scholarly journals Stewart-Gough Platform: Design and Construction with a Digital PID Controller Implementation

2020 ◽  
Author(s):  
Flabio Dario Mirelez-Delgado ◽  
José Ronaldo Díaz-Paredes ◽  
Miguel Abraham Gallardo-Carreón
Keyword(s):  
Degrees Of Freedom ◽  
Extreme Points ◽  
Sampling Period ◽  
Parallel Mechanisms ◽  
Digital Pid ◽  
Functional Prototype ◽  
Definition Of ◽  
Didactic Material ◽  
Stewart Gough Platform ◽  
Selection Of

This document presents the design of a digital PID control for a Stewart-Gough platform, delimited by six degrees of freedom (DoF) that allow the final effector to have displacement in the XYZ axes and rotation with warpage, pitch, and yaw restrictions. It includes the study and resolution of the direct and inverse kinematics of the platform, as well as the workspace described by the final effector and its corresponding simulation of movements and joints to study extreme points and possible singularities. From the definition of characteristics, the CAD design generated from the generalized mathematical model of the public domain, and the general selection of materials for the construction of the functional prototype, a study of applied forces is generated to observe the points with stress concentrators, the safety factor, and possible deformations. The estimation of the sampling period for the selection of the microcontroller and an approximate definition of the response time are also considered. The development of this prototype and its documentation are proposed as didactic material for the study, design, and control of parallel mechanisms.

Development of a Haptic Device with Wire-Driven Parallel Structure

2017 ◽  
Vol 11 (3) ◽  
pp. 385-395
Author(s):  
Carlo Ferraresi ◽  
◽  
Carlo De Benedictis ◽  
Francesco Pescarmona
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Parallel Structure ◽  
Control Logic ◽  
End Effector ◽  
Six Degrees Of Freedom ◽  
Force Closure ◽  
Force Reflection ◽  
Definition Of ◽  
Selection Of

This study focuses on the specific problems that may arise in the development of a parallel, cable-driven device designed for teleoperations systems utilizing force-reflection feedback. A redundant six degrees-of-freedom structure, actuated by nine wires, is described as a convenient layout for a haptic master for telemanipulation. A methodology for the kinematic and static analysis and the evaluation of the device workspace is described. The condition of force closure is used to find all available poses of the end-effector, thereby defining the workspace, whose characteristics are assessed by opportunely conceived indexes. Typical characteristics of cable and implementations thereof in the device are considered. Regarding the realization of the device, relevant attention is given to the definition of the control logic, which can be complex for parallel devices. The selection of the actuators, crucial in realizing force feedback, is discussed. In particular, pneumatic actuation is considered, verified as the most appropriate method for implementation and force control of the cylinders.

Selection and Preparation of Specific Tissue Regions For Tem Using Large Epoxy-Embedded Blocks

1973 ◽  
Vol 31 ◽  
pp. 324-325 ◽  
Author(s):  
P. M. Lowrie ◽  
W. S. Tyler
Keyword(s):  
Electron Microscopy ◽  
Anatomical Structures ◽  
Ultrastructural Studies ◽  
Transmission Electron ◽  
Microscopic Evaluation ◽  
Embedded Blocks ◽  
Specific Tissue ◽  
Definition Of ◽  
Areas Of Interest ◽  
Selection Of

The importance of examining stained 1 to 2μ plastic sections by light microscopy has long been recognized, both for increased definition of many histologic features and for selection of specimen samples to be used in ultrastructural studies. Selection of specimens with specific orien ation relative to anatomical structures becomes of critical importance in ultrastructural investigations of organs such as the lung. The uantity of blocks necessary to locate special areas of interest by random sampling is large, however, and the method is lacking in precision. Several methods have been described for selection of specific areas for electron microscopy using light microscopic evaluation of paraffin, epoxy-infiltrated, or epoxy-embedded large blocks from which thick sections were cut. Selected areas from these thick sections were subsequently removed and re-embedded or attached to blank precasted blocks and resectioned for transmission electron microscopy (TEM).

