An indentation depth-force sensing wheeled probe for abnormality identification during minimally invasive surgery.

PubMed

Liu, H; Puangmali, P; Zbyszewski, D; Elhage, O; Dasgupta, P; Dai, J S; Seneviratne, L; Althoefer, K

2010-01-01

This paper presents a novel wheeled probe for the purpose of aiding a surgeon in soft tissue abnormality identification during minimally invasive surgery (MIS), compensating the loss of haptic feedback commonly associated with MIS. Initially, a prototype for validating the concept was developed. The wheeled probe consists of an indentation depth sensor employing an optic fibre sensing scheme and a force/torque sensor. The two sensors work in unison, allowing the wheeled probe to measure the tool-tissue interaction force and the rolling indentation depth concurrently. The indentation depth sensor was developed and initially tested on a homogenous silicone phantom representing a good model for a soft tissue organ; the results show that the sensor can accurately measure the indentation depths occurring while performing rolling indentation, and has good repeatability. To validate the ability of the wheeled probe to identify abnormalities located in the tissue, the device was tested on a silicone phantom containing embedded hard nodules. The experimental data demonstrate that recording the tissue reaction force as well as rolling indentation depth signals during rolling indentation, the wheeled probe can rapidly identify the distribution of tissue stiffness and cause the embedded hard nodules to be accurately located.

Improved rolling element bearings provide low torque and small temperature rise in ultrahigh vacuum environment

NASA Technical Reports Server (NTRS)

Glenn, D. C.

1966-01-01

Rolling element bearing with stainless steel races and rolling elements and a porous bronze cage successfully operates in ultrahigh vacuum environments at a low torque and with small temperature rise. All components are burnished in molybdenum disulfide.

Computer-aided analysis and design of the shape rolling process for producing turbine engine airfoils

NASA Technical Reports Server (NTRS)

Lahoti, G. D.; Akgerman, N.; Altan, T.

1978-01-01

Mild steel (AISI 1018) was selected as model cold-rolling material and Ti-6Al-4V and INCONEL 718 were selected as typical hot-rolling and cold-rolling alloys, respectively. The flow stress and workability of these alloys were characterized and friction factor at the roll/workpiece interface was determined at their respective working conditions by conducting ring tests. Computer-aided mathematical models for predicting metal flow and stresses, and for simulating the shape-rolling process were developed. These models utilize the upper-bound and the slab methods of analysis, and are capable of predicting the lateral spread, roll-separating force, roll torque and local stresses, strains and strain rates. This computer-aided design (CAD) system is also capable of simulating the actual rolling process and thereby designing roll-pass schedule in rolling of an airfoil or similar shape. The predictions from the CAD system were verified with respect to cold rolling of mild steel plates. The system is being applied to cold and hot isothermal rolling of an airfoil shape, and will be verified with respect to laboratory experiments under controlled conditions.

Friction losses in a lubricated thrust-loaded cageless angular-contract bearing

NASA Technical Reports Server (NTRS)

Townsend, D. P.; Allen, C. W.; Zaretsky, E. V.

1973-01-01

The NASA spinning torque apparatus was modified to measure the spinning torque on a cageless ball thrust bearing. Friction torque was measured for thrust loads varying from 44.5 to 403 newtons (10 to 90 lb) at speeds of 1000, 2000, and 3000 rpm. Tests were conducted with di-2-ethylhexyl sebacate and a synthetic paraffinic oil. These tests were run with either oil jet lubrication or with a thin surface film of lubricant only. An analytical model which included rolling resistance was developed and extended from previous models for spinning torque and lubricant rheology. The model was extended by the inclusion of rolling resistance. The computed values were in fair agreement with the experimental results and confirmed previous hypotheses that a thin lubricant film gives minimum bearing torque and an oil jet flow of a viscous lubricant will result in considerable rolling torque in addition to the torque due to ball spin.

Leukocyte Rolling on P-Selectin: A Three-Dimensional Numerical Study of the Effect of Cytoplasmic Viscosity

PubMed Central

Khismatullin, Damir B.; Truskey, George A.

2012-01-01

Rolling leukocytes deform and show a large area of contact with endothelium under physiological flow conditions. We studied the effect of cytoplasmic viscosity on leukocyte rolling using our three-dimensional numerical algorithm that treats leukocyte as a compound droplet in which the core phase (nucleus) and the shell phase (cytoplasm) are viscoelastic fluids. The algorithm includes the mechanical properties of the cell cortex by cortical tension and considers leukocyte microvilli that deform viscoelastically and form viscous tethers at supercritical force. Stochastic binding kinetics describes binding of adhesion molecules. The leukocyte cytoplasmic viscosity plays a critical role in leukocyte rolling on an adhesive substrate. High-viscosity cells are characterized by high mean rolling velocities, increased temporal fluctuations in the instantaneous velocity, and a high probability for detachment from the substrate. A decrease in the rolling velocity, drag, and torque with the formation of a large, flat contact area in low-viscosity cells leads to a dramatic decrease in the bond force and stable rolling. Using values of viscosity consistent with step aspiration studies of human neutrophils (5–30 Pa·s), our computational model predicts the velocities and shape changes of rolling leukocytes as observed in vitro and in vivo. PMID:22768931

Effect of superconducting solenoid model cores on spanwise iron magnet roll control

NASA Technical Reports Server (NTRS)

Britcher, C. P.

1985-01-01

Compared with conventional ferromagnetic fuselage cores, superconducting solenoid cores appear to offer significant reductions in the projected cost of a large wind tunnel magnetic suspension and balance system. The provision of sufficient magnetic roll torque capability has been a long-standing problem with all magnetic suspension and balance systems; and the spanwise iron magnet scheme appears to be the most powerful system available. This scheme utilizes iron cores which are installed in the wings of the model. It was anticipated that the magnetization of these cores, and hence the roll torque generated, would be affected by the powerful external magnetic field of the superconducting solenoid. A preliminary study has been made of the effect of the superconducting solenoid fuselage model core concept on the spanwise iron magnet roll torque generation schemes. Computed data for one representative configuration indicate that reductions in available roll torque occur over a range of applied magnetic field levels. These results indicate that a 30-percent increase in roll electromagnet capacity over that previously determined will be required for a representative 8-foot wind tunnel magnetic suspension and balance system design.

Fluidic emergency roll control system. [for emergency aircraft control following failure of primary roll control system

NASA Technical Reports Server (NTRS)

Haefner, K. B.; Honda, T. S.

1973-01-01

A fluidic emergency roll control system for aircraft stabilization in the event of primary flight control failure was evaluated. The fluidic roll control units were designed to provide roll torque proportional to an electrical command as operated by two diametrically opposed thrust nozzles located in the wing tips. The control package consists of a solid propellant gas generator, two diametrically opposed vortex valve modulated thrust nozzles, and an electromagnetic torque motor. The procedures for the design, development, and performance testing of the system are described.

Low speed maneuvering flight of the rose-breasted cockatoo (Eolophus roseicapillus). II. Inertial and aerodynamic reorientation.

PubMed

Hedrick, T L; Usherwood, J R; Biewener, A A

2007-06-01

The reconfigurable, flapping wings of birds allow for both inertial and aerodynamic modes of reorientation. We found evidence that both these modes play important roles in the low speed turning flight of the rose-breasted cockatoo Eolophus roseicapillus. Using three-dimensional kinematics recorded from six cockatoos making a 90 degrees turn in a flight corridor, we developed predictions of inertial and aerodynamic reorientation from estimates of wing moments of inertia and flapping arcs, and a blade-element aerodynamic model. The blade-element model successfully predicted weight support (predicted was 88+/-17% of observed, N=6) and centripetal force (predicted was 79+/-29% of observed, N=6) for the maneuvering cockatoos and provided a reasonable estimate of mechanical power. The estimated torque from the model was a significant predictor of roll acceleration (r(2)=0.55, P<0.00001), but greatly overestimated roll magnitude when applied with no roll damping. Non-dimensional roll damping coefficients of approximately -1.5, 2-6 times greater than those typical of airplane flight dynamics (approximately -0.45), were required to bring our estimates of reorientation due to aerodynamic torque back into conjunction with the measured changes in orientation. Our estimates of inertial reorientation were statistically significant predictors of the measured reorientation within wingbeats (r(2) from 0.2 to 0.37, P<0.0005). Components of both our inertial reorientation and aerodynamic torque estimates correlated, significantly, with asymmetries in the activation profile of four flight muscles: the pectoralis, supracoracoideus, biceps brachii and extensor metacarpi radialis (r(2) from 0.27 to 0.45, P<0.005). Thus, avian flight maneuvers rely on production of asymmetries throughout the flight apparatus rather than in a specific set of control or turning muscles.

Body saccades of Drosophila consist of stereotyped banked turns.

PubMed

Muijres, Florian T; Elzinga, Michael J; Iwasaki, Nicole A; Dickinson, Michael H

2015-03-01

The flight pattern of many fly species consists of straight flight segments interspersed with rapid turns called body saccades, a strategy that is thought to minimize motion blur. We analyzed the body saccades of fruit flies (Drosophila hydei), using high-speed 3D videography to track body and wing kinematics and a dynamically scaled robot to study the production of aerodynamic forces and moments. Although the size, degree and speed of the saccades vary, the dynamics of the maneuver are remarkably stereotypic. In executing a body saccade, flies perform a quick roll and counter-roll, combined with a slower unidirectional rotation around their yaw axis. Flies regulate the size of the turn by adjusting the magnitude of torque that they produce about these control axes, while maintaining the orientation of the rotational axes in the body frame constant. In this way, body saccades are different from escape responses in the same species, in which the roll and pitch component of banking is varied to adjust turn angle. Our analysis of the wing kinematics and aerodynamics showed that flies control aerodynamic torques during the saccade primarily by adjusting the timing and amount of span-wise wing rotation. © 2015. Published by The Company of Biologists Ltd.

Attitude maneuvers of a solar-powered electric orbital transfer vehicle

NASA Astrophysics Data System (ADS)

Jenkin, Alan B.

1992-08-01

Attitude maneuver requirements of a solar-powered electric orbital transfer vehicle have been studied in detail. This involved evaluation of the yaw, pitch, and roll profiles and associated angular accelerations needed to simultaneously steer the vehicle thrust vector and maintain the solar array pointed toward the sun. Maintaining the solar array pointed exactly at the sun leads to snap roll maneuvers which have very high (theoretically unbounded) accelerations, thereby imposing large torque requirements. The problem is exacerbated by the large solar arrays which are needed to generate the high levels of power needed by electric propulsion devices. A method of eliminating the snap roll maneuvers is presented. The method involves the determination of relaxed roll profiles which approximate a forced transition between alternate exact roll profiles and incur only small errors in solar array pointing. The method makes it feasible to perform the required maneuvers using currently available attitude control technology such as reaction wheels, hot gas jets, or gimballed main engines.

40 CFR 1066.705 - Symbols, abbreviations, acronyms, and units of measure.

Code of Federal Regulations, 2012 CFR

2012-07-01

... series n total number of pulses in a series R dynamometer roll revolutions revolutions per minute rpm 2·π... torque (moment of force) newton meter N·m m2·kg·s−2 t time second s s Δt time interval, period, 1... atmospheric b base c coastdown e effective error error exp expected quantity i an individual of a series final...

An advanced dissymmetric rolling model for online regulation

NASA Astrophysics Data System (ADS)

Cao, Trong-Son

2017-10-01

Roll-bite model is employed to predict the rolling force, torque as well as to estimate the forward slip for preset or online regulation at industrial rolling mills. The rolling process is often dissymmetric in terms of work-rolls rotation speeds and diameters as well as the friction conditions at upper and lower contact surfaces between work-rolls and the strip. The roll-bite model thus must be able to account for these dissymmetries and in the same time has to be accurate and fast enough for online applications. In the present study, a new method, namely Adapted Discretization Slab Method (ADSM) is proposed to obtain a robust roll-bite model, which can take into account the aforementioned dissymmetries and has a very short response time, lower than one millisecond. This model is based on the slab method, with an adaptive discretization and a global Newton-Raphson procedure to improve the convergence speed. The model was validated by comparing with other dissymmetric models proposed in the literature, as well as Finite Element simulations and industrial pilot trials. Furthermore, back-calculation tool was also constructed for friction management for both offline and online applications. With very short CPU time, the ADSM-based model is thus attractive for all online applications, both for cold and hot rolling.

Aerodynamics in the amusement park: interpreting sensor data for acceleration and rotation

NASA Astrophysics Data System (ADS)

Löfstrand, Marcus; Pendrill, Ann-Marie

2016-09-01

The sky roller ride depends on interaction with the air to create a rolling motion. In this paper, we analyse forces, torque and angular velocities during different parts of the ride, combining a theoretical analysis, with photos, videos as well as with accelerometer and gyroscopic data, that may be collected e.g. with a smartphone. For interpreting the result, it must be taken into account that the sensors and their coordinate system rotate together with the rider. The sky roller offers many examples for physics education, from simple circular motion, to acceleration and rotation involving several axes, as well as the relation between wing orientation, torque and angular velocities and using barometer pressure to determine the elevation gain.

Valuation of coefficient of rolling friction by the inclined plane method

NASA Astrophysics Data System (ADS)

Ciornei, F. C.; Alaci, S.; Ciogole, V. I.; Ciornei, M. C.

2017-05-01

A major objective of tribological researches is characterisation of rolling friction, due to various cases encountered in classical engineering applications, like gear transmissions and cam mechanisms or more recent examples met in bioengineering and biomedical devices. A characteristic of these examples consists in reduced dimensions of the contact zones, theoretically zero, the relative motion occurring between the contact points being either sliding or rolling. A characteristic parameter for the rolling motion is the coefficient of rolling friction. The paper proposes a method for estimation of coefficient of rolling friction by studying the motion of a body of revolution on an inclined plane. Assuming the hypothesis that moment of rolling friction is proportional to the normal reaction force, the law of motion for the body on the inclined plane is found under the premise of pure rolling. It is reached the conclusion that there is an uniformly accelerated motion, and thus for a known plane slope, it is sufficient to find the time during which the body runs a certain distance, starting from motionless situation. To obtain accurate results assumes finding precisely the time of motion. The coefficient of rolling friction was estimated for several slopes of the inclined plane and it is concluded that with increased slope, the values of coefficient of rolling friction increase, fact that suggest that the proportionality between the rolling torque and normal load is valid only for domains of limited variations of normal load.

