Design and control of minimum-phase flexible arms with torque transmission mechanisms

2002 ◽  
Author(s):  
J.-H. Park ◽  
H. Asada
Keyword(s):  
Minimum Phase ◽  
Transmission Mechanisms ◽  
Torque Transmission ◽  
Flexible Arms ◽  
And Control

Dynamic Analysis of Noncollocated Flexible Arms and Design of Torque Transmission Mechanisms

1994 ◽  
Vol 116 (2) ◽  
pp. 201-207 ◽  
Author(s):  
Jahng-Hyon Park ◽  
Haruhiko Asada
Keyword(s):  
Closed Loop ◽  
Open Loop ◽  
Design Guidelines ◽  
Phase System ◽  
Nonminimum Phase ◽  
Transmission Mechanisms ◽  
Flexible Arm ◽  
Torque Transmission ◽  
Endpoint Control ◽  
Flexible Arms

A new actuation method for one-link flexible arms is presented. The endpoint control of a flexible arm has been known as a nonminimum phase system due to the noncollocated sensor and actuator. By relocating the actuator near the endpoint, the system can be modified to approximate a minimum phase system. In order to implement this, transmission mechanisms are developed which transform the actuator torque to a combination of force and torque and transmit them to an appropriate point on the arm link. Exact pole-zero configurations are analyzed with regard to the location of the actuation point and the type of actuator used. Guidelines for design of the transmission mechanisms and the actuation points are developed with respect to the operation bandwidth, stability and controllability. A prototype flexible arm is designed based on the design guidelines and open-loop and closed-loop tests are performed to verify the effectiveness.

Octopus Motor Control

2020 ◽  
Author(s):  
Nir Nesher ◽  
Guy Levy ◽  
Letizia Zullo ◽  
Benyamin Hochner
Keyword(s):  
Nervous System ◽  
Motor Control ◽  
Animal Studies ◽  
Motor Behavior ◽  
Flexible Body ◽  
Motor Abilities ◽  
Reciprocal Interactions ◽  
Independent Evolution ◽  
Flexible Arms ◽  
And Control

The octopus, with its eight long and flexible arms, is an excellent example of the independent evolution of highly efficient motor behavior in a soft-bodied animal. Studies will be summarized to show that the amazing behavioral motor abilities of the octopus are achieved through a special embodied organization of its flexible body, unusual morphology, and a unique central and peripheral distribution of its extremely large nervous system. This special embodied organization of brain–body–environment reciprocal interactions makes it possible to overcome the difficulties involved in generation and control of movement in an animal, which unlike vertebrates and arthropods lacks rigid skeletal appendages.

scholarly journals TUBERCULOSE HUMANA CAUSADA PELO Mycobacterium bovis: CONSIDERAÇÕES GERAIS E A IMPORTÂNCIA DOS RESERVATÓRIOS ANIMAIS

1999 ◽  
Vol 4 (1) ◽  
Author(s):  
REGINA MAURA CABRAL DE MELO ABRAHÃO
Keyword(s):  
Mycobacterium Bovis ◽  
Prevention And Control ◽  
World Health ◽  
Financial Resources ◽  
Transmission Mechanisms ◽  
The World ◽  
Human Material ◽  
Health Organization ◽  
And Control ◽  
Animal Reservoirs

Visando conhecer os dados epidemiológicos, a etiologia, a patogenia, os recursos diagnósticos, os mecanismos de transmissão, o tratamento, a prevenção e o controle da tuberculose causada pelo Mycobacterium bovis no homem, em bovinos e em reservatórios animais, realizou-se uma extensa revisão bibliográfica para rever a situação da tuberculose humana causada por essa micobactéria, em termos mundiais, uma vez que os dados disponíveis no Brasil são precários. Evidenciou-se a necessidade de uma política de aporte de recursos materiais, humanos e financeiros, que envolvam uma cooperação internacional de órgãos vinculados à saúde pública, corroborando as recomendações da Organização Mundial da Saúde, divulgadas em Genebra em 1993. Abstract Aiming to collect all available data on the epidemiology, etiology, pathogeny, diagnostic methodology, transmission mechanisms, treatment, prevention and control of the tuberculosis caused by Mycobacterium bovis in man, bovine and animal reservoirs, an extensive bibliographical research has been carried out. This research allowed an up to date review on the worldwide human tuberculosis caused by that microorganism. From this study it became evident the need for human, material and financial resources and of an international cooperation of organs and agencies linked to public health entities in order to face the seriousness of this important problem, following the 1993 Geneva Recommendations from the World Health Organization.

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