Energy Based Indexes for Manipulator Dynamics Improvement

The goal of this investigation is to perform a comparative analysis of the principal methodologies employed for the analytical formulation and the numerical solution of the equations of motion of rigid multibody mechanical systems. In particular, three formulation approaches are considered in this work for the analytical formulation of the equations of motion. The multibody formulation strategies discussed in this paper are the Reference Point Coordinate Formulation with Euler Angles (RPCF-EA), the Reference Point Coordinate Formulation with Euler Parameters (RPCF-EP), and the Natural Absolute Coordinate Formulation (NACF). Moreover, five computational algorithms are considered in this investigation for the development of effective and efficient solution procedures suitable for the numerical solution of the equations of motion. The multibody computational algorithms discussed in this paper are the Augmented Formulation (AF), the Embedding Technique (ET), the Amalgamated Formulation (AMF), the Projection Method (PM), and the Udwadia-Kalaba Equations (UKE). The multibody formulation approaches and solution procedures analyzed in this work are compared in terms of generality, versatility, ease of implementation, accuracy, effectiveness, and efficiency. In order to perform a general comparative study, four benchmark multibody systems are considered as numerical examples. The comparative study carried out in this paper demonstrates that all the methodologies considered can handle general multibody problems, are computationally effective and efficient, and lead to consistent numerical solutions.

Theoretical analysis suggests that decentralized active vibration damping implementing skyhook control (or advanced versions thereof), while applied locally, reduces vibration level over the whole structure by introducing modal damping. That was, however, never directly confirmed experimentally. Laser vibrometry, measuring vibration in multiple points in quick succession and referencing it to the excitation force, provides this opportunity. This paper reports theoretical considerations and experimental results illustrating reduction of total kinetic energy of all-steel optical breadboard by two active dampers. It had been shown (S. Elliott et al.) that the effect of collocated decentralized vibration control is limited by two phenomena: instability and “pinning.” These issues are analyzed by direct measurement of kinetic energy for a range of active control gains. Optimal gains minimizing kinetic energy with sufficient stability margin are demonstrated and discussed.

We have performed the first three-dimensional simulations of strong first-order thermal phase transitions in the early universe. For deflagrations, we find that the rotational component of the fluid velocity increases as the transition strength is increased. For detonations, however, the rotational velocity component remains constant and small. We also find that the efficiency with which kinetic energy is transferred to the fluid falls below theoretical expectations as we increase the transition strength. The probable origin of the kinetic energy deficit is the formation of reheated droplets of the metastable phase during the collision, slowing the bubble walls. The rate of increase in the gravitational wave energy density for deflagrations in strong transitions is suppressed compared to that predicted in earlier work. This is largely accounted for by the reduction in kinetic energy. Current modeling therefore substantially overestimates the gravitational wave signal for strong transitions with deflagrations, in the most extreme case by a factor of 10^{3}. Detonations are less affected.

During the last years integrated navigation systems based on gyros,accelerometers, and satellite navigation receivers became powerful,favourably priced devices for the guidance of aircraft and ships.Comparable equipment using especially wheel sensors exists for cars. Thekernel of such systems is a Kalman filter estimating the relevantvehicle motion. The filter design in turn requires a kinematical modelto settle on the motion components considered and to describe themechanical meaning of the measurements employed. Up to now, usual modelsrepresent a single rigid body with two, three or six degrees of freedom.

Despite their apparent simplicity, the helium hydride ion (HeH+) and its analogues with heavier noble gas (Ng) atoms present intriguing challenges due to their unusual electronic structures and distinct ground-state heterolytic bond dissociation profiles. In this work, we employ modern valence bond calculations and the interference energy analysis to investigate the nature of the chemical bond in NgH+ (Ng = He, Ne, Ar). Our findings reveal that the energy well formation in their ground-state potential energy curves is driven by a reduction in kinetic energy caused by quantum interference, identical to cases of homolytic bond dissociation. However, clear differences in bonding situation emerge: in HeH+ and ArH+, electron charge transfer leads to Ng+-H covalent bonds, while in NeH+, a preferred Ne + H+ valence bond structure suggests the formation of a dative bond. This study highlights the distinct bonding mechanisms within the NgH+ series, showcasing the interplay between quantum interference and quasi-classical effects in molecules featuring noble gases.