Method for spinning up a three-axis controlled spacecraft

NASA Technical Reports Server (NTRS)

Vorlicek, Preston L. (Inventor)

1988-01-01

A three-axis controlled spacecraft (1), typically a satellite, is spun up about its roll axis (20) prior to firing a motor (2), i.e., a perigee kick motor, to achieve the requisite degree of angular momentum stiffness. Thrusters (21) for imparting rotation about the roll axis (20) are activated in open-loop fashion, typically at less than full duty cycle. Cross-axis torques induced by this rotational motion are compensated for by means of closed control loops for each of the pitch and yaw axes (30, 40, respectively). Each closed control loop combines a prebias torque (72) with torques (75, 74) representative of position and rate feedback information, respectively. A deadband (52) within each closed control loop can be widened during the spinup, to conserve fuel. Position feedback information (75) in each of the control loops is disabled upon saturation of the gyroscope associated with the roll axis (20).

Torque vectoring for improving stability of small electric vehicles

NASA Astrophysics Data System (ADS)

Grzegożek, W.; Weigel-Milleret, K.

2016-09-01

The electric vehicles solutions based on the individually controlled electric motors propel a single wheel allow to improve the dynamic properties of the vehicle by varying the distribution of the driving torque. Most of the literature refer to the vehicles with a track typical for passenger cars. This paper examines whether the narrow vehicle (with a very small track) torque vectoring bring a noticeable change of the understeer characteristics and whether torque vectoring is possible to use in securing a narrow vehicle from roll over (roll mitigation). The paper contains road tests of the steering characteristics (steady state understeer characteristic quasi-static acceleration with a fixed steering wheel (SH = const) and on the constant radius track (R = const)) of the narrow vehicle. The vehicle understeer characteristic as a function of a power distribution is presented.

Understanding reversals of a rattleback

NASA Astrophysics Data System (ADS)

Rauch-Wojciechowski, Stefan; Przybylska, Maria

2017-07-01

A counterintuitive unidirectional (say counterclockwise) motion of a toy rattleback takes place when it is started by tapping it at a long side or by spinning it slowly in the clockwise sense of rotation. We study the motion of a toy rattleback having an ellipsoidal-shaped bottom by using frictionless Newton equations of motion of a rigid body rolling without sliding in a plane. We simulate these equations for tapping and spinning initial conditions to see the contact trajectory, the force arm and the reaction force responsible for torque turning the rattleback in the counterclockwise sense of rotation. Long time behavior of such a rattleback is, however, quasi-periodic and a rattleback starting with small transversal oscillations turns in the clockwise direction.

Development of a Dirigible Bomb

DTIC Science & Technology

1943-04-15

X - ¥ control for all future high-angle dirigible bombs in spite of the instrumental complications involved. /. two gyro system consisting of t...ts found thet the bomb wos in roll equilibrium £.t aero roll orientetion . Moreover, these roll equilibrium positions ire stt-ble ss indicated by...tirflow giving rise to voll torques in the seme direction fcs roll dis- placements from the «ero orientetion , the roll equilibrium found for equel pitch

Acute Effects of Foam Rolling, Static Stretching, and Dynamic Stretching During Warm-ups on Muscular Flexibility and Strength in Young Adults.

PubMed

Su, Hsuan; Chang, Nai-Jen; Wu, Wen-Lan; Guo, Lan-Yuen; Chu, I-Hua

2017-11-01

Foam rolling has been proposed to improve muscle function, performance, and joint range of motion (ROM). However, whether a foam rolling protocol can be adopted as a warm-up to improve flexibility and muscle strength is unclear. To examine and compare the acute effects of foam rolling, static stretching, and dynamic stretching used as part of a warm-up on flexibility and muscle strength of knee flexion and extension. Crossover study. University research laboratory. 15 male and 15 female college students (age 21.43 ± 1.48 y, weight 65.13 ± 12.29 kg, height 166.90 ± 6.99 cm). Isokinetic peak torque was measured during knee extension and flexion at an angular velocity of 60°/second. Flexibility of the quadriceps was assessed by the modified Thomas test, while flexibility of the hamstrings was assessed using the sit-and-reach test. The 3 interventions were performed by all participants in random order on 3 days separated by 48-72 hours. The flexibility test scores improved significantly more after foam rolling as compared with static and dynamic stretching. With regard to muscle strength, only knee extension peak torque (pre vs. postintervention) improved significantly after the dynamic stretching and foam rolling, but not after static stretching. Knee flexion peak torque remained unchanged. Foam rolling is more effective than static and dynamic stretching in acutely increasing flexibility of the quadriceps and hamstrings without hampering muscle strength, and may be recommended as part of a warm-up in healthy young adults.

Force, Torque and Stiffness: Interactions in Perceptual Discrimination

PubMed Central

Wu, Bing; Klatzky, Roberta L.; Hollis, Ralph L.

2011-01-01

Three experiments investigated whether force and torque cues interact in haptic discrimination of force, torque and stiffness, and if so, how. The statistical relation between force and torque was manipulated across four experimental conditions: Either one type of cue varied while the other was constant, or both varied so as to be positively correlated, negatively correlated, or uncorrelated. Experiment 1 showed that the subjects’ ability to discriminate force was improved by positively correlated torque but impaired with uncorrelated torque, as compared to the constant torque condition. Corresponding effects were found in Experiment 2 for the influence of force on torque discrimination. These findings indicate that force and torque are integrated in perception, rather than being processed as separate dimensions. A further experiment demonstrated facilitation of stiffness discrimination by correlated force and torque, whether the correlation was positive or negative. The findings suggest new means of augmenting haptic feedback to facilitate perception of the properties of soft objects. PMID:21359137

Fluid management in roll-to-roll nanoimprint lithography

NASA Astrophysics Data System (ADS)

Jain, A.; Bonnecaze, R. T.

2013-06-01

The key process parameters of UV roll-to-roll nanoimprint lithography are identified from an analysis of the fluid, curing, and peeling dynamics. The process includes merging of droplets of imprint material, curing of the imprint material from a viscous liquid to elastic solid resist, and pattern replication and detachment of the resist from template. The time and distances on the web or rigid substrate over which these processes occur are determined as function of the physical properties of the uncured liquid, the cured solid, and the roller configuration. The upper convected Maxwell equation is used to model the viscoelastic liquid and to calculate the force on the substrate and the torque on the roller. The available exposure time is found to be the rate limiting parameter and it is O(√Rho /uo), where R is the radius of the roller, ho is minimum gap between the roller and web, and uo is the velocity of the web. The residual layer thickness of the resist should be larger than the gap between the roller and the substrate to ensure complete feature filling and optimal pattern replication. For lower residual layer thickness, the droplets may not merge to form a continuous film for pattern transfer.

Attitude control system design using a flywheel suspended by two gimbals

NASA Astrophysics Data System (ADS)

Peres, R. W.; Ricci, M. C.

2015-10-01

This work presents the attitude control system design procedures for a three axis stabilized satellite in geostationary orbit, which contains a flywheel suspended by two gimbals. The use of a flywheel with two DOFs is an interesting option because with only one device it's possible to control the torques about vehicle's three axes; through the wheel speed control and gyrotorquing phenomenon with two DOFs. If the wheel size and speed are determined properly it's possible to cancel cyclic torques using gas jets only periodically to cancel secular disturbance torques. The system, based on a flywheel, takes only one pitch/roll (earth) sensor to maintain precise attitude, unlike mass expulsion based control systems, which uses propellants continuously, beyond roll, pitch and yaw sensors. It is considered the satellite is in nominal orbit and, therefore, that the attitude's acquisition phase has already elapsed. Control laws and system parameters are determined in order to cancel the solar pressure radiation disturbance torque and the torque due to misalignment of the thrusters. Stability is analyzed and step and cyclic responses are obtained.

Analytical Methods of Decoupling the Automotive Engine Torque Roll Axis

NASA Astrophysics Data System (ADS)

JEONG, TAESEOK; SINGH, RAJENDRA

2000-06-01

This paper analytically examines the multi-dimensional mounting schemes of an automotive engine-gearbox system when excited by oscillating torques. In particular, the issue of torque roll axis decoupling is analyzed in significant detail since it is poorly understood. New dynamic decoupling axioms are presented an d compared with the conventional elastic axis mounting and focalization methods. A linear time-invariant system assumption is made in addition to a proportionally damped system. Only rigid-body modes of the powertrain are considered and the chassis elements are assumed to be rigid. Several simplified physical systems are considered and new closed-form solutions for symmetric and asymmetric engine-mounting systems are developed. These clearly explain the design concepts for the 4-point mounting scheme. Our analytical solutions match with the existing design formulations that are only applicable to symmetric geometries. Spectra for all six rigid-body motions are predicted using the alternate decoupling methods and the closed-form solutions are verified. Also, our method is validated by comparing modal solutions with prior experimental and analytical studies. Parametric design studies are carried out to illustrate the methodology. Chief contributions of this research include the development of new or refined analytical models and closed-form solutions along with improved design strategies for the torque roll axis decoupling.

A self-calibrating multicomponent force/torque measuring system

NASA Astrophysics Data System (ADS)

Marangoni, Rafael R.; Schleichert, Jan; Rahneberg, Ilko; Hilbrunner, Falko; Fröhlich, Thomas

2018-07-01

A multicomponent self-calibrating force and torque sensor is presented. In this system, the principle of a Kibble balance is adapted for the traceable force and torque measurement in three orthogonal directions. The system has two operating modes: the velocity mode and the force/torque sensing mode. In the velocity mode, the calibration of the sensor is performed, while in the force/torque sensing mode, forces and torques are measured by using the principle of the electromagnetic force compensation. Details about the system are provided, with the main components of the sensor and a description of the operational procedure. A prototype of the system is currently being implemented for measuring forces and torques in a range of  ±2 N and  ±0.1 N · m respectively. A maximal relative expanded measurement uncertainty (k  =  2) of 1 · 10‑4 is expected for the force and torque measurements.

Effects of warm-up on hamstring muscles stiffness: Cycling vs foam rolling.

PubMed

Morales-Artacho, A J; Lacourpaille, L; Guilhem, G

2017-12-01

This study investigated the effects of active and/or passive warm-up tasks on the hamstring muscles stiffness through elastography and passive torque measurements. On separate occasions, fourteen males randomly completed four warm-up protocols comprising Control, Cycling, Foam rolling, or Cycling plus Foam rolling (Mixed). The stiffness of the hamstring muscles was assessed through shear wave elastography, along with the passive torque-angle relationship and maximal range of motion (ROM) before, 5, and 30 minutes after each experimental condition. At 5 minutes, Cycling and Mixed decreased shear modulus (-10.3% ± 5.9% and -7.7% ± 8.4%, respectively; P≤.0003, effect size [ES]≥0.24) and passive torque (-7.17% ± 8.6% and -6.2% ± 7.5%, respectively; P≤.051, ES≥0.28), and increased ROM (+2.9% ± 2.9% and +3.2% ± 3.5%, respectively; P≤.001, ES≥0.30); 30 minutes following Mixed, shear modulus (P=.001, ES=0.21) and passive torque (P≤.068, ES≥0.2) were still slightly decreased, while ROM increased (P=.046, ES=0.24). Foam rolling induced "small" immediate short-term decreases in shear modulus (-5.4% ± 5.7% at 5 minutes; P=.05, ES=0.21), without meaningful changes in passive torque or ROM at any time point (P≥.12, ES≤0.23). These results suggest that the combined warm-up elicited no acute superior effects on muscle stiffness compared with cycling, providing evidence for the key role of active warm-up to reduce muscle stiffness. The time between warm-up and competition should be considered when optimizing the effects on muscle stiffness. © 2017 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Rolling Resistance of Tires Measured Under Transient and Equilibrium Conditions on Calspan's Tire Research

DOT National Transportation Integrated Search

1976-03-01

Rolling loss tests were performed on 31 different passenger and 4 light truck tires under transient and equilibrium conditions. The tests were designed to determine the effects of load, speed, inflation pressure, tire temperature, slip angle, torque,...

Improved Force-And-Torque Sensor Assembly

NASA Technical Reports Server (NTRS)

Bamford, Robert M.

1991-01-01

Improved sensor assembly measures forces and torques of interaction between supporting and supported object. Measures all three components of force and all three components of torque. Force measurements uncoupled from torque measurements. Price for improved measurement capability, complexity and flexibility, excessive in some applications.

Azimuthal velocity measurement in the ion beam of a gridded ion thruster using laser-induced fluorescence spectroscopy

NASA Astrophysics Data System (ADS)

Tsukizaki, Ryudo; Yamamoto, Yuta; Koda, Daiki; Yusuke, Yamashita; Nishiyama, Kazutaka; Kuninaka, Hitoshi

2018-01-01

This paper presents the first laboratory-based study to measure the azimuthal velocities of ions in the beam of a gridded ion thruster. Through the operation of gridded ion thrusters in space, it has been confirmed that these thrusters cause an unexpected roll torque about the ion beam axis. To reveal the physical mechanism that produces this torque, laser-induced fluorescence spectroscopy has been applied to a microwave ion thruster that was installed in Japanese asteroid probes. This technique can be used to measure the azimuthal velocity by estimating the Doppler shift of the Xe II 5p 4({}3{P}2)6p {}2{[3]}0 5/2 to Xe II 5p 4({}3{P}2)6s {}2[2] 3/2 transition at 834.659 nm. The measurement was conducted without a neutralizer cathode to avoid the possibility of the cathode affecting the trajectory of the ion beam. The measured velocity functions are the sum of the spectra of the high velocity beam ions and those of charge exchange ions. By deconvolving these spectra, the azimuthal velocities were successfully measured and were found to range from -700 to 620 m s-1 with an accuracy of ±25%. The measured azimuthal velocity profile was accurately reproduced by the simulated velocity profile obtained using a model, which includes the effects of the maximum possible misalignment of the accelerator grid with respect to the screen grid and the Lorentz force produced by the magnetic field leaked from the discharge chamber. A roll torque of 0.5 ± 0.1 μN m about the thrust axis was calculated from the velocity profile, which is lower than that reported in flight data, but additional mechanisms are suggested to explain this discrepancy.

