Dynamics of a spherical robot with periodically changing moments of inertia

Author(s):  
Ivan S. Mamaev ◽  
Evgeny V. Vetchanin
2020 ◽  
Vol 25 (6) ◽  
pp. 689-706
Author(s):  
Elizaveta M. Artemova ◽  
Yury L. Karavaev ◽  
Ivan S. Mamaev ◽  
Evgeny V. Vetchanin

2017 ◽  
Vol 13 (2) ◽  
pp. 4678-4688
Author(s):  
K. A. Kharroube

We applied two different approaches to investigate the deformation structures of the two nuclei S32 and Ar36 . In the first approach, we considered these nuclei as being deformed and have axes of symmetry. Accordingly, we calculated their moments of inertia by using the concept of the single-particle Schrödinger fluid as functions of the deformation parameter β. In this case we calculated also the electric quadrupole moments of the two nuclei by applying Nilsson model as functions of β. In the second approach, we used a strongly deformed nonaxial single-particle potential, depending on Î² and the nonaxiality parameter γ , to obtain the single-particle energies and wave functions. Accordingly, we calculated the quadrupole moments of S32 and Ar36 by filling the single-particle states corresponding to the ground- and the first excited states of these nuclei. The moments of inertia of S32 and Ar36 are then calculated by applying the nuclear superfluidity model. The obtained results are in good agreement with the corresponding experimental data.


ROBOT ◽  
2013 ◽  
Vol 35 (1) ◽  
pp. 115
Author(s):  
Hao PAN ◽  
Hanxu SUN ◽  
Qingxuan JIA ◽  
Peng LI

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199295
Author(s):  
Ziang Zhang ◽  
Yixu Wan ◽  
You Wang ◽  
Xiaoqing Guan ◽  
Wei Ren ◽  
...  

This article proposes a modification of hybrid A* method used for navigation of spherical mobile robots with the ability of limited partial lateral movement driven by pendulum. For pendulum-driven spherical robots with nonzero minimal turning radius, our modification helps to find a feasible and achievable path, which can be followed in line with the low time cost. Because of spherical shell shape, the robot is point contact with the ground, showing different kinematic model compared with common ground mobile robots such as differential robot and wheeled car-like robot. Therefore, this article analyzes the kinematic model of spherical robot and proposes a novel method to generate feasible and achievable paths conforming to kinematic constraints, which can be the initial value of future trajectory tracking control and further optimization. A concept of optimal robot’s minimum area for rotation is also proposed to improve search efficiency and ensure the ability of turning to any orientation by moving forward and backward in a finite number of times within limited areas.


2020 ◽  
Vol 6 (3) ◽  
pp. 396-397
Author(s):  
Heiner Martin ◽  
Josephine Wittmüß ◽  
Thomas Mittlmeier ◽  
Niels Grabow

AbstractThe investigation of matching of endoprosthesis tibial components to the bone cross section is of interest for the manufacturer as well as for the surgeon. On the one hand, a systemic design of the prosthesis and the assortment is possible, on the other hand, a better matching implantation is enabled on the basis of experience of this study. CT sections were segmented manually using a CAD system and fitted by spline functions, then superseded with cross sections of the tibial component of a modified Hintermann H3 prosthesis. The principal moments of inertia, the direction of the principal axes and the area of the section were evaluated. Based on the relative differences of the principal moments of inertia, recommendations for application of the different prosthesis size and its selection with the surgery can be made.


2020 ◽  
Vol 500 (2) ◽  
pp. 2627-2644
Author(s):  
David Harvey ◽  
Andrew Robertson ◽  
Sut-Ieng Tam ◽  
Mathilde Jauzac ◽  
Richard Massey ◽  
...  

ABSTRACT If properly calibrated, the shapes of galaxy clusters can be used to investigate many physical processes: from feedback and quenching of star formation, to the nature of dark matter. Theorists frequently measure shapes using moments of inertia of simulated particles’. We instead create mock (optical, X-ray, strong-, and weak-lensing) observations of the 22 most massive ($\sim 10^{14.7}\, \mathrm{ M}_\odot$) relaxed clusters in the BAHAMAS simulations. We find that observable measures of shape are rounder. Even when moments of inertia are projected into 2D and evaluated at matched radius, they overestimate ellipticity by 56 per cent (compared to observable strong lensing) and 430 per cent (compared to observable weak lensing). Therefore, we propose matchable quantities and test them using observations of eight relaxed clusters from the Hubble Space Telescope (HST) and Chandra X-Ray Observatory. We also release our HST data reduction and lensing analysis software to the community. In real clusters, the ellipticity and orientation angle at all radii are strongly correlated. In simulated clusters, the ellipticity of inner (<rvir/20) regions becomes decoupled: for example, with greater misalignment of the central cluster galaxy. This may indicate overly efficient implementation of feedback from active galactic nuclei. Future exploitation of cluster shapes as a function of radii will require better understanding of core baryonic processes. Exploitation of shapes on any scale will require calibration on simulations extended all the way to mock observations.


1989 ◽  
Vol 73 (464) ◽  
pp. 127
Author(s):  
Nick Lord
Keyword(s):  

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