Safe Leads for safe heads: safer line weights for pelagic longline fisheries

Carbon fiber-reinforced thermoplastics (CFRTPs) are materials of great interest in industry. Like thermosets composite materials, they have an excellent weight/mechanical properties ratio and a high degree of automation in their manufacture and recyclability. However, these materials present difficulties in their machining due to their nature. Their anisotropy, together with their low glass transition temperature, can produce important defects in their machining. A process able to machine these materials correctly by producing very small thermal defects is abrasive waterjet machining. However, the dispersion of the waterjet produces a reduction in kinetic energy, which decreases its cutting capacity. This results in an inherent defect called a kerf taper. Also, machining these materials with reduced thicknesses can increase this defect due to the formation of a damage zone at the beginning of cut due to the abrasive particles. This paper studies the influence of cutting parameters on the kerf taper generated during waterjet machining of a thin-walled thermoplastic composite material (carbon/polyurethane, C/TPU). This influence was studied by means of an ANOVA statistical analysis, and a mathematical model was obtained by means of a response surface methodology (RSM). Kerf taper defect was evaluated using a new image processing methodology, where the initial and final damage zone was separated from the kerf taper defect. Finally, a combination of a hydraulic pressure of 3400 bar with a feed rate of 100 mm/min and an abrasive mass flow of 170 g/min produces the minimum kerf taper angle.

The anti-armored bullets have more kinetic energy due to additional mass than ordinary bullets which increases their likelihood function of penetration for a different target. It is necessary to seek solutions to reduce the possibility of penetration of this type of bullets. One of the most important parameters influencing penetration is projectile impact velocity. The mechanism of penetration varies in different velocity ranges. In this paper, the phenomenon of buckling steel cone with a nose cone in a collision with ceramic targets was investigated by the explicit finite element method using LS-Dayna software. The numerical simulation shows acceptable accuracy after comparing the results with previous research. In this study, the critical angle of ricochet at a different velocity ranging from 700 m/s to 1000 m/s and optimization of the optimal thickness ratio of ceramic/metal targets has been considered. According to the simulation outputs and analytical relations, it is clear that the critical ricocheting angle has increased with increasing velocity and the probability of projectile penetration is higher. The results also show that in the case of an oblique collision at a certain angle, the projectile velocity decreases with increasing target thickness with no drastic changes in the directional angle. As the angle of oblique increases, the amount of penetration in the target decreases. For long rod projectiles, the reduction in kinetic energy at the same collision velocities is not much different for both vertical and oblique collision modes. The erosion of the projectile mass in oblique collisions is less than in vertical collisions at the same time.

Determination and Application of Optimum Abrasive Mass Flow Rate of Abrasive Waterjet

Extreme preterm birth conveys an elevated risk of heart failure by young adulthood. Smaller biventricular chamber size, diastolic dysfunction, and pulmonary hypertension may contribute to reduced ventricular-vascular coupling. However, how hemodynamic manipulations may affect right ventricular (RV) function and coupling remains unknown. As a pilot study, 4D flow MRI was used to assess the effect of afterload reduction and heart rate reduction on cardiac hemodynamics and function. Young adults born premature were administered sildenafil (a pulmonary vasodilator) and metoprolol (a β blocker) on separate days, and MRI with 4D flow completed before and after each drug administration. Endpoints include cardiac index (CI), direct flow fractions, and ventricular kinetic energy including E/A wave kinetic energy ratio. Sildenafil resulted in a median CI increase of 0.24 L/min/m2 (P = 0.02), mediated through both an increase in heart rate (HR) and stroke volume. Although RV ejection fraction improved only modestly, there was a significant increase (4% of end diastolic volume) in RV direct flow fraction (P = 0.04), consistent with hemodynamic improvement. Metoprolol administration resulted in a 5-beats/min median decrease in HR (P = 0.01), a 0.37 L/min/m2 median decrease in CI (P = 0.04), and a reduction in time-averaged kinetic energy (KE) in both ventricles (P < 0.01), despite increased RV diastolic E/A KE ratio (P = 0.04). Despite reduced right atrial workload, metoprolol significantly depressed overall cardiac systolic function. Sildenafil, however, increased CI and improved RV function, as quantified by the direct flow fraction. The preterm heart appears dependent on HR but sensitive to RV afterload manipulations.NEW & NOTEWORTHY We assessed the effect of right ventricular afterload reduction with sildenafil and heart rate reduction with metoprolol on cardiac hemodynamics and function in young adults born premature using 4D flow MRI. Metoprolol depressed cardiac function, whereas sildenafil improved cardiac function including right ventricular direct flow fraction by 4D flow, consistent with hemodynamic improvement. This suggests that the preterm heart is dependent on heart rate and sensitive to right ventricular afterload changes.