Bearing Tester Data Compilation Analysis, and Reporting and Bearing Math Modeling

NASA Technical Reports Server (NTRS)

1985-01-01

The magnitude and direction of fluid induced torques and forces on the 57 mm bearing cage is considered to be a contributing factor in possible cage instabilities that can produce intermittent high heating in the bearing. Analyses of the fluid forces and torques are presented. Heat generated by viscous fluid work was estimated for two flow diverter configurations and a coolant flow of 10 lbs/sec to support the thermal evaluation of the LOX Bearing Materials Tester. Results of the analysis of the LOX turbopump turbine end bearings are discussed. Coolant velocities for the no. 4 LOX turbopump turbine end bearings were estimated as a function of shaft speed and coolant flow rate. Contact angles and track width data were developed for the 57 mm bearing as functions of shaft speed, and axial and radial loads. The Advanced Dynamics of Rolling Elements (ADORE) computer program was installed on the MSFC UNIVAC 1100 and a test case successfully run. Both the text output and the plotting output were verified. The Bearing Seal and Materials Tester - Test Condition Data Base was developed. The parametric analysis of the operating characteristics of the LOX turbopump pump end bearing using the 45 mm bearing thermal model was begun.

76 FR 39763 - Special Conditions: Boeing Model 787-8 Airplane; Interaction of Systems and Structures...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-07-07

...) Protection, Limit Engine Torque Loads for Sudden Engine Stoppage, and Design Roll Maneuver Requirement AGENCY... design features when compared to the state of technology envisioned in the airworthiness standards for transport category airplanes. These design features include limit engine torque loads for sudden engine...

Studying the development of asynchronous rolling of the rotor over the stator with the turbine unit protection systems having different response times

NASA Astrophysics Data System (ADS)

Shatokhin, V. F.

2014-07-01

The possibility to stabilize the developing asynchronous rolling of the rotor over the stator under the conditions of power unit protections coming in action with different response times is considered. Asynchronous rolling of the rotor over the stator may develop when the rotating rotor comes in contact with the stator at high amplitudes of vibration caused by an abrupt loss of rotor balancing, by forced or self-excited vibration of the rotor, and by other factors. The danger of asynchronous rolling is connected with almost instantaneous development of self-excited vibration of the rotor when it comes in contact with the stator and with the rotor vibration amplitudes and forces of interaction between the rotor and stator dangerous for the turbine unit integrity. It is assumed that the turbine unit protection systems come in action after the arrival of signal of exceeding the permissible vibration level and produce commands to disconnect the generator from the grid, and to stop the supply of working fluid into the flow path, due to which an accelerating torque ceases to act on the turbine unit shaft. The protection system response speed is determined by a certain time t = ABtime that is taken for its components to come in action from the commencement of the event (application of the signal) to closure of the stop valves. The time curves of the main rolling parameters as functions of the ABtime value are presented. It is shown that the response time of existing protection systems is not sufficient for efficiently damping the rolling phenomenon, although the use of an electrical protection system (with the response time equal to 0.40-0.45 s) may have a positive effect on stabilizing the vibration amplitudes to a certain extent during the rolling and on smoothing its dangerous consequences. The consequences of rotor rolling over the stator can be efficiently mitigated by increasing the energy losses in the rotor-stator system (especially in the stator) and by fulfilling the recommendations of the machinery unit catastrophe prevention system.

Attitude and Translation Control of a Solar Sail Vehicle

NASA Technical Reports Server (NTRS)

Singh, Gurkirpal

2008-01-01

A report discusses the ability to control the attitude and translation degrees-of-freedom of a solar sail vehicle by changing its center of gravity. A movement of the spacecraft s center of mass causes solar-pressure force to apply a torque to the vehicle. At the compact core of the solar-sail vehicle lies the spacecraft bus which is a large fraction of the total vehicle mass. In this concept, the bus is attached to the spacecraft by two single degree-of-freedom linear tracks. This allows relative movement of the bus in the sail plane. At the null position, the resulting solar pressure applies no torque to the vehicle. But any deviation of the bus from the null creates an offset between the spacecraft center of mass and center of solar radiation pressure, resulting in a solar-pressure torque on the vehicle which changes the vehicle attitude. Two of the three vehicle degrees of freedom can be actively controlled in this manner. The third, the roll about the sunline, requires a low-authority vane/propulsive subsystem. Translation control of the vehicle is achieved by directing the solar-pressure-induced force in the proper inertial direction. This requires attitude control. Attitude and translation degrees-of-freedom are therefore coupled. A guidance law is proposed, which allows the vehicle to stationkeep at an appropriate point on the inertially-rotating Sun-Earth line. Power requirements for moving the bus are minimal. Extensive software simulations have been performed to demonstrate the feasibility of this concept.

Retrograde motion of a rolling disk

NASA Astrophysics Data System (ADS)

Borisov, A. V.; Kilin, A. A.; Karavaev, Yu L.

2017-12-01

This paper presents results of theoretical and experimental research explaining the retrograde final-stage rolling of a disk under certain relations between its mass and geometric parameters. Modifying the no-slip model of a rolling disk by including viscous rolling friction provides a qualitative explanation for the disk’s retrograde motion. At the same time, the simple experiments described in the paper completely reject the aerodynamical drag torque as a key reason for the retro-grade motion of a disk considered, thus disproving some recent hypotheses.

An evaluation of string theory for the prediction of dynamic tire properties using scale model aircraft tires

NASA Technical Reports Server (NTRS)

Clark, S. K.; Dodge, R. N.; Nybakken, G. H.

1972-01-01

The string theory was evaluated for predicting lateral tire dynamic properties as obtained from scaled model tests. The experimental data and string theory predictions are in generally good agreement using lateral stiffness and relaxation length values obtained from the static or slowly rolling tire. The results indicate that lateral forces and self-aligning torques are linearly proportional to tire lateral stiffness and to the amplitude of either steer or lateral displacement. In addition, the results show that the ratio of input excitation frequency to road speed is the proper independent variable by which frequency should be measured.

Dynamic Torque and Vertical Force Analysis during Nickel-titanium Rotary Root Canal Preparation with Different Modes of Reciprocal Rotation.

PubMed

Tokita, Daisuke; Ebihara, Arata; Nishijo, Miki; Miyara, Kana; Okiji, Takashi

2017-10-01

The purpose of the present study was to compare 2 modes of reciprocal movement (torque-sensitive and time-dependent reciprocal rotation) with continuous rotation in terms of torque and apical force generation during nickel-titanium rotary root canal instrumentation. A custom-made automated root canal instrumentation and torque/force analyzing device was used to prepare simulated canals in resin blocks and monitor the torque and apical force generated in the blocks during preparation. Experimental groups (n = 7, each) consisted of (1) torque-sensitive reciprocal rotation with torque-sensitive vertical movement (group TqR), (2) time-dependent reciprocal rotation with time-dependent vertical movement (group TmR), and (3) continuous rotation with time-dependent vertical movement (group CR). The canals were instrumented with TF Adaptive SM1 and SM2 rotary files (SybronEndo, Orange, CA), and the torque and apical force were measured during instrumentation with SM2. The mean and maximum torque and apical force values were statistically analyzed using 1-way analysis of variance and the Tukey test (α = 0.05). The recordings showed intermittent increases of upward apical force and clockwise torque, indicating the generation and release of screw-in forces. The maximum upward apical force values in group TmR were significantly smaller than those in group CR (P < .05). The maximum torque values in clockwise and counterclockwise directions in groups TqR and TmR were significantly smaller than those in group CR (P < .05). Under the present experimental conditions using TF Adaptive instruments, both torque-sensitive and time-dependent reciprocal rotation generated significantly lower maximum torque and may have advantages in reducing stress generation caused by screw-in forces when compared with continuous rotation. Copyright © 2017 American Association of Endodontists. Published by Elsevier Inc. All rights reserved.

Transition of torque pattern in undulatory locomotion due to wave number variation in resistive force dominated media

NASA Astrophysics Data System (ADS)

Ding, Yang; Ming, Tingyu

2016-11-01

In undulatory locomotion, torque (bending moment) is required along the body to overcome the external forces from environments and bend the body. Previous observations on animals using less than two wavelengths on the body showed such torque has a single traveling wave pattern. Using resistive force theory model and considering the torque generated by external force in a resistive force dominated media, we found that as the wave number (number of wavelengths on the locomotor's body) increases from 0.5 to 1.8, the speed of the traveling wave of torque decreases. When the wave number increases to 2 and greater, the torque pattern transits from a single traveling wave to a two traveling waves and then a complex pattern that consists two wave-like patterns. By analyzing the force distribution and its contribution to the torque, we explain the speed decrease of the torque wave and the pattern transition. This research is partially supported by the Recruitment Program of Global Young Experts (China).

Triple-axis common-pivot arm wrist device for manipulative applications

NASA Technical Reports Server (NTRS)

Kersten, L.; Johnston, J. D.

1980-01-01

A concept in manipulator development to overcome the 'weak wrist syndrome', a triple-axis common-pivot arm wrist (TACPAW), is presented. It contains torque motors for actuation, tachometers for measuring rate, and resolvers for position measurements. Furthermore, it provides three degrees of freedom, i.e., pitch, yaw, and roll, in a single manipulator joint. The advantages of this development are increased strength, compactness, and simplification of controls. Designed to be compatible with the protoflight manipulator arm, the joints of TACPAW are back-driveable with + or - 45 deg rotation in pitch, + or - 45 deg in yaw and continuous roll in either direction while delivering 20.5 N-m (15 ft-lb) torque in each of the three movements.

Force-sensed interface for control and training space robot

NASA Astrophysics Data System (ADS)

Moiseev, O. S.; Sarsadskikh, A. S.; Povalyaev, N. D.; Gorbunov, V. I.; Kulakov, F. M.; Vasilev, V. V.

2018-05-01

A method of positional and force-torque control of robots is proposed. Prototypes of the system and the master handle have been created. Algorithm of bias estimation and gravity compensation for force-torque sensor and force-torque trajectory correction are described.

Rolling Friction on a Wheeled Laboratory Cart

ERIC Educational Resources Information Center

Mungan, Carl E.

2012-01-01

A simple model is developed that predicts the coefficient of rolling friction for an undriven laboratory cart on a track that is approximately independent of the mass loaded onto the cart and of the angle of inclination of the track. The model includes both deformation of the wheels/track and frictional torque at the axles/bearings. The concept of…

How do dragonflies recover from falling upside down?

NASA Astrophysics Data System (ADS)

Wang, Z. Jane; Melfi, James, Jr.; Leonardo, Anthony

2014-11-01

We release dragonflies from a magnetic tether so that they fall from an initially upside down orientation. To recover, the dragonflies roll their body 180 degrees every time. This set up offers an effective method for eliciting a stereotypical turn so that we can collect a large amount of data on the same turn. From the wing and body kinematics, we can tease out the strategy dragonflies use to roll their body. We record these flights with three zoomed in high-speed video cameras. By filming at 4000 to 8000fps, we measure the wing twist along each of the four wings as a part of the 3D wing kinematics. The shape of the wing twist depends on the interaction between the aerodynamic torque and the torque exerted by muscles, therefore providing clues on which of their four wings actively participate in creating the turn. By applying dynamic calculations to the measured kinematics, we further deduce the amount of torques dragonflies exert in order to turn.

Research on the rolling moment in the symmetrical and asymmetrical rolling process

NASA Astrophysics Data System (ADS)

Alexa, V.; Raţiu, S. A.; Kiss, I.; Cioată, C. G.

2017-01-01

Research distribution the rolling moments symmetrical and asymmetrical report presents great importance both in theory and to introduce clarifications to the calculation of rolling resistance line assemblies. Clarifying individuals of metallic material deformation between the rolls single cylinder diameters act of any difference of work and analysis of advance and delay phenomena. Torque drive value for each of the rolling cylinders was done by reducing the thickness of the laminate samples, an experimental facility located in the laboratory of plastic deformation of the Faculty of Engineering Hunedoara. The analysis of research results show that in terms of power consumption for deformation and safety equipment in operation is rational for mills which require such a difference between the work rolls to execute about one cylinder operated.

Enhanced model of gear transmission dynamics for condition monitoring applications: Effects of torque, friction and bearing clearance

NASA Astrophysics Data System (ADS)

Fernandez-del-Rincon, A.; Garcia, P.; Diez-Ibarbia, A.; de-Juan, A.; Iglesias, M.; Viadero, F.

2017-02-01

Gear transmissions remain as one of the most complex mechanical systems from the point of view of noise and vibration behavior. Research on gear modeling leading to the obtaining of models capable of accurately reproduce the dynamic behavior of real gear transmissions has spread out the last decades. Most of these models, although useful for design stages, often include simplifications that impede their application for condition monitoring purposes. Trying to filling this gap, the model presented in this paper allows us to simulate gear transmission dynamics including most of these features usually neglected by the state of the art models. This work presents a model capable of considering simultaneously the internal excitations due to the variable meshing stiffness (including the coupling among successive tooth pairs in contact, the non-linearity linked with the contacts between surfaces and the dissipative effects), and those excitations consequence of the bearing variable compliance (including clearances or pre-loads). The model can also simulate gear dynamics in a realistic torque dependent scenario. The proposed model combines a hybrid formulation for calculation of meshing forces with a non-linear variable compliance approach for bearings. Meshing forces are obtained by means of a double approach which combines numerical and analytical aspects. The methodology used provides a detailed description of the meshing forces, allowing their calculation even when gear center distance is modified due to shaft and bearing flexibilities, which are unavoidable in real transmissions. On the other hand, forces at bearing level were obtained considering a variable number of supporting rolling elements, depending on the applied load and clearances. Both formulations have been developed and applied to the simulation of the vibration of a sample transmission, focusing the attention on the transmitted load, friction meshing forces and bearing preloads.

