Application of Vehicle–Bridge Interaction Force Identification

2011 ◽  
pp. 257-288
Keyword(s):  
Interaction Force ◽  
Force Identification

scholarly journals Untangling superposed double layer and structural forces across confined nanoparticle suspensions

2021 ◽  
Author(s):  
Michael Ludwig ◽  
Regine von Klitzing
Keyword(s):  
Double Layer ◽  
Interaction Force ◽  
Charged Surfaces ◽  
Structural Forces ◽  
Nanoparticle Suspensions ◽  
Confined Suspensions ◽  
Force Profiles

Complete interaction force profiles of charged surfaces across confined suspensions were successfully described using a superposition of double layer and structural forces.

scholarly journals Sensorless environment stiffness and interaction force estimation for impedance control tuning in robotized interaction tasks

2021 ◽  
Author(s):  
Loris Roveda ◽  
Dario Piga
Keyword(s):  
Impedance Control ◽  
Interaction Force ◽  
Industrial Robots ◽  
Force Estimation ◽  
Interaction Control ◽  
Stiffness Properties ◽  
Implementation Effort ◽  
Coupling Dynamics ◽  
And Control ◽  
Assembly Tasks

AbstractIndustrial robots are increasingly used to perform tasks requiring an interaction with the surrounding environment (e.g., assembly tasks). Such environments are usually (partially) unknown to the robot, requiring the implemented controllers to suitably react to the established interaction. Standard controllers require force/torque measurements to close the loop. However, most of the industrial manipulators do not have embedded force/torque sensor(s) and such integration results in additional costs and implementation effort. To extend the use of compliant controllers to sensorless interaction control, a model-based methodology is presented in this paper. Relying on sensorless Cartesian impedance control, two Extended Kalman Filters (EKF) are proposed: an EKF for interaction force estimation and an EKF for environment stiffness estimation. Exploiting such estimations, a control architecture is proposed to implement a sensorless force loop (exploiting the provided estimated force) with adaptive Cartesian impedance control and coupling dynamics compensation (exploiting the provided estimated environment stiffness). The described approach has been validated in both simulations and experiments. A Franka EMIKA panda robot has been used. A probing task involving different materials (i.e., with different - unknown - stiffness properties) has been considered to show the capabilities of the developed EKFs (able to converge with limited errors) and control tuning (preserving stability). Additionally, a polishing-like task and an assembly task have been implemented to show the achieved performance of the proposed methodology.

scholarly journals Direct observation of a coil-to-helix contraction triggered by vinculin binding to talin

2020 ◽  
Vol 6 (21) ◽  
pp. eaaz4707 ◽  
Author(s):  
Rafael Tapia-Rojo ◽  
Alvaro Alonso-Caballero ◽  
Julio M. Fernandez
Keyword(s):  
Focal Adhesions ◽  
Interaction Force ◽  
Magnetic Tweezers ◽  
Feedback Mechanism ◽  
Force Transmission ◽  
Mechanical Coupling ◽  
Negative Feedback Mechanism ◽  
The Reformation ◽  
Energy Penalty ◽  
First Time

Vinculin binds unfolded talin domains in focal adhesions, which recruits actin filaments to reinforce the mechanical coupling of this organelle. However, it remains unknown how this interaction is regulated and its impact on the force transmission properties of this mechanotransduction pathway. Here, we use magnetic tweezers to measure the interaction between vinculin head and the talin R3 domain under physiological forces. For the first time, we resolve individual binding events as a short contraction of the unfolded talin polypeptide caused by the reformation of the vinculin-binding site helices, which dictates a biphasic mechanism that regulates this interaction. Force favors vinculin binding by unfolding talin and exposing the vinculin-binding sites; however, the coil-to-helix contraction introduces an energy penalty that increases with force, defining an optimal binding regime. This mechanism implies that the talin-vinculin-actin association could operate as a negative feedback mechanism to stabilize force on focal adhesions.

Interaction force between coal and Na-, K- and Ca- montmorillonite 001 surfaces in aqueous solutions

Fuel ◽  
2021 ◽  
Vol 289 ◽  
pp. 119977
Author(s):  
Hongliang Li ◽  
Hua Han ◽  
Yue Wang ◽  
Xianshu Dong ◽  
Hongli Yang ◽  
...  
Keyword(s):  
Aqueous Solutions ◽  
Interaction Force
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