Shape Dynamics and the Linking Theory

2018 ◽  
Author(s):  
Flavio Mercati
Keyword(s):  
Phase Space ◽  
Degrees Of Freedom ◽  
Line Element ◽  
Hamiltonian Formulation ◽  
Operational Definition ◽  
Extended Phase Space ◽  
Extended Phase ◽  
Problem Of Time ◽  
Definition Of ◽  
Matter Fields

This chapter explains in detail the current Hamiltonian formulation of SD, and the concept of Linking Theory of which (GR) and SD are two complementary gauge-fixings. The physical degrees of freedom of SD are identified, the simple way in which it solves the problem of time and the problem of observables in quantum gravity are explained, and the solution to the problem of constructing a spacetime slab from a solution of SD (and the related definition of physical rods and clocks) is described. Furthermore, the canonical way of coupling matter to SD is introduced, together with the operational definition of four-dimensional line element as an effective background for matter fields. The chapter concludes with two ‘structural’ results obtained in the attempt of finding a construction principle for SD: the concept of ‘symmetry doubling’, related to the BRST formulation of the theory, and the idea of ‘conformogeometrodynamics regained’, that is, to derive the theory as the unique one in the extended phase space of GR that realizes the symmetry doubling idea.

scholarly journals Promotion of Resilience in Migrants: A Systematic Review of Study and Psychosocial Intervention

2021 ◽  
Author(s):  
Maria Ciaramella ◽  
Nadia Monacelli ◽  
Livia Concetta Eugenia Cocimano
Keyword(s):  
Systematic Review ◽  
Psychosocial Intervention ◽  
Life Experiences ◽  
Psychosocial Interventions ◽  
Migrant Population ◽  
Methodological Choices ◽  
Research Questions ◽  
Definition Of ◽  
Selection Of

AbstractThis systematic review aimed to contribute to a better and more focused understanding of the link between the concept of resilience and psychosocial interventions in the migrant population. The research questions concerned the type of population involved, definition of resilience, methodological choices and which intervention programmes were targeted at migrants. In the 90 articles included, an heterogeneity in defining resilience or not well specified definition resulted. Different migratory experiences were not adequately considered in the selection of participants. Few resilience interventions on migrants were resulted. A lack of procedure’s descriptions that keep in account specific migrants’ life-experiences and efficacy’s measures were highlighted.

scholarly journals Getting to Hope: Perspectives from Patients and Caregivers Living with Chronic Childhood Illness

Children ◽  
2021 ◽  
Vol 8 (6) ◽  
pp. 525
Author(s):  
Emily von Scheven ◽  
Bhupinder K. Nahal ◽  
Rosa Kelekian ◽  
Christina Frenzel ◽  
Victoria Vanderpoel ◽  
...  
Keyword(s):  
Conceptual Model ◽  
Research Question ◽  
Young Patients ◽  
Future Research ◽  
Childhood Onset ◽  
Virtual Focus Groups ◽  
Definition Of ◽  
Selection Of ◽  
Chronic Childhood ◽  
Research Studies

Promoting hope was identified in our prior work as the top priority research question among patients and caregivers with diverse childhood-onset chronic conditions. Here, we aimed to construct a conceptual model to guide future research studies of interventions to improve hope. We conducted eight monthly virtual focus groups and one virtual workshop with patients, caregivers, and researchers to explore key constructs to inform the model. Discussions were facilitated by Patient Co-Investigators. Participants developed a definition of hope and identified promotors and inhibitors that influence the experience of hope. We utilized qualitative methods to analyze findings and organize the promotors and inhibitors of hope within three strata of the socio-ecologic framework: structural, interpersonal, and intrapersonal. Participants identified three types of interventions to promote hope: resources, navigation, and activities to promote social connection. The hope conceptual model can be used to inform the selection of interventions to assess in future research studies aimed at improving hope and the specification of outcome measures to include in hope research studies. Inclusion of the health care system in the model provides direction for identifying strategies for improving the system and places responsibility on the system to do better to promote hope among young patients with chronic illness and their caregivers.

scholarly journals Examining and Fine-tuning the Selection of Glycan Compositions with GlyConnect Compozitor

2020 ◽  
Vol 19 (10) ◽  
pp. 1602-1618 ◽  
Author(s):  
Thibault Robin ◽  
Julien Mariethoz ◽  
Frédérique Lisacek
Keyword(s):  
Search Engine ◽  
Posttranslational Modifications ◽  
Search Engines ◽  
Web Application ◽  
Contextual Information ◽  
Fine Tuning ◽  
Data Sources ◽  
Web Interface ◽  
Definition Of ◽  
Selection Of

A key point in achieving accurate intact glycopeptide identification is the definition of the glycan composition file that is used to match experimental with theoretical masses by a glycoproteomics search engine. At present, these files are mainly built from searching the literature and/or querying data sources focused on posttranslational modifications. Most glycoproteomics search engines include a default composition file that is readily used when processing MS data. We introduce here a glycan composition visualizing and comparative tool associated with the GlyConnect database and called GlyConnect Compozitor. It offers a web interface through which the database can be queried to bring out contextual information relative to a set of glycan compositions. The tool takes advantage of compositions being related to one another through shared monosaccharide counts and outputs interactive graphs summarizing information searched in the database. These results provide a guide for selecting or deselecting compositions in a file in order to reflect the context of a study as closely as possible. They also confirm the consistency of a set of compositions based on the content of the GlyConnect database. As part of the tool collection of the Glycomics@ExPASy initiative, Compozitor is hosted at https://glyconnect.expasy.org/compozitor/ where it can be run as a web application. It is also directly accessible from the GlyConnect database.