On a criterion of incipient motion and entrainment into suspension of a particle from cuttings bed in shear flow of non-Newtonian fluid

NASA Astrophysics Data System (ADS)

Ignatenko, Yaroslav; Bocharov, Oleg; May, Roland

2017-10-01

Solids transport is a major issue in high angle wells. Bed-load forms by sediment while transport and accompanied by intermittent contact with stream-bed by rolling, sliding and bouncing. The study presents the results of a numerical simulation of a laminar steady-state flow around a particle at rest and in free motion in a shear flow of Herschel-Bulkley fluid. The simulation was performed using the OpenFOAM open-source CFD package. A criterion for particle incipient motion and entrainment into suspension from cuttings bed (Shields criteria) based on forces and torques balance is discussed. Deflection of the fluid parameters from the ones of Newtonian fluid leads to decreasing of the drag and lift forces and the hydrodynamic moment. Thus, the critical shear stress (Shields parameter) for the considered non-Newtonian fluid must be greater than the one for a Newtonian fluid.

Inertial torque during reaching directly impacts grip-force adaptation to weightless objects.

PubMed

Giard, T; Crevecoeur, F; McIntyre, J; Thonnard, J-L; Lefèvre, P

2015-11-01

A hallmark of movement control expressed by healthy humans is the ability to gradually improve motor performance through learning. In the context of object manipulation, previous work has shown that the presence of a torque load has a direct impact on grip-force control, characterized by a significantly slower grip-force adjustment across lifting movements. The origin of this slower adaptation rate remains unclear. On the one hand, information about tangential constraints during stationary holding may be difficult to extract in the presence of a torque. On the other hand, inertial torque experienced during movement may also potentially disrupt the grip-force adjustments, as the dynamical constraints clearly differ from the situation when no torque load is present. To address the influence of inertial torque loads, we instructed healthy adults to perform visually guided reaching movements in weightlessness while holding an unbalanced object relative to the grip axis. Weightlessness offered the possibility to remove gravitational constraints and isolate the effect of movement-related feedback on grip force adjustments. Grip-force adaptation rates were compared with a control group who manipulated a balanced object without any torque load and also in weightlessness. Our results clearly show that grip-force adaptation in the presence of a torque load is significantly slower, which suggests that the presence of torque loads experienced during movement may alter our internal estimates of how much force is required to hold an unbalanced object stable. This observation may explain why grasping objects around the expected location of the center of mass is such an important component of planning and control of manipulation tasks.

Electromagnetic torque tweezers: a versatile approach for measurement of single-molecule twist and torque.

PubMed

Janssen, Xander J A; Lipfert, Jan; Jager, Tessa; Daudey, Renier; Beekman, Jaap; Dekker, Nynke H

2012-07-11

The well-established single-molecule force-spectroscopy techniques have recently been complemented by methods that can measure torque and twist directly, notably magnetic torque tweezers and the optical torque wrench. A limitation of the current torque measurement schemes is the intrinsic coupling between the force and torque degrees of freedom. Here we present electromagnetic torque tweezers (eMTT) that combine permanent and electromagnets to enable independent control of the force and torsional trap stiffness for sensitive measurements of single molecule torque and twist. Using the eMTT, we demonstrate sensitive torque measurements on tethered DNA molecules from simple tracking of the beads' (x,y)-position, obviating the need for any angular tracking algorithms or markers. Employing the eMTT for high-resolution torque measurements, we experimentally confirm the theoretically predicted torque overshoot at the DNA buckling transition in high salt conditions. We envision that the flexibility and control afforded by the eMTT will enable a range of new torque and twist measurement schemes from single-molecules to living cells.

Why does a spinning egg rise?

NASA Astrophysics Data System (ADS)

Cross, Rod

2018-03-01

Experimental and theoretical results are presented concerning the rise of a spinning egg. It was found that an egg rises quickly while it is sliding and then more slowly when it starts rolling. The angular momentum of the egg projected in the XZ plane changed in the same direction as the friction torque, as expected, by rotating away from the vertical Z axis. The latter result does not explain the rise. However, an even larger effect arises from the Y component of the angular momentum vector. As the egg rises, the egg rotates about the Y axis, an effect that is closely analogous to rotation of the egg about the Z axis. Both effects can be described in terms of precession about the respective axes. Steady precession about the Z axis arises from the normal reaction force in the Z direction, while precession about the Y axis arises from the friction force in the Y direction. Precession about the Z axis ceases if the normal reaction force decreases to zero, and precession about the Y axis ceases if the friction force decreases to zero.

Detecting Casimir torque with an optically levitated nanorod

NASA Astrophysics Data System (ADS)

Xu, Zhujing; Li, Tongcang

2017-09-01

The linear momentum and angular momentum of virtual photons of quantum vacuum fluctuations can induce the Casimir force and the Casimir torque, respectively. While the Casimir force has been measured extensively, the Casimir torque has not been observed experimentally though it was predicted over 40 years ago. Here we propose to detect the Casimir torque with an optically levitated nanorod near a birefringent plate in vacuum. The axis of the nanorod tends to align with the polarization direction of the linearly polarized optical tweezer. When its axis is not parallel or perpendicular to the optical axis of the birefringent crystal, it will experience a Casimir torque that shifts its orientation slightly. We calculate the Casimir torque and Casimir force acting on a levitated nanorod near a birefringent crystal. We also investigate the effects of thermal noise and photon recoils on the torque and force detection. We prove that a levitated nanorod in vacuum will be capable of detecting the Casimir torque under realistic conditions, and will be an important tool in precision measurements.

Measurement of the torque on a single stretched and twisted DNA using magnetic tweezers.

PubMed

Mosconi, Francesco; Allemand, Jean François; Bensimon, David; Croquette, Vincent

2009-02-20

We deduced the torque applied on a single stretched and twisted DNA by integrating the change in the molecule's extension with respect to force as it is coiled. While consistent with previous direct measurements of the torque at high forces (F>1 pN), this method, which is simple and does not require a sophisticated setup, allows for lower force estimates. We used this approach to deduce the effective torsional modulus of DNA, which decreases with force, and to estimate the buckling torque of DNA as a function of force in various salt conditions.

A study on high-speed rolling contact between a wheel and a contaminated rail

NASA Astrophysics Data System (ADS)

Zhao, Xin; Wen, Zefeng; Zhu, Minhao; Jin, Xuesong

2014-10-01

A 3-D explicit finite element model is developed to investigate the transient wheel-rail rolling contact in the presence of rail contamination or short low adhesion zones (LAZs). A transient analysis is required because the wheel passes by a short LAZ very quickly, especially at high speeds. A surface-to-surface contact algorithm (by the penalty method) is employed to solve the frictional rolling contact between the wheel and the rail meshed by solid elements. The LAZ is simulated by a varying coefficient of friction along the rail. Different traction efforts and action of the traction control system triggered by the LAZ are simulated by applying a time-dependent driving torque to the wheel axle. Structural flexibilities of the vehicle-track system are considered properly. Analysis focuses on the contact forces, creepage, contact stresses and the derived frictional work and plastic deformation. It is found that the longitudinal contact force and the maximum surface shear stress in the contact patch become obviously lower in the LAZ and much higher as the wheel re-enters the dry rail section. Consequently, a higher wear rate and larger plastic flow are expected at the location where the dry contact starts to be rebuilt. In other words, contact surface damages such as wheel flats and rail burns may come into being because of the LAZ. Length of the LAZ, the traction level, etc. are varied. The results also show that local contact surface damages may still occur as the traction control system acts.

Development of closed loop roll control for magnetic balance systems

NASA Technical Reports Server (NTRS)

Covert, E. E.; Haldeman, C. W.; Ramohalli, G.; Way, P.

1982-01-01

This research was undertaken with the goal of demonstrating closed loop control of the roll degree of freedom on the NASA prototype magnetic suspension and balance system at the MIT Aerophysics Laboratory, thus, showing feasibility for a roll control system for any large magnetic balance system which might be built in the future. During the research under this grant, study was directed toward the several areas of torque generation, position sensing, model construction and control system design. These effects were then integrated to produce successful closed loop operation of the analogue roll control system. This experience indicated the desirability of microprocessor control for the angular degrees of freedom.

14 CFR 29.397 - Limit pilot forces and torques.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Limit pilot forces and torques. 29.397 Section 29.397 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... System Loads § 29.397 Limit pilot forces and torques. (a) Except as provided in paragraph (b) of this...

14 CFR 27.397 - Limit pilot forces and torques.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Limit pilot forces and torques. 27.397 Section 27.397 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... System Loads § 27.397 Limit pilot forces and torques. (a) Except as provided in paragraph (b) of this...

14 CFR 23.397 - Limit control forces and -torques.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Limit control forces and -torques. 23.397 Section 23.397 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Control Surface and System Loads § 23.397 Limit control forces and -torques. (a) In the control surface...

14 CFR 27.397 - Limit pilot forces and torques.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Limit pilot forces and torques. 27.397 Section 27.397 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... System Loads § 27.397 Limit pilot forces and torques. (a) Except as provided in paragraph (b) of this...

14 CFR 29.397 - Limit pilot forces and torques.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Limit pilot forces and torques. 29.397 Section 29.397 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... System Loads § 29.397 Limit pilot forces and torques. (a) Except as provided in paragraph (b) of this...

14 CFR 29.397 - Limit pilot forces and torques.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Limit pilot forces and torques. 29.397 Section 29.397 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... System Loads § 29.397 Limit pilot forces and torques. (a) Except as provided in paragraph (b) of this...

14 CFR 23.397 - Limit control forces and -torques.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Limit control forces and -torques. 23.397 Section 23.397 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Control Surface and System Loads § 23.397 Limit control forces and -torques. (a) In the control surface...

14 CFR 27.397 - Limit pilot forces and torques.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Limit pilot forces and torques. 27.397 Section 27.397 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... System Loads § 27.397 Limit pilot forces and torques. (a) Except as provided in paragraph (b) of this...

14 CFR 23.397 - Limit control forces and -torques.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Limit control forces and -torques. 23.397 Section 23.397 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Control Surface and System Loads § 23.397 Limit control forces and -torques. (a) In the control surface...

14 CFR 23.397 - Limit control forces and -torques.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Limit control forces and -torques. 23.397 Section 23.397 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Control Surface and System Loads § 23.397 Limit control forces and -torques. (a) In the control surface...

14 CFR 29.397 - Limit pilot forces and torques.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Limit pilot forces and torques. 29.397 Section 29.397 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... System Loads § 29.397 Limit pilot forces and torques. (a) Except as provided in paragraph (b) of this...

14 CFR 23.397 - Limit control forces and -torques.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Limit control forces and -torques. 23.397 Section 23.397 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Control Surface and System Loads § 23.397 Limit control forces and -torques. (a) In the control surface...

14 CFR 27.397 - Limit pilot forces and torques.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Limit pilot forces and torques. 27.397 Section 27.397 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... System Loads § 27.397 Limit pilot forces and torques. (a) Except as provided in paragraph (b) of this...

14 CFR 29.397 - Limit pilot forces and torques.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Limit pilot forces and torques. 29.397 Section 29.397 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... System Loads § 29.397 Limit pilot forces and torques. (a) Except as provided in paragraph (b) of this...

14 CFR 27.397 - Limit pilot forces and torques.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Limit pilot forces and torques. 27.397 Section 27.397 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... System Loads § 27.397 Limit pilot forces and torques. (a) Except as provided in paragraph (b) of this...

Angular Acceleration without Torque?

ERIC Educational Resources Information Center

Kaufman, Richard D.

2012-01-01

Hardly. Just as Robert Johns qualitatively describes angular acceleration by an internal force in his article "Acceleration Without Force?" here we will extend the discussion to consider angular acceleration by an internal torque. As we will see, this internal torque is due to an internal force acting at a distance from an instantaneous center.

Radiation Forces and Torques without Stress (Tensors)

ERIC Educational Resources Information Center

Bohren, Craig F.

2011-01-01

To understand radiation forces and torques or to calculate them does not require invoking photon or electromagnetic field momentum transfer or stress tensors. According to continuum electromagnetic theory, forces and torques exerted by radiation are a consequence of electric and magnetic fields acting on charges and currents that the fields induce…

Torque Control During Intrusion on Upper Central Incisor in Labial and Lingual bracket System - A 3D Finite Element Study.

PubMed

Pol, Tejas R; Vandekar, Meghna; Patil, Anuradha; Desai, Sanjana; Shetty, Vikram; Hazarika, Saptarshi

2018-01-01

The aim of present study was to investigate the difference of torque control during intrusive force on upper central incisors with normal, under and high torque in lingual and labial orthodontic systems through 3D finite element analysis. Six 3D models of an upper right central incisor with different torque were designed in Solid Works 2006. Software ANSYS Version 16.0 was used to evaluate intrusive force on upper central incisor model . An intrusive force of 0.15 N was applied to the bracket slot in different torque models and the displacements along a path of nodes in the upper central incisor was assessed. On application of Intrusive force on under torqued upper central incisor in Labial system produce labial crown movement but in Lingual system caused lingual movement in the apical and incisal parts. The same intrusive force in normal-torqued central incisor led to a palatal movement in apical and labial displacement of incisal edge in Lingual system and a palatal displacement in apical area and a labial movement in the incisal edge in Labial systemin. In overtorqued upper central incisor, the labial crown displacement in Labial system is more than Lingual system. In labial and lingual system on application of the same forces in upper central incisor with different inclinations showed different responses. The magnitudes of torque Loss during intrusive loads in incisors with normal, under and over-torque were higher in Labial system than Lingual orthodontic appliances. Key words: FEM, lingual orthodontics, intrusion, torque control, labial bracket systems.

