual reduction (Decreasing phase), and after completion of the task. The MEP ratio, as the ratio of imaged MEPs to resting-state, was compared between pre- and post-training at each time point. In the ECR muscle, the MEP ratio significantly increased during the Increasing phase and at the peak force of dorsiflexion imagery after training. Moreover, the MEP ratio was significantly greater in the Increasing phase than in the Decreasing phase. In the FCR, there were no significant consistent changes. Corticospinal excitability during motor imagery in an isometric contraction task was modulated in relation to the phase of force control after image construction. Copyright © 2017 Elsevier B.V. All rights reserved.

  3. Novel Structures for the Excess Electron State of the Water Hexamer and the Interaction Forces Governing the Structures

    International Nuclear Information System (INIS)

    Lee, S.; Kim, J.; Lee, S.J.; Kim, K.S.

    1997-01-01

    The geometrical and electronic structures of partially hydrated electron systems, in particular, the water hexamer, which have been controversial for decades, have been clarified by an exhaustive search for possible low-lying energy structures. Several competing interaction forces governing the conformation have been examined for the first time. The low-lying energy structures are hybrid (or partially internal and partially surface) excess electron states. Our prediction is evidenced from excellent agreements with available experimental data. The vertical electron-detachment energies are mainly determined by the number of dangling H atoms (H d ) . copyright 1997 The American Physical Society

  4. Force to Rebalance Control of HRG and Suppression of Its Errors on the Basis of FPGA

    Directory of Open Access Journals (Sweden)

    Qingan Jiang

    2011-12-01

    Full Text Available A novel design of force to rebalance control for a hemispherical resonator gyro (HRG based on FPGA is demonstrated in this paper. The proposed design takes advantage of the automatic gain control loop and phase lock loop configuration in the drive mode while making full use of the quadrature control loop and rebalance control loop in controlling the oscillating dynamics in the sense mode. First, the math model of HRG with inhomogeneous damping and frequency split is theoretically analyzed. In addition, the major drift mechanisms in the HRG are described and the methods that can suppress the gyro drift are mentioned. Based on the math model and drift mechanisms suppression method, four control loops are employed to realize the manipulation of the HRG by using a FPGA circuit. The reference-phase loop and amplitude control loop are used to maintain the vibration of primary mode at its natural frequency with constant amplitude. The frequency split is readily eliminated by the quadrature loop with a DC voltage feedback from the quadrature component of the node. The secondary mode response to the angle rate input is nullified by the rebalance control loop. In order to validate the effect of the digital control of HRG, experiments are carried out with a turntable. The experimental results show that the design is suitable for the control of HRG which has good linearity scale factor and bias stability.

  5. Force to rebalance control of HRG and suppression of its errors on the basis of FPGA.

    Science.gov (United States)

    Wang, Xu; Wu, Wenqi; Luo, Bing; Fang, Zhen; Li, Yun; Jiang, Qingan

    2011-01-01

    A novel design of force to rebalance control for a hemispherical resonator gyro (HRG) based on FPGA is demonstrated in this paper. The proposed design takes advantage of the automatic gain control loop and phase lock loop configuration in the drive mode while making full use of the quadrature control loop and rebalance control loop in controlling the oscillating dynamics in the sense mode. First, the math model of HRG with inhomogeneous damping and frequency split is theoretically analyzed. In addition, the major drift mechanisms in the HRG are described and the methods that can suppress the gyro drift are mentioned. Based on the math model and drift mechanisms suppression method, four control loops are employed to realize the manipulation of the HRG by using a FPGA circuit. The reference-phase loop and amplitude control loop are used to maintain the vibration of primary mode at its natural frequency with constant amplitude. The frequency split is readily eliminated by the quadrature loop with a DC voltage feedback from the quadrature component of the node. The secondary mode response to the angle rate input is nullified by the rebalance control loop. In order to validate the effect of the digital control of HRG, experiments are carried out with a turntable. The experimental results show that the design is suitable for the control of HRG which has good linearity scale factor and bias stability.

  6. Nonlinear adaptive robust back stepping force control of hydraulic load simulator: Theory and experiments

    International Nuclear Information System (INIS)

    Yao, Jianyong; Jiao, Zongxia; Yao, Bin

    2014-01-01

    High performance robust force control of hydraulic load simulator with constant but unknown hydraulic parameters is considered. In contrast to the linear control based on hydraulic linearization equations, hydraulic inherent nonlinear properties and uncertainties make the conventional feedback proportional-integral-derivative (PID) control not yield to high performance requirements. Furthermore, the hydraulic system may be subjected to non-smooth and discontinuous nonlinearities due to the directional change of valve opening. In this paper, based on a nonlinear system model of hydraulic load simulator, a discontinuous projection-based nonlinear adaptive robust back stepping controller is developed with servo valve dynamics. The proposed controller constructs a novel stable adaptive controller and adaptation laws with additional pressure dynamic related unknown parameters, which can compensate for the system nonlinearities and uncertain parameters, meanwhile a well-designed robust controller is also synthesized to dominate the model uncertainties coming from both parametric uncertainties and uncertain nonlinearities including unmodeled and ignored system dynamics. The controller theoretically guarantee a prescribed transient performance and final tracking accuracy in presence of both parametric uncertainties and uncertain nonlinearities; while achieving asymptotic output tracking in the absence of unstructured uncertainties. The implementation issues are also discussed for controller simplification. Some comparative results are obtained to verify the high-performance nature of the proposed controller.

  7. Nonlinear adaptive robust back stepping force control of hydraulic load simulator: Theory and experiments

    Energy Technology Data Exchange (ETDEWEB)

    Yao, Jianyong [Nanjing University of Science and Technology, Nanjing (China); Jiao, Zongxia [Beihang University, Beijing (China); Yao, Bin [Purdue University, West Lafayette (United States)

    2014-04-15

    High performance robust force control of hydraulic load simulator with constant but unknown hydraulic parameters is considered. In contrast to the linear control based on hydraulic linearization equations, hydraulic inherent nonlinear properties and uncertainties make the conventional feedback proportional-integral-derivative (PID) control not yield to high performance requirements. Furthermore, the hydraulic system may be subjected to non-smooth and discontinuous nonlinearities due to the directional change of valve opening. In this paper, based on a nonlinear system model of hydraulic load simulator, a discontinuous projection-based nonlinear adaptive robust back stepping controller is developed with servo valve dynamics. The proposed controller constructs a novel stable adaptive controller and adaptation laws with additional pressure dynamic related unknown parameters, which can compensate for the system nonlinearities and uncertain parameters, meanwhile a well-designed robust controller is also synthesized to dominate the model uncertainties coming from both parametric uncertainties and uncertain nonlinearities including unmodeled and ignored system dynamics. The controller theoretically guarantee a prescribed transient performance and final tracking accuracy in presence of both parametric uncertainties and uncertain nonlinearities; while achieving asymptotic output tracking in the absence of unstructured uncertainties. The implementation issues are also discussed for controller simplification. Some comparative results are obtained to verify the high-performance nature of the proposed controller.