Advance of southwest monsoon, after its onset, often gets stalled for a week or more causing concern to the farmers and other community whose activities are weather dependent. The present study on the energetics aspect of hiatus in the advance of southwest monsoon over India aims at understanding the dynamical reasons for this. Nine cases of hiatus of duration more than 10 days during 1982-2006 have been selected. For each hiatus case, different energy terms, their generation and conversion among different terms have been computed during the hiatus period and also during the pre-hiatus pentad over a limited region between 65° E to 90° E, 5° N to 30° N. These computations are based on NCEP 2.5° × 2.5° re-analysed daily composite data during different hiatus period and during corresponding pre-hiatus pentad.&#x0D; &#x0D; From this study it is found that :&#x0D; &#x0D; (i) In most of the cases there is a reduction in the generation of zonal available potential energy [G(AZ)] during hiatus period compared to pre-hiatus pentad.&#x0D; &#x0D; (ii) Drop in the conversion from zonal available potential energy to zonal kinetic energy [C(AZ, KZ)] during hiatus period has been observed in most of the cases.&#x0D; &#x0D; (iii) In most of the cases there is a reduction in zonal kinetic energy (KZ) and in eddy kinetic energy (KE) during hiatus period compared to pre-hiatus pentad.

Frequency control has become more of a concern for the reliable operation of interconnected power systems due to the integration of low inertia renewable to the grid. Electric Vehicle (EV)s have the potential to cooperate in emergency frequency control by a nonlinear control of the power system in case of large disturbances. An aggregate model is necessary for a quick response to prevent from much frequency deviation and the occurrence of any blackout. In this work, an aggregate of EVs is modeled as a virtual battery, considering the stochastic number of connected EVs and their initial State of Charge (SOC). A control strategy is applied to the aggregate model, using Lyapunov energy function, to maximize the rate of reduction of total kinetic energy in a two-area network after a fault event. The simulation results revealed that EVs can help the generator lose its kinetic energy in a short time after a contingency.

Vertical electrical conduction in Au/(polycrystal-line pentacene)/Al diode structures and the influence of the kinetic energy of incident Au atoms on the conduction property have been comprehensively studied using current–voltage–temperature (I–V–T) measurements, ultraviolet photoelectron spectroscopy (UPS), atomic-force-microscope (AFM) current imaging, etc. In the I–V characteristics, a symmetrical ohmic current component appeared when a low voltage was applied, and a super-linear one appeared when a high positive voltage was applied to Au. The component in the high-forward-voltage region was concluded to be a thermionic emission of holes from Au with a 0.23-eV injection barrier, which is the normal hole conduction through the highest occupied molecular orbital of pentacene. On the other hand, the ohmic component was concluded to be a metal-like electron transport through high-density gap states at grain boundaries which were induced by the Au penetration into pentacene. UPS and I–V–T measurements clearly indicated the generation of the gap states and the enhancement of their density by the reduction of Au kinetic energy. For vertical-type devices with polycrystalline organic films, the ohmic conduction through the grain boundary will increase the leakage current. On the contrary, it possibly enhances the carrier injection in lateral-type transistors in the case of top-contact configuration.

In this paper, a multi-propeller multifunction aerial robot (MMAR) capable of flying, wall-climbing and arm-operating is presented. Four propellers are devoted to the attitude control of the robot, and two manipulators are designed for the wall-climbing and arm-operating modes. When the aerial robot works in wall-climbing and arm-operating, there are dynamics coupling between the manipulators and the main body. The dynamics of manipulators depends on the motion of the main body, and the motion of manipulators will have reaction force and torque applied on the main body. The dynamics modeling of the robot is investigated by using recursive method. Based on the model, the trajectory linearization control of the robot is proposed. The controller of the robot when it transitions between its flight mode and wall-climbing mode is then designed. The simulation verification of the controller is presented, which can verified the feasibility of the controller.

In boreal winter, the El Niño/Southern Oscillation (ENSO)‐induced Pacific‐North American (PNA) teleconnection pattern is farther westward during La Niña relative to that in El Niño, causing discernible distinct climate implications. However, there has been a lack of consensus regarding the underlying mechanism driving this asymmetric structure. This study highlights the contribution of nonlinear kinetic energy advection (nKA) to this asymmetry. The zonally symmetric responses to ENSO, specifically the anomalies in zonal mean zonal flow, generate opposing nKA patterns by advecting anomalous eddy kinetic energy in the North Pacific, which leads to the shift of the PNA teleconnection pattern. In addition to nKA, transient eddy activities responded to changes of baroclinicity help maintain the asymmetry through a feedback effect. These findings underscore the importance of considering extratropical factors, such as nonlinear energy processes and synoptic‐scale transient eddies, in understanding the mechanism responsible for the asymmetric structure of the PNA teleconnection pattern.