Rules for Rolling as a Rotation about the Instantaneous Point of Contact

ERIC Educational Resources Information Center

Jensen, Jens Hoejgaard

2011-01-01

It is a widespread misunderstanding in introductory physics courses that the motion of rolling bodies in general can be calculated using the point of contact as a reference point when equating the rate of change of angular momentum to the torque. In this paper I discuss in general two correct rules to be used instead, in order to derive the…

The Motor and the Brake of the Trailing Leg in Human Walking: Leg Force Control Through Ankle Modulation and Knee Covariance

PubMed Central

Toney, Megan E.; Chang, Young-Hui

2016-01-01

Human walking is a complex task, and we lack a complete understanding of how the neuromuscular system organizes its numerous muscles and joints to achieve consistent and efficient walking mechanics. Focused control of select influential task-level variables may simplify the higher-level control of steady state walking and reduce demand on the neuromuscular system. As trailing leg power generation and force application can affect the mechanical efficiency of step-to-step transitions, we investigated how joint torques are organized to control leg force and leg power during human walking. We tested whether timing of trailing leg force control corresponded with timing of peak leg power generation. We also applied a modified uncontrolled manifold analysis to test whether individual or coordinated joint torque strategies most contributed to leg force control. We found that leg force magnitude was adjusted from step-to-step to maintain consistent leg power generation. Leg force modulation was primarily determined by adjustments in the timing of peak ankle plantar-flexion torque, while knee torque was simultaneously covaried to dampen the effect of ankle torque on leg force. We propose a coordinated joint torque control strategy in which the trailing leg ankle acts as a motor to drive leg power production while trailing leg knee torque acts as a brake to refine leg power production. PMID:27334888

Shape-assisted body reorientation enhances trafficability through cluttered terrain

NASA Astrophysics Data System (ADS)

Li, Chen; Pullin, Andrew; Haldane, Duncan; Fearing, Ronald; Full, Robert

2014-11-01

Many birds and fishes have slender, streamlined bodies that reduce fluid dynamic drag and allow fast and efficient locomotion. Similarly, numerous terrestrial animals run through cluttered terrain where 3-D, multi-component obstacles like grass, bushes, trees, walls, doors, and pillars also resist motion, but it is unknown whether their body shape plays a major role. Here, we challenged discoid cockroaches that possess a rounded, thin, nearly ellipsoidal body to run through tall, narrowly spaced, grass-like beams. The animals primarily rolled their body to the side to maneuver through the obstacle gaps. Reduction of body roundness by artificial shells inhibited this side roll maneuver, resulting in a lower traversal probability and a longer traversal time (P < 0.001, ANOVA). Inspired by this discovery, we added a cockroach-like, rounded exoskeleton shell to a legged robot of a nearly cuboidal body. The rounded shell enabled the robot to use passive side rolling to maneuver through beams. To explain the mechanism, we developed a simple physics model to construct an energy landscape of the body-terrain interaction, which allowed estimation of body forces and torques exerted by the beams. Our model revealed that, by passive interaction with the terrain, a rounded body (ellipsoid) rolled more easily than an angular body (cuboid) to access energy valleys between energy barriers caused by obstacles. Our study is the first to demonstrate that a terradynamically ``streamlined'' shape can reduce terrain resistance and enhance trafficability by assisting body reorientation.

A comparative study between an improved novel air-cushion sensor and a wheeled probe for minimally invasive surgery.

PubMed

Zbyszewski, Dinusha; Challacombe, Benjamin; Li, Jichun; Seneviratne, Lakmal; Althoefer, Kaspar; Dasgupta, Prokar; Murphy, Declan

2010-07-01

We describe a comparative study between an enhanced air-cushion tactile sensor and a wheeled indentation probe. These laparoscopic tools are designed to rapidly locate soft-tissue abnormalities during minimally invasive surgery (MIS). The air-cushion tactile sensor consists of an optically based sensor with a 7.8 mm sphere "floating" on a cushion of air at the tip of a shaft. The wheeled indentation probe is a 10 mm wide and 5 mm in diameter wheel mounted to a force/torque sensor. A continuous rolling indentation technique is used to pass the sensors over the soft-tissue surfaces. The variations in stiffness of the viscoelastic materials that are detected during the rolling indentations are illustrated by stiffness maps that can be used for tissue diagnosis. The probes were tested by having to detect four embedded nodules in a silicone phantom. Each probe was attached to a robotic manipulator and rolled over the silicone phantom in parallel paths. The readings of each probe collected during the process of rolling indentation were used to achieve the final results. The results show that both sensors reliably detected the areas of variable stiffness by accurately identifying the location of each nodule. These are illustrated in the form of two three-dimensional spatiomechanical maps. These probes have the potential to be used in MIS because they could provide surgeons with information on the mechanical properties of soft tissue, consequently enhancing the reduction in haptic feedback.

Can the self-propulsion of anisotropic microswimmers be described by using forces and torques?

NASA Astrophysics Data System (ADS)

ten Hagen, Borge; Wittkowski, Raphael; Takagi, Daisuke; Kümmel, Felix; Bechinger, Clemens; Löwen, Hartmut

2015-05-01

The self-propulsion of artificial and biological microswimmers (or active colloidal particles) has often been modelled by using a force and a torque entering into the overdamped equations for the Brownian motion of passive particles. This seemingly contradicts the fact that a swimmer is force-free and torque-free, i.e. that the net force and torque on the particle vanish. Using different models for mechanical and diffusiophoretic self-propulsion, we demonstrate here that the equations of motion of microswimmers can be mapped onto those of passive particles with the shape-dependent grand resistance matrix and formally external effective forces and torques. This is consistent with experimental findings on the circular motion of artificial asymmetric microswimmers driven by self-diffusiophoresis. The concept of effective self-propulsion forces and torques significantly facilitates the understanding of the swimming paths, e.g. for a microswimmer under gravity. However, this concept has its limitations when the self-propulsion mechanism of a swimmer is disturbed either by another particle in its close vicinity or by interactions with obstacles, such as a wall.

Vertical force and torque analysis during mechanical preparation of extracted teeth using hand ProTaper instruments.

PubMed

Glavičić, Snježana; Anić, Ivica; Braut, Alen; Miletić, Ivana; Borčić, Josipa

2011-08-01

The purpose was to measure and analyse the vertical force and torque developed in the wider and narrower root canals during hand ProTaper instrumentation. Twenty human incisors were divided in two groups. Upper incisors were experimental model for the wide, while the lower incisors for the narrow root canals. Measurements of the force and torque were done by a device constructed for this purpose. Differences between the groups were statistically analysed by Mann-Whitney U-test with the significance level set to P<0.05. Vertical force in the upper incisors ranged 0.25-2.58 N, while in the lower incisors 0.38-6.94 N. Measured torque in the upper incisors ranged 0.53-12.03 Nmm, while in the lower incisor ranged 0.94-10.0 Nmm. Vertical force and torque were higher in the root canals of smaller diameter. The increase in the contact surface results in increase of the vertical force and torque as well in both narrower and wider root canals. © 2010 The Authors. Australian Endodontic Journal © 2010 Australian Society of Endodontology.

Algorithm Optimally Allocates Actuation of a Spacecraft

NASA Technical Reports Server (NTRS)

Motaghedi, Shi

2007-01-01

A report presents an algorithm that solves the following problem: Allocate the force and/or torque to be exerted by each thruster and reaction-wheel assembly on a spacecraft for best performance, defined as minimizing the error between (1) the total force and torque commanded by the spacecraft control system and (2) the total of forces and torques actually exerted by all the thrusters and reaction wheels. The algorithm incorporates the matrix vector relationship between (1) the total applied force and torque and (2) the individual actuator force and torque values. It takes account of such constraints as lower and upper limits on the force or torque that can be applied by a given actuator. The algorithm divides the aforementioned problem into two optimization problems that it solves sequentially. These problems are of a type, known in the art as semi-definite programming problems, that involve linear matrix inequalities. The algorithm incorporates, as sub-algorithms, prior algorithms that solve such optimization problems very efficiently. The algorithm affords the additional advantage that the solution requires the minimum rate of consumption of fuel for the given best performance.

Emergence of Huge Negative Spin-Transfer Torque in Atomically Thin Co layers

NASA Astrophysics Data System (ADS)

Je, Soong-Geun; Yoo, Sang-Cheol; Kim, Joo-Sung; Park, Yong-Keun; Park, Min-Ho; Moon, Joon; Min, Byoung-Chul; Choe, Sug-Bong

2017-04-01

Current-induced domain wall motion has drawn great attention in recent decades as the key operational principle of emerging magnetic memory devices. As the major driving force of the motion, the spin-orbit torque on chiral domain walls has been proposed and is currently extensively studied. However, we demonstrate here that there exists another driving force, which is larger than the spin-orbit torque in atomically thin Co films. Moreover, the direction of the present force is found to be the opposite of the prediction of the standard spin-transfer torque, resulting in the domain wall motion along the current direction. The symmetry of the force and its peculiar dependence on the domain wall structure suggest that the present force is, most likely, attributed to considerable enhancement of a negative nonadiabatic spin-transfer torque in ultranarrow domain walls. Careful measurements of the giant magnetoresistance manifest a negative spin polarization in the atomically thin Co films which might be responsible for the negative spin-transfer torque.

Forces and moments generated by the human arm: Variability and control

PubMed Central

Xu, Y; Terekhov, AV; Latash, ML; Zatsiorsky, VM

2012-01-01

This is an exploratory study of the accurate endpoint force vector production by the human arm in isometric conditions. We formulated three common-sense hypotheses and falsified them in the experiment. The subjects (n=10) exerted static forces on the handle in eight directions in a horizontal plane for 25 seconds. The forces were of 4 magnitude levels (10 %, 20%, 30% and 40% of individual MVC). The torsion moment on the handle (grasp moment) was not specified in the instruction. The two force components and the grasp moment were recorded, and the shoulder, elbow, and wrist joint torques were computed. The following main facts were observed: (a) While the grasp moment was not prescribed by the instruction, it was always produced. The moment magnitude and direction depended on the instructed force magnitude and direction. (b) The within-trial angular variability of the exerted force vector (angular precision) did not depend on the target force magnitude (a small negative correlation was observed). (c) Across the target force directions, the variability of the exerted force magnitude and directional variability exhibited opposite trends: In the directions where the variability of force magnitude was maximal, the directional variability was minimal and vice versa. (d) The time profiles of joint torques in the trials were always positively correlated, even for the force directions where flexion torque was produced at one joint and extension torque was produced at the other joint. (e) The correlations between the grasp moment and the wrist torque were negative across the tasks and positive within the individual trials. (f) In static serial kinematic chains, the pattern of the joint torques distribution could not be explained by an optimization cost function additive with respect to the torques. Plans for several future experiments have been suggested. PMID:23080084

Influences of rolling method on deformation force in cold roll-beating forming process

NASA Astrophysics Data System (ADS)

Su, Yongxiang; Cui, Fengkui; Liang, Xiaoming; Li, Yan

2018-03-01

In process, the research object, the gear rack was selected to study the influence law of rolling method on the deformation force. By the mean of the cold roll forming finite element simulation, the variation regularity of radial and tangential deformation was analysed under different rolling methods. The variation of deformation force of the complete forming racks and the single roll during the steady state under different rolling modes was analyzed. The results show: when upbeating and down beating, radial single point average force is similar, the tangential single point average force gap is bigger, the gap of tangential single point average force is relatively large. Add itionally, the tangential force at the time of direct beating is large, and the dire ction is opposite with down beating. With directly beating, deformation force loading fast and uninstall slow. Correspondingly, with down beating, deformat ion force loading slow and uninstall fast.

Interdependence of torque, joint angle, angular velocity and muscle action during human multi-joint leg extension.

PubMed

Hahn, Daniel; Herzog, Walter; Schwirtz, Ansgar

2014-08-01

Force and torque production of human muscles depends upon their lengths and contraction velocity. However, these factors are widely assumed to be independent of each other and the few studies that dealt with interactions of torque, angle and angular velocity are based on isolated single-joint movements. Thus, the purpose of this study was to determine force/torque-angle and force/torque-angular velocity properties for multi-joint leg extensions. Human leg extension was investigated (n = 18) on a motor-driven leg press dynamometer while measuring external reaction forces at the feet. Extensor torque in the knee joint was calculated using inverse dynamics. Isometric contractions were performed at eight joint angle configurations of the lower limb corresponding to increments of 10° at the knee from 30 to 100° of knee flexion. Concentric and eccentric contractions were performed over the same range of motion at mean angular velocities of the knee from 30 to 240° s(-1). For contractions of increasing velocity, optimum knee angle shifted from 52 ± 7 to 64 ± 4° knee flexion. Furthermore, the curvature of the concentric force/torque-angular velocity relations varied with joint angles and maximum angular velocities increased from 866 ± 79 to 1,238 ± 132° s(-1) for 90-50° knee flexion. Normalised eccentric forces/torques ranged from 0.85 ± 0.12 to 1.32 ± 0.16 of their isometric reference, only showing significant increases above isometric and an effect of angular velocity for joint angles greater than optimum knee angle. The findings reveal that force/torque production during multi-joint leg extension depends on the combined effects of angle and angular velocity. This finding should be accounted for in modelling and optimisation of human movement.

Torque Measurement of 3-DOF Haptic Master Operated by Controllable Electrorheological Fluid

NASA Astrophysics Data System (ADS)

Oh, Jong-Seok; Choi, Seung-Bok; Lee, Yang-Sub

2015-02-01

This work presents a torque measurement method of 3-degree-of-freedom (3-DOF) haptic master featuring controllable electrorheological (ER) fluid. In order to reflect the sense of an organ for a surgeon, the ER haptic master which can generate the repulsive torque of an organ is utilized as a remote controller for a surgery robot. Since accurate representation of organ feeling is essential for the success of the robot-assisted surgery, it is indispensable to develop a proper torque measurement method of 3-DOF ER haptic master. After describing the structural configuration of the haptic master, the torque models of ER spherical joint are mathematically derived based on the Bingham model of ER fluid. A new type of haptic device which has pitching, rolling, and yawing motions is then designed and manufactured using a spherical joint mechanism. Subsequently, the field-dependent parameters of the Bingham model are identified and generating repulsive torque according to applied electric field is measured. In addition, in order to verify the effectiveness of the proposed torque model, a comparative work between simulated and measured torques is undertaken.

Calendering and Rolling of Viscoplastic Materials: Theory and Experiments

NASA Astrophysics Data System (ADS)

Mitsoulis, E.; Sofou, S.; Muliawan, E. B.; Hatzikiriakos, S. G.