General Schema Theory for Genetic Programming with Subtree-Swapping Crossover: Part II

2003 ◽  
Vol 11 (2) ◽  
pp. 169-206 ◽  
Author(s):  
Riccardo Poli ◽  
Nicholas Freitag McPhee
Keyword(s):  
Genetic Programming ◽  
Schema Theory ◽  
Exact Formulation ◽  
Expected Number ◽  
Size Evolution ◽  
General Schema ◽  
Definition Of ◽  
Effective Fitness ◽  
Selection Of ◽  
Exact Definition

This paper is the second part of a two-part paper which introduces a general schema theory for genetic programming (GP) with subtree-swapping crossover (Part I (Poli and McPhee, 2003)). Like other recent GP schema theory results, the theory gives an exact formulation (rather than a lower bound) for the expected number of instances of a schema at the next generation. The theory is based on a Cartesian node reference system, introduced in Part I, and on the notion of a variable-arity hyperschema, introduced here, which generalises previous definitions of a schema. The theory includes two main theorems describing the propagation of GP schemata: a microscopic and a macroscopic schema theorem. The microscopic version is applicable to crossover operators which replace a subtree in one parent with a subtree from the other parent to produce the offspring. Therefore, this theorem is applicable to Koza's GP crossover with and without uniform selection of the crossover points, as well as one-point crossover, size-fair crossover, strongly-typed GP crossover, context-preserving crossover and many others. The macroscopic version is applicable to crossover operators in which the probability of selecting any two crossover points in the parents depends only on the parents' size and shape. In the paper we provide examples, we show how the theory can be specialised to specific crossover operators and we illustrate how it can be used to derive other general results. These include an exact definition of effective fitness and a size-evolution equation for GP with subtree-swapping crossover.

Selection of Degrees of Freedom for Dynamic Analysis

1987 ◽  
Vol 109 (1) ◽  
pp. 65-69 ◽  
Author(s):  
K. W. Matta
Keyword(s):  
Finite Element ◽  
Dynamic Analysis ◽  
Degrees Of Freedom ◽  
General Purpose ◽  
Component Mode Synthesis ◽  
Complex Structures ◽  
Large Complex ◽  
Static Condensation ◽  
Basis Vectors ◽  
Selection Of

A technique for the selection of dynamic degrees of freedom (DDOF) of large, complex structures for dynamic analysis is described and the formulation of Ritz basis vectors for static condensation and component mode synthesis is presented. Generally, the selection of DDOF is left to the judgment of engineers. For large, complex structures, however, a danger of poor or improper selection of DDOF exists. An improper selection may result in singularity of the eigenvalue problem, or in missing some of the lower frequencies. This technique can be used to select the DDOF to reduce the size of large eigenproblems and to select the DDOF to eliminate the singularities of the assembled eigenproblem of component mode synthesis. The execution of this technique is discussed in this paper. Examples are given for using this technique in conjunction with a general purpose finite element computer program GENSAM[1].

Influence of Clearances and Thermal Effects on the Dynamic Behavior of Gear-Hydrodynamic Journal Bearing Systems

2013 ◽  
Vol 135 (6) ◽  
Author(s):  
R. Fargère ◽  
P. Velex
Keyword(s):  
Degrees Of Freedom ◽  
Integration Scheme ◽  
Time Step ◽  
Specific Element ◽  
Normal Contact ◽  
Contact Algorithm ◽  
Gear Teeth ◽  
Proposed Model ◽  
Elastic Couplings ◽  
Definition Of

A global model of mechanical transmissions is introduced which deals with most of the possible interactions between gears, shafts, and hydrodynamic journal bearings. A specific element for wide-faced gears with nonlinear time-varying mesh stiffness and tooth shape deviations is combined with shaft finite elements, whereas the bearing contributions are introduced based on the direct solution of Reynolds' equation. Because of the large bearing clearances, particular attention has been paid to the definition of the degrees-of-freedom and their datum. Solutions are derived by combining a time step integration scheme, a Newton–Raphson method, and a normal contact algorithm in such a way that the contact conditions in the bearings and on the gear teeth are simultaneously dealt with. A series of comparisons with the experimental results obtained on a test rig are given which prove that the proposed model is sound. Finally, a number of results are presented which show that parameters often discarded in global models such as the location of the oil inlet area, the oil temperature in the bearings, the clearance/elastic couplings interactions, etc. can be influential on static and dynamic tooth loading.

Sign in / Sign up

Export Citation Format

Share Document