2007-04-01

The calendering and rolling processes are used in a wide variety of industries for the production of rolled sheets or films of specific thickness and final appearance. The acquired final sheet thickness depends mainly on the rheological properties of the material. Materials which have been used in the present study are foodstuff (such as mozzarella cheese and flour-water dough) used in food processing. These materials are rheologically viscoplastic, obeying the Herschel-Bulkley model. The results give the final sheet thickness and the torque as a function of the roll speed. Theoretical analysis based on the Lubrication Approximation Theory (LAT) shows that LAT is a good predictive tool for calendering, where the sheet thickness is very small compared with the roll size. However, in rolling where this is not true, LAT does not hold, and a 2-D analysis is necessary.

DARPA/AFRL/NASA Smart Wing Second Wind Tunnel Test Results

NASA Technical Reports Server (NTRS)

Scherer, L. B.; Martin, C. A.; West, M.; Florance, J. P.; Wieseman, C. D.; Burner, A. W.; Fleming, G. A.

2001-01-01

To quantify the benefits of smart materials and structures adaptive wing technology, Northrop Grumman Corp. (NGC) built and tested two 16% scale wind tunnel models (a conventional and a "smart" model) of a fighter/attack aircraft under the DARPA/AFRL/NASA Smart Materials and Structures Development - Smart Wing Phase 1. Performance gains quantified included increased pitching moment (C(sub M)), increased rolling moment (C(subl)) and improved pressure distribution. The benefits were obtained for hingeless, contoured trailing edge control surfaces with embedded shape memory alloy (SMA) wires and spanwise wing twist effected by SMA torque tube mechanisms, compared to conventional hinged control surfaces. This paper presents an overview of the results from the second wind tunnel test performed at the NASA Langley Research Center s (LaRC) 16ft Transonic Dynamic Tunnel (TDT) in June 1998. Successful results obtained were: 1) 5 degrees of spanwise twist and 8-12% increase in rolling moment utilizing a single SMA torque tube, 2) 12 degrees of deflection, and 10% increase in rolling moment due to hingeless, contoured aileron, and 3) demonstration of optical techniques for measuring spanwise twist and deflected shape.

DARPA/ARFL/NASA Smart Wing second wind tunnel test results

NASA Astrophysics Data System (ADS)

Scherer, Lewis B.; Martin, Christopher A.; West, Mark N.; Florance, Jennifer P.; Wieseman, Carol D.; Burner, Alpheus W.; Fleming, Gary A.

1999-07-01

To quantify the benefits of smart materials and structures adaptive wing technology. Northrop Grumman Corp. built and tested two 16 percent scale wind tunnel models of a fighter/attach aircraft under the DARPA/AFRL/NASA Smart Materials and Structures Development - Smart Wing Phase 1. Performance gains quantified included increased pitching moment, increased rolling moment and improved pressure distribution. The benefits were obtained for hingeless, contoured trailing edge control surfaces with embedded shape memory alloy wires and spanwise wing twist effected by SMA torque tube mechanism, compared to convention hinged control surfaces. This paper presents an overview of the results from the second wind tunnel test performed at the NASA Langley Research Center's 16 ft Transonic Dynamic Tunnel in June 1998. Successful results obtained were: 1) 5 degrees of spanwise twist and 8-12 percent increase in rolling moment utilizing a single SMA torque tube, 2) 12 degrees of deflection, and 10 percent increase in rolling moment due to hingeless, contoured aileron, and 3) demonstration of optical techniques for measuring spanwise twist and deflected shape.

The effect of the use of a counter-torque device on the abutment-implant complex.

PubMed

Lang, L A; May, K B; Wang, R F

1999-04-01

Little is known about the condition of the abutment-screw joint before loading, after the development of the preload. This study examined the tightening force transmitted to the implant with and without the use of a counter-torque device during the tightening of the abutment screw. Forty Brânemark implants and 10 CeraOne, Estheticone, Procera, and AurAdapt abutments formed the experimental populations. Samples in each group were further divided into 2 groups, 1 group was tightened with a torque controller without the use of a counter-torque device, whereas the other used the counter-torque device. Samples were positioned in a special holder within the grips of a Tohnichi BTG-6 torque gauge for measuring transmitted forces. There were significant differences (P =. 0001) in the tightening forces transmitted to the implant with and without the use of a counter-torque device when tightening the abutment screws. An average of 91% of the recommended preload tightening torque was transmitted to the implant-bone interface in the absence of a counter-torque device. In all abutment systems, less than 10% of the recommended preload tightening torque was transmitted to the implant when the counter-torque device was used.

Experimental investigations of forces and torque in conventional and ultrasonically-assisted drilling of cortical bone.

PubMed

Alam, K; Mitrofanov, A V; Silberschmidt, V V

2011-03-01

Bone drilling is widely used in orthopaedics and surgery; it is a technically demanding surgical procedure. Recent technological improvements in this area are focused on efforts to reduce forces in bone drilling. This study focuses on forces and a torque required for conventional and ultrasonically-assisted tool penetration into fresh bovine cortical bone. Drilling tests were performed with two drilling techniques, and the influence of drilling speed, feed rate and parameters of ultrasonic vibration on the forces and torque was studied. Ultrasonically-assisted drilling (UAD) was found to reduce a drilling thrust force and torque compared to conventional drilling (CD). The mechanism behind lower levels of forces and torque was explored, using high-speed filming of a drill-bone interaction zone, and was linked to the chip shape and character of its formation. It is expected that UAD will produce holes with minimal effort and avoid unnecessary damage and accompanying pain during the incision. Copyright © 2010 IPEM. Published by Elsevier Ltd. All rights reserved.

Acoustic Interaction Forces and Torques Acting on Suspended Spheres in an Ideal Fluid.

PubMed

Lopes, J Henrique; Azarpeyvand, Mahdi; Silva, Glauber T

2016-01-01

In this paper, the acoustic interaction forces and torques exerted by an arbitrary time-harmonic wave on a set of N objects suspended in an inviscid fluid are theoretically analyzed. We utilize the partial-wave expansion method with translational addition theorem and re-expansion of multipole series to solve the related multiple scattering problem. We show that the acoustic interaction force and torque can be obtained using the farfield radiation force and torque formulas. To exemplify the method, we calculate the interaction forces exerted by an external traveling and standing plane wave on an arrangement of two and three olive-oil droplets in water. The droplets' radii are comparable to the wavelength (i.e., Mie scattering regime). The results show that the acoustic interaction forces present an oscillatory spatial distribution which follows the pattern formed by interference between the external and rescattered waves. In addition, acoustic interaction torques arise on the absorbing droplets whenever a nonsymmetric wavefront is formed by the external and rescattered waves' interference.

Power tong torque control

DOE Office of Scientific and Technical Information (OSTI.GOV)

Buck, D.A.; James, R.N.

1987-10-20

Torque controlled powered pipe tongs, are described the apparatus comprises: (a) a power tong powered by a fluid motor; (b) a fluid power source connected to the motor; (c) a force conducting element attached to the power tong, situated to oppose reaction torque from the tongs when torque is applied to pipe; (d) force sensing means operatively associated with the force conducting element situated to sense at least part of the force experienced by the force conducting element, arranged to produce a pressure signal proportional to force sensed; and (e) a fluid by-pass valve, adjustably biased toward a closed position,more » responsive to the signal to tend to move toward an open position, the by-pass valve connected between the fluid power source and the motor.« less

Displaying Force and Torque of A Manipulator

NASA Technical Reports Server (NTRS)

Bejczy, A. K.; Dotson, R. S.; Primus, H. C.

1984-01-01

Display combines bar charts, vector diagrams, and numerical values to inform operator of forces and torques exerted by end effector of manipulator. On voice or keyboard command, eight-channel strip-chart recorder traces force and torque components and claw position of raw measurements from eight strain gage sensors in end effector. Especially helpful when operator's view of end effector is obscured.

A pressure-based force and torque prediction technique for the study of fish-like swimming

PubMed Central

Dabiri, John O.; Lauder, George V.

2017-01-01

Many outstanding questions about the evolution and function of fish morphology are linked to swimming dynamics, and a detailed knowledge of time-varying forces and torques along the animal’s body is a key component in answering many of these questions. Yet, quantifying these forces and torques experimentally represents a major challenge that to date prevents a full understanding of fish-like swimming. Here, we develop a method for obtaining these force and torque data non-invasively using standard 2D digital particle image velocimetry in conjunction with a pressure field algorithm. We use a mechanical flapping foil apparatus to model fish-like swimming and measure forces and torques directly with a load cell, and compare these measured values to those estimated simultaneously using our pressure-based approach. We demonstrate that, when out-of-plane flows are relatively small compared to the planar flow, and when pressure effects sufficiently dominate shear effects, this technique is able to accurately reproduce the shape, magnitude, and timing of locomotor forces and torques experienced by a fish-like swimmer. We conclude by exploring of the limits of this approach and its feasibility in the study of freely-swimming fishes. PMID:29216264

Forces associated with pneumatic power screwdriver operation: statics and dynamics.

PubMed

Lin, Jia-Hua; Radwin, Robert G; Fronczak, Frank J; Richard, Terry G

2003-10-10

The statics and dynamics of pneumatic power screwdriver operation were investigated in the context of predicting forces acting against the human operator. A static force model is described in the paper, based on tool geometry, mass, orientation in space, feed force, torque build up, and stall torque. Three common power hand tool shapes are considered, including pistol grip, right angle, and in-line. The static model estimates handle force needed to support a power nutrunner when it acts against the tightened fastener with a constant torque. A system of equations for static force and moment equilibrium conditions are established, and the resultant handle force (resolved in orthogonal directions) is calculated in matrix form. A dynamic model is formulated to describe pneumatic motor torque build-up characteristics dependent on threaded fastener joint hardness. Six pneumatic tools were tested to validate the deterministic model. The average torque prediction error was 6.6% (SD = 5.4%) and the average handle force prediction error was 6.7% (SD = 6.4%) for a medium-soft threaded fastener joint. The average torque prediction error was 5.2% (SD = 5.3%) and the average handle force prediction error was 3.6% (SD = 3.2%) for a hard threaded fastener joint. Use of these equations for estimating handle forces based on passive mechanical elements representing the human operator is also described. These models together should be useful for considering tool handle force in the selection and design of power screwdrivers, particularly for minimizing handle forces in the prevention of injuries and work related musculoskeletal disorders.

Quantifying anti-gravity torques in the design of a powered exoskeleton.

PubMed

Ragonesi, Daniel; Agrawal, Sunil; Sample, Whitney; Rahman, Tariq

2011-01-01

Designing an upper extremity exoskeleton for people with arm weakness requires knowledge of the passive and active residual force capabilities of users. This paper experimentally measures the passive gravitational torques of 3 groups of subjects: able-bodied adults, able bodied children, and children with neurological disabilities. The experiment involves moving the arm to various positions in the sagittal plane and measuring the gravitational force at the wrist. This force is then converted to static gravitational torques at the elbow and shoulder. Data are compared between look-up table data based on anthropometry and empirical data. Results show that the look-up torques deviate from experimentally measured torques as the arm reaches up and down. This experiment informs designers of Upper Limb orthoses on the contribution of passive human joint torques.

On the Skill of Balancing While Riding a Bicycle

PubMed Central

Cain, Stephen M.; Ashton-Miller, James A.; Perkins, Noel C.

2016-01-01

Humans have ridden bicycles for over 200 years, yet there are no continuous measures of how skill differs between novice and expert. To address this knowledge gap, we measured the dynamics of human bicycle riding in 14 subjects, half of whom were skilled and half were novice. Each subject rode an instrumented bicycle on training rollers at speeds ranging from 1 to 7 m/s. Steer angle and rate, steer torque, bicycle speed, and bicycle roll angle and rate were measured and steering power calculated. A force platform beneath the roller assembly measured the net force and moment that the bicycle, rider and rollers exerted on the floor, enabling calculations of the lateral positions of the system centers of mass and pressure. Balance performance was quantified by cross-correlating the lateral positions of the centers of mass and pressure. The results show that all riders exhibited similar balance performance at the slowest speed. However at higher speeds, the skilled riders achieved superior balance performance by employing more rider lean control (quantified by cross-correlating rider lean angle and bicycle roll angle) and less steer control (quantified by cross-correlating steer rate and bicycle roll rate) than did novice riders. Skilled riders also used smaller steering control input with less variation (measured by average positive steering power and standard deviations of steer angle and rate) and less rider lean angle variation (measured by the standard deviation of the rider lean angle) independent of speed. We conclude that the reduction in balance control input by skilled riders is not due to reduced balance demands but rather to more effective use of lean control to guide the center of mass via center of pressure movements. PMID:26910774

Effects of Screw Configuration on the Preload Force of Implant-Abutment Screws.

PubMed

Zipprich, Holger; Rathe, Florian; Pinz, Sören; Schlotmann, Luca; Lauer, Hans-Christoph; Ratka, Christoph

The aim of this study was to investigate the effects of tightening torque, screw head angle, and thread number on the preload force of abutment screws. The test specimens consisted of three self-manufactured components (ie, a thread sleeve serving as an implant analog, an abutment analog, and an abutment screw). The abutment screws were fabricated with metric M1.6 external threads. The thread number varied between one and seven threads. The screw head angles were produced in eight varying angles (30 to 180 degrees). A sensor unit simultaneously measured the preload force of the screw and the torsion moment inside the screw shank. The tightening of the screw with the torque wrench was performed in five steps (15 to 35 Ncm). The torque wrench was calibrated before each step. Only the tightening torque and screw head angle affected the resulting preload force of the implant-abutment connection. The thread number had no effect. There was an approximately linear correlation between tightening torque and preload force. The tightening torque and screw head angle were the only study parameters that affected the resulting preload force of the abutment screw. The results obtained from this experiment are valid only for a single torque condition. Further investigations are needed that analyze other parameters that affect preload force. Once these parameters are known, it will add value for a strong, but detachable connection between the implant and abutment. Short implants and flat-to-flat connections especially will benefit significantly from this knowledge.

Spin-Orbit Torques and Anisotropic Magnetization Damping in Skyrmion Crystals

NASA Astrophysics Data System (ADS)

Hals, Kjetil; Brataas, Arne

2014-03-01

We theoretically study the effects of reactive and dissipative homogeneous spin-orbit torques and anisotropic damping on the current-driven skyrmion dynamics in cubic chiral magnets. Our results demonstrate that spin-orbit torques play a significant role in the current-induced skyrmion velocity. The dissipative spin-orbit torque generates a relativistic Magnus force on the skyrmions, whereas the reactive spin-orbit torque yields a correction to both the drift velocity along the current direction and the transverse velocity associated with the Magnus force. The spin-orbit torque corrections to the velocity scale linearly with the skyrmion size, which is inversely proportional to the spin-orbit coupling. Consequently, the reactive spin-orbit torque correction can be the same order of magnitude as the non-relativistic contribution. More importantly, the dissipative spin-orbit torque can be the dominant force that causes a deflected motion of the skyrmions if the torque exhibits a linear or quadratic relationship with the spin-orbit coupling. In addition, we demonstrate that the skyrmion velocity is determined by anisotropic magnetization damping parameters governed by the skyrmion size.

Evaluation of force-torque displays for use with space station telerobotic activities

NASA Technical Reports Server (NTRS)

Hendrich, Robert C.; Bierschwale, John M.; Manahan, Meera K.; Stuart, Mark A.; Legendre, A. Jay

1992-01-01

Recent experiments which addressed Space Station remote manipulation tasks found that tactile force feedback (reflecting forces and torques encountered at the end-effector through the manipulator hand controller) does not improve performance significantly. Subjective response from astronaut and non-astronaut test subjects indicated that force information, provided visually, could be useful. No research exists which specifically investigates methods of presenting force-torque information visually. This experiment was designed to evaluate seven different visual force-torque displays which were found in an informal telephone survey. The displays were prototyped in the HyperCard programming environment. In a within-subjects experiment, 14 subjects nullified forces and torques presented statically, using response buttons located at the bottom of the screen. Dependent measures included questionnaire data, errors, and response time. Subjective data generally demonstrate that subjects rated variations of pseudo-perspective displays consistently better than bar graph and digital displays. Subjects commented that the bar graph and digital displays could be used, but were not compatible with using hand controllers. Quantitative data show similar trends to the subjective data, except that the bar graph and digital displays both provided good performance, perhaps do to the mapping of response buttons to display elements. Results indicate that for this set of displays, the pseudo-perspective displays generally represent a more intuitive format for presenting force-torque information.

Quasi-steady state aerodynamics of the cheetah tail.

PubMed

Patel, Amir; Boje, Edward; Fisher, Callen; Louis, Leeann; Lane, Emily

2016-08-15

During high-speed pursuit of prey, the cheetah (Acinonyx jubatus) has been observed to swing its tail while manoeuvring (e.g. turning or braking) but the effect of these complex motions is not well understood. This study demonstrates the potential of the cheetah's long, furry tail to impart torques and forces on the body as a result of aerodynamic effects, in addition to the well-known inertial effects. The first-order aerodynamic forces on the tail are quantified through wind tunnel testing and it is observed that the fur nearly doubles the effective frontal area of the tail without much mass penalty. Simple dynamic models provide insight into manoeuvrability via simulation of pitch, roll and yaw tail motion primitives. The inertial and quasi-steady state aerodynamic effects of tail actuation are quantified and compared by calculating the angular impulse imparted onto the cheetah's body and its shown aerodynamic effects contribute to the tail's angular impulse, especially at the highest forward velocities. © 2016. Published by The Company of Biologists Ltd.

Quasi-steady state aerodynamics of the cheetah tail

PubMed Central

Boje, Edward; Fisher, Callen; Louis, Leeann; Lane, Emily

2016-01-01

ABSTRACT During high-speed pursuit of prey, the cheetah (Acinonyx jubatus) has been observed to swing its tail while manoeuvring (e.g. turning or braking) but the effect of these complex motions is not well understood. This study demonstrates the potential of the cheetah's long, furry tail to impart torques and forces on the body as a result of aerodynamic effects, in addition to the well-known inertial effects. The first-order aerodynamic forces on the tail are quantified through wind tunnel testing and it is observed that the fur nearly doubles the effective frontal area of the tail without much mass penalty. Simple dynamic models provide insight into manoeuvrability via simulation of pitch, roll and yaw tail motion primitives. The inertial and quasi-steady state aerodynamic effects of tail actuation are quantified and compared by calculating the angular impulse imparted onto the cheetah's body and its shown aerodynamic effects contribute to the tail's angular impulse, especially at the highest forward velocities. PMID:27412267

Experimental analysis of drilling process in cortical bone.

PubMed

Wang, Wendong; Shi, Yikai; Yang, Ning; Yuan, Xiaoqing

2014-02-01

Bone drilling is an essential part in orthopaedics, traumatology and bone biopsy. Prediction and control of drilling forces and torque are critical to the success of operations involving bone drilling. This paper studied the drilling force, torque and drilling process with automatic and manual drill penetrating into bovine cortical bone. The tests were performed on a drilling system which is used to drill and measure forces and torque during drilling. The effects of drilling speed, feed rate and drill bit diameter on force and torque were discussed separately. The experimental results were proven to be in accordance with the mathematic expressions introduced in this paper. The automatic drilling saved drilling time by 30-60% in the tested range and created less vibration, compared to manual drilling. The deviation between maximum and average force of the automatic drilling was 5N but 25N for manual drilling. To conclude, using the automatic method has significant advantages in control drilling force, torque and drilling process in bone drilling. Copyright © 2013 IPEM. Published by Elsevier Ltd. All rights reserved.

Casimir effect and graphene: Tunability, scalability, Casimir rotor

NASA Astrophysics Data System (ADS)

Martinez, J. C.; Chen, X.; Jalil, M. B. A.

2018-01-01

We study the combined effects of separated parallel disks, birefringence and surface currents on the Casimir force and torque. All three contribute to the Casimir force and surface currents from graphene permit tuning and switching from attraction to repulsion thus allowing for an oscillating Casimir force which can be relevant to parametric amplification applications. Only the latter two contribute to the Casimir torque and their combined effect can enhance the torque by at least tenfold (possibly more) compared to that due to birefringence alone, a hint at a scalable Casimir torque. We also consider a feasible non-contact rotor.

Simplified fatigue life analysis for traction drive contacts

NASA Technical Reports Server (NTRS)

Rohn, D. A.; Loewenthal, S. H.; Coy, J. J.

1980-01-01

A simplified fatigue life analysis for traction drive contacts of arbitrary geometry is presented. The analysis is based on the Lundberg-Palmgren theory used for rolling-element bearings. The effects of torque, element size, speed, contact ellipse ratio, and the influence of traction coefficient are shown. The analysis shows that within the limits of the available traction coefficient, traction contacts exhibit longest life at high speeds. Multiple, load-sharing roller arrangements have an advantageous effect on system life, torque capacity, power-to-weight ratio and size.

A new momentum management controller for the space station

NASA Technical Reports Server (NTRS)

Wie, B.; Byun, K. W.; Warren, V. W.

1988-01-01

A new approach to CMG (control moment gyro) momentum management and attitude control of the Space Station is developed. The control algorithm utilizes both the gravity-gradient and gyroscopic torques to seek torque equilibrium attitude in the presence of secular and cyclic disturbances. Depending upon mission requirements, either pitch attitude or pitch-axis CMG momentum can be held constant: yaw attitude and roll-axis CMG momentum can be held constant, while roll attitude and yaw-axis CMG momentum cannot be held constant. As a result, the overall attitude and CMG momentum oscillations caused by cyclic aero-dynamic disturbances are minimized. A state feedback controller with minimal computer storage requirement for gain scheduling is also developed. The overall closed-loop system is stable for + or - 30 percent inertia matrix variations and has more than + or - 10 dB and 45 deg stability margins in each loop.

Self-consistent perturbed equilibrium with neoclassical toroidal torque in tokamaks

DOE PAGES

Park, Jong-Kyu; Logan, Nikolas C.

2017-03-01

Toroidal torque is one of the most important consequences of non-axisymmetric fields in tokamaks. The well-known neoclassical toroidal viscosity (NTV) is due to the second-order toroidal force from anisotropic pressure tensor in the presence of these asymmetries. This work shows that the first-order toroidal force originating from the same anisotropic pressure tensor, despite having no flux surface average, can significantly modify the local perturbed force balance and thus must be included in perturbed equilibrium self-consistent with NTV. The force operator with an anisotropic pressure tensor is not self-adjoint when the NTV torque is finite and thus is solved directly formore » each component. This approach yields a modified, non-self-adjoint Euler-Lagrange equation that can be solved using a variety of common drift-kinetic models in generalized tokamak geometry. The resulting energy and torque integral provides a unique way to construct a torque response matrix, which contains all the information of self-consistent NTV torque profiles obtainable by applying non-axisymmetric fields to the plasma. This torque response matrix can then be used to systematically optimize non-axisymmetric field distributions for desired NTV profiles. Published by AIP Publishing.« less

Analysis and experimental evaluation of a Stewart platform-based force/torque sensor

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.

1992-01-01

The kinematic analysis and experimentation of a force/torque sensor whose design is based on the mechanism of the Stewart Platform are discussed. Besides being used for measurement of forces/torques, the sensor also serves as a compliant platform which provides passive compliance during a robotic assembly task. It consists of two platforms, the upper compliant platform (UCP) and the lower compliant platform (LCP), coupled together through six spring-loaded pistons whose length variations are measured by six linear voltage differential transformers (LVDT) mounted along the pistons. Solutions to the forward and inverse kinematics of the force sensor are derived. Based on the known spring constant and the piston length changes, forces/torques applied to the LCP gripper are computed using vector algebra. Results of experiments conducted to evaluate the sensing capability of the force sensor are reported and discussed.

History dependence of the EMG-torque relationship.

PubMed

Paquin, James; Power, Geoffrey A

2018-05-28

The influence of active lengthening (residual force enhancement: RFE) and shortening (force depression: FD) on the electromyography (EMG)-torque relationship was investigated by matching torque and activation at 20%, 40%, 60%, 80% and 100% maximal voluntary contraction (MVC). Sixteen males performed lengthening and shortening contractions of the dorsiflexors over 25° into an isometric steady-state. There was 5% greater torque, with no change in agonist EMG during the RFE condition as compared to the isometric condition. Sub-maximally, in the force enhanced state, there was less agonist EMG during the torque clamp at all intensities relative to isometric, and greater torque during the activation clamps relative to isometric was observed across all intensities except 20% MVC. During the FD state compared to isometric, there was less torque produced during MVC (∼15%) with no change in agonist EMG. Sub-maximally, in the FD state, there was greater agonist EMG during the torque clamp and less torque during the activation clamp relative to the isometric condition across all intensities. The EMG-torque relationship was bilinear for all contraction types but was shifted to the left and right for FD and RFE, respectively as compared with isometric, indicating altered neuromuscular activation strategies in the history-dependent states of RFE and FD. Copyright © 2018. Published by Elsevier Ltd.

Bevel Gear Driver and Method Having Torque Limit Selection

NASA Technical Reports Server (NTRS)

Cook, Joseph S., Jr. (Inventor)

1997-01-01

Methods and apparatus are provided for a torque driver including an axially displaceable gear with a biasing assembly to bias the displaceable gear into an engagement position. A rotatable cap is provided with a micrometer dial to select a desired output torque. An intermediate bevel gear assembly is disposed between an input gear and an output gear. A gear tooth profile provides a separation force that overcomes the bias to limit torque at a desired torque limit. The torque limit is adjustable and may be adjusted manually or automatically depending on the type of biasing assembly provided. A clutch assembly automatically limits axial force applied to a fastener by the operator to avoid alteration of the desired torque limit.

Micromechanics of Ultrafine Particle Adhesion—Contact Models

NASA Astrophysics Data System (ADS)

Tomas, Jürgen

2009-06-01

Ultrafine, dry, cohesive and compressible powders (particle diameter d<10 μm) show a wide variety of flow problems that cause insufficient apparatus and system reliability of processing plants. Thus, the understanding of the micromechanics of particle adhesion is essential to assess the product quality and to improve the process performance in particle technology. Comprehensive models are shown that describe the elastic-plastic force-displacement and frictional moment-angle behavior of adhesive contacts of isotropic smooth spheres. By the model stiff particles with soft contacts, a sphere-sphere interaction of van der Waals forces without any contact deformation describes the stiff attractive term. But, the soft micro-contact response generates a flattened contact, i.e. plate-plate interaction, and increasing adhesion. These increasing adhesion forces between particles directly depend on this frozen irreversible deformation. Thus, the adhesion force is found to be load dependent. It contributes to the tangential forces in an elastic-plastic frictional contact with partially sticking and micro-slip within the contact plane. The load dependent rolling resistance and torque of mobilized frictional contact rotation (spin around its principal axis) are also shown. This reasonable combination of particle contact micromechanics and powder continuum mechanics is used to model analytically the macroscopic friction limits of incipient powder consolidation, yield and cohesive steady-state shear flow on physical basis.

Biomechanically determined hand force limits protecting the low back during occupational pushing and pulling tasks.

PubMed

Weston, Eric B; Aurand, Alexander; Dufour, Jonathan S; Knapik, Gregory G; Marras, William S

2018-06-01

Though biomechanically determined guidelines exist for lifting, existing recommendations for pushing and pulling were developed using a psychophysical approach. The current study aimed to establish objective hand force limits based on the results of a biomechanical assessment of the forces on the lumbar spine during occupational pushing and pulling activities. Sixty-two subjects performed pushing and pulling tasks in a laboratory setting. An electromyography-assisted biomechanical model estimated spinal loads, while hand force and turning torque were measured via hand transducers. Mixed modelling techniques correlated spinal load with hand force or torque throughout a wide range of exposures in order to develop biomechanically determined hand force and torque limits. Exertion type, exertion direction, handle height and their interactions significantly influenced dependent measures of spinal load, hand force and turning torque. The biomechanically determined guidelines presented herein are up to 30% lower than comparable psychophysically derived limits and particularly more protective for straight pushing. Practitioner Summary: This study utilises a biomechanical model to develop objective biomechanically determined push/pull risk limits assessed via hand forces and turning torque. These limits can be up to 30% lower than existing psychophysically determined pushing and pulling recommendations. Practitioners should consider implementing these guidelines in both risk assessment and workplace design moving forward.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Park, Jong-Kyu; Logan, Nikolas C.

Toroidal torque is one of the most important consequences of non-axisymmetric fields in tokamaks. The well-known neoclassical toroidal viscosity (NTV) is due to the second-order toroidal force from anisotropic pressure tensor in the presence of these asymmetries. This work shows that the first-order toroidal force originating from the same anisotropic pressure tensor, despite having no flux surface average, can significantly modify the local perturbed force balance and thus must be included in perturbed equilibrium self-consistent with NTV. The force operator with an anisotropic pressure tensor is not self-adjoint when the NTV torque is finite and thus is solved directly formore » each component. This approach yields a modified, non-self-adjoint Euler-Lagrange equation that can be solved using a variety of common drift-kinetic models in generalized tokamak geometry. The resulting energy and torque integral provides a unique way to construct a torque response matrix, which contains all the information of self-consistent NTV torque profiles obtainable by applying non-axisymmetric fields to the plasma. This torque response matrix can then be used to systematically optimize non-axisymmetric field distributions for desired NTV profiles. Published by AIP Publishing.« less

Spin-orbit torques and anisotropic magnetization damping in skyrmion crystals

NASA Astrophysics Data System (ADS)

Hals, Kjetil M. D.; Brataas, Arne

2014-02-01

The length scale of the magnetization gradients in chiral magnets is determined by the relativistic Dzyaloshinskii-Moriya interaction. Thus, even conventional spin-transfer torques are controlled by the relativistic spin-orbit coupling in these systems, and additional relativistic corrections to the current-induced torques and magnetization damping become important for a complete understanding of the current-driven magnetization dynamics. We theoretically study the effects of reactive and dissipative homogeneous spin-orbit torques and anisotropic damping on the current-driven skyrmion dynamics in cubic chiral magnets. Our results demonstrate that spin-orbit torques play a significant role in the current-induced skyrmion velocity. The dissipative spin-orbit torque generates a relativistic Magnus force on the skyrmions, whereas the reactive spin-orbit torque yields a correction to both the drift velocity along the current direction and the transverse velocity associated with the Magnus force. The spin-orbit torque corrections to the velocity scale linearly with the skyrmion size, which is inversely proportional to the spin-orbit coupling. Consequently, the reactive spin-orbit torque correction can be the same order of magnitude as the nonrelativistic contribution. More importantly, the dissipative spin-orbit torque can be the dominant force that causes a deflected motion of the skyrmions if the torque exhibits a linear or quadratic relationship with the spin-orbit coupling. In addition, we demonstrate that the skyrmion velocity is determined by anisotropic magnetization damping parameters governed by the skyrmion size.

Feasibility of novel four degrees of freedom capacitive force sensor for skin interface force

PubMed Central

2012-01-01

Background The objective of our study was to develop a novel capacitive force sensor that enables simultaneous measurements of yaw torque around the pressure axis and normal force and shear forces at a single point for the purpose of elucidating pressure ulcer pathogenesis and establishing criteria for selection of cushions and mattresses. Methods Two newly developed sensors (approximately 10 mm×10 mm×5 mm (10) and 20 mm×20 mm×5 mm (20)) were constructed from silicone gel and four upper and lower electrodes. The upper and lower electrodes had sixteen combinations that had the function as capacitors of parallel plate type. The full scale (FS) ranges of force/torque were defined as 0–1.5 N, –0.5-0.5 N and −1.5-1.5 N mm (10) and 0–8.7 N, –2.9-2.9 N and −16.8-16.8 N mm (20) in normal force, shear forces and yaw torque, respectively. The capacitances of sixteen capacitors were measured by an LCR meter (AC1V, 100 kHz) when displacements corresponding to four degrees of freedom (DOF) forces within FS ranges were applied to the sensor. The measurement was repeated three times in each displacement condition (10 only). Force/torque were calculated by corrected capacitance and were evaluated by comparison to theoretical values and standard normal force measured by an universal tester. Results In measurements of capacitance, the coefficient of variation was 3.23% (10). The Maximum FS errors of estimated force/torque were less than or equal to 10.1 (10) and 16.4% (20), respectively. The standard normal forces were approximately 1.5 (10) and 9.4 N (20) when pressure displacements were 3 (10) and 2 mm (20), respectively. The estimated normal forces were approximately 1.5 (10) and 8.6 N (10) in the same condition. Conclusions In this study, we developed a new four DOF force sensor for measurement of force/torque that occur between the skin and a mattress. In measurement of capacitance, the repeatability was good and it was confirmed that the sensor had characteristics that enabled the correction by linear approximation for adjustment of gain and offset. In estimation of forces/torque, we considered accuracy to be within an acceptable range. PMID:23186069

Quantifying anti-gravity torques for the design of a powered exoskeleton.

PubMed

Ragonesi, Daniel; Agrawal, Sunil K; Sample, Whitney; Rahman, Tariq

2013-03-01

Designing an upper extremity exoskeleton for people with arm weakness requires knowledge of the joint torques due to gravity and joint stiffness, as well as, active residual force capabilities of users. The objective of this research paper is to describe the characteristics of the upper limb of children with upper limb impairment. This paper describes the experimental measurements of the torque on the upper limb due to gravity and joint stiffness of three groups of subjects: able-bodied adults, able-bodied children, and children with neuromuscular disabilities. The experiment involves moving the arm to various positions in the sagittal plane and measuring the resultant force at the forearm. This force is then converted to torques at the elbow and shoulder. These data are compared to a two-link lumped mass model based on anthropomorphic data. Results show that the torques based on anthropometry deviate from experimentally measured torques as the arm goes through the range. Subjects with disabilities also maximally pushed and pulled against the force sensor to measure maximum strength as a function of arm orientation. For all subjects, the maximum voluntary applied torque at the shoulder and elbow in the sagittal plane was found to be lower than gravity torques throughout the disabled subjects' range of motion. This experiment informs designers of upper limb orthoses on the contribution of passive human joint torques due to gravity and joint stiffness and the strength capability of targeted users.

Evaluation of adhesion force between functionalized microbeads and protein-coated stainless steel using shear-flow-induced detachment.

PubMed

Mercier-Bonin, Muriel; Adoue, Mathieu; Zanna, Sandrine; Marcus, Philippe; Combes, Didier; Schmitz, Philippe

2009-10-01

Spherical microbeads functionalized with two types of chemical groups (NH(2), OH) were chosen as a simplified bacterial model, in order to elucidate the role of macromolecular interactions between specific biopolymers and 316 L stainless steel, in the frame of biofilm formation in the marine environment. NH(2) microbeads were used in their native form or after covalent binding to BSA or different representative poly-amino acids. OH microbeads were used in their native form. Adhesion force between microbeads and bare or BSA-coated stainless steel was quantified at nanoscale. Shear-flow-induced detachment experiments were combined with a simplified version of a theoretical model, based on the balance of hydrodynamic forces and torque exerted on microbeads. A maximal adhesion force of 27.6+/-8.5 nN was obtained for BSA-coated NH(2) microbeads. The high reactivity of OH functional groups was assessed (adhesion force of 15.6+/-4.8 nN for large microbeads). When charge-conducting stainless steel was coated with BSA, adhesion force was significantly lower than the one estimated with the bare surface, probably due to an increase in hydrophilic surface properties or suppression of charge transfer. The mechanism for microbead detachment was established (mainly rolling). The flow chamber and the associated theoretical modelling were demonstrated to be a relevant approach to quantify nanoscale forces between interacting surfaces.

Control of finger forces during fast, slow and moderate rotational hand movements.

PubMed

Kazemi, Hamed; Kearney, Robert E; Milner, Theodore E

2014-01-01

The goal of this study was to investigate the effect of speed on patterns of grip forces during twisting movement involving forearm supination against a torsional load (combined elastic and inertial load). For slow and moderate speed rotations, the grip force increased linearly with load torque. However, for fast rotations in which the contribution of the inertia to load torque was significantly greater than slower movements, the grip force-load torque relationship could be segmented into two phases: a linear ascending phase corresponding to the acceleration part of the movement followed by a plateau during deceleration. That is, during the acceleration phase, the grip force accurately tracked the combined elastic and inertial load. However, the coupling between grip force and load torque was not consistent during the deceleration phase of the movement. In addition, as speed increased, both the position and the force profiles became smoother. No differences in the baseline grip force, safety margin to secure the grasp during hold phase or the overall change in grip force were observed across different speeds.

Research on parallel load sharing principle of piezoelectric six-dimensional heavy force/torque sensor

NASA Astrophysics Data System (ADS)

Liu, Wei; Li, Ying-jun; Jia, Zhen-yuan; Zhang, Jun; Qian, Min

2011-01-01

In working process of huge heavy-load manipulators, such as the free forging machine, hydraulic die-forging press, forging manipulator, heavy grasping manipulator, large displacement manipulator, measurement of six-dimensional heavy force/torque and real-time force feedback of the operation interface are basis to realize coordinate operation control and force compliance control. It is also an effective way to raise the control accuracy and achieve highly efficient manufacturing. Facing to solve dynamic measurement problem on six-dimensional time-varying heavy load in extremely manufacturing process, the novel principle of parallel load sharing on six-dimensional heavy force/torque is put forward. The measuring principle of six-dimensional force sensor is analyzed, and the spatial model is built and decoupled. The load sharing ratios are analyzed and calculated in vertical and horizontal directions. The mapping relationship between six-dimensional heavy force/torque value to be measured and output force value is built. The finite element model of parallel piezoelectric six-dimensional heavy force/torque sensor is set up, and its static characteristics are analyzed by ANSYS software. The main parameters, which affect load sharing ratio, are analyzed. The experiments for load sharing with different diameters of parallel axis are designed. The results show that the six-dimensional heavy force/torque sensor has good linearity. Non-linearity errors are less than 1%. The parallel axis makes good effect of load sharing. The larger the diameter is, the better the load sharing effect is. The results of experiments are in accordance with the FEM analysis. The sensor has advantages of large measuring range, good linearity, high inherent frequency, and high rigidity. It can be widely used in extreme environments for real-time accurate measurement of six-dimensional time-varying huge loads on manipulators.

Learned Manipulation at Unconstrained Contacts Does Not Transfer across Hands

PubMed Central

Fu, Qiushi; Choi, Jason Y.; Gordon, Andrew M.; Jesunathadas, Mark; Santello, Marco

2014-01-01

Recent studies about sensorimotor control of the human hand have focused on how dexterous manipulation is learned and generalized. Here we address this question by testing the extent to which learned manipulation can be transferred when the contralateral hand is used and/or object orientation is reversed. We asked subjects to use a precision grip to lift a grip device with an asymmetrical mass distribution while minimizing object roll during lifting by generating a compensatory torque. Subjects were allowed to grasp anywhere on the object’s vertical surfaces, and were therefore able to modulate both digit positions and forces. After every block of eight trials performed in one manipulation context (i.e., using the right hand and at a given object orientation), subjects had to lift the same object in the second context for one trial (transfer trial). Context changes were made by asking subjects to switch the hand used to lift the object and/or rotate the object 180° about a vertical axis. Therefore, three transfer conditions, hand switch (HS), object rotation (OR), and both hand switch and object rotation (HS+OR), were tested and compared with hand matched control groups who did not experience context changes. We found that subjects in all transfer conditions adapted digit positions across multiple transfer trials similar to the learning of control groups, regardless of different changes of contexts. Moreover, subjects in both HS and HS+OR group also adapted digit forces similar to the control group, suggesting independent learning of the left hand. In contrast, the OR group showed significant negative transfer of the compensatory torque due to an inability to adapt digit forces. Our results indicate that internal representations of dexterous manipulation tasks may be primarily built through the hand used for learning and cannot be transferred across hands. PMID:25233091

Estimation of Coriolis Force and Torque Acting on Ares-1

NASA Technical Reports Server (NTRS)

Mackey, Ryan M.; Kulikov, Igor K.; Smelyanskiy, Vadim; Luchinsky, Dmitry; Orr, Jeb

2011-01-01

A document describes work on the origin of Coriolis force and estimating Coriolis force and torque applied to the Ares-1 vehicle during its ascent, based on an internal ballistics model for a multi-segmented solid rocket booster (SRB).

On the organizing role of nonmuscular forces during performance of a giant circle in gymnastics.

PubMed

Sevrez, Violaine; Rao, Guillaume; Berton, Eric; Bootsma, Reinoud J

2012-02-01

Five elite gymnasts performed giant circles on the high bar under different conditions of loading (without and with 6-kg loads attached to the shoulders, waist or ankles). Comparing the gymnasts' kinematic pattern of movement with that of a triple-pendulum moving under the sole influence of nonmuscular forces revealed qualitative similarities, including the adoption of an arched position during the downswing and a piked position during the upswing. The structuring role of nonmuscular forces in the organization of movement was further reinforced by the results of an inverse dynamics analysis, assessing the contributions of gravitational, inertial and muscular components to the net joint torques. Adding loads at the level of the shoulders, waist or ankles systematically influenced movement kinematics and net joint torques. However, with the loads attached at the level of the shoulders or waist, the load-induced changes in gravitational and inertial torques provided the required increase in net joint torque, thereby allowing the muscular torques to remain unchanged. With the loads attached at the level of the ankles, this was no longer the case and the gymnasts increased the muscular torques at the shoulder and hip joints. Together, these results demonstrate that expert gymnasts skillfully exploit the operative nonmuscular forces, employing muscle force only in the capacity of complementary forces needed to perform the task.

Potential roles of force cues in human stance control.

PubMed

Cnyrim, Christian; Mergner, Thomas; Maurer, Christoph

2009-04-01

Human stance is inherently unstable. A small deviation from upright body orientation is enough to yield a gravitational component in the ankle joint torque, which tends to accelerate the body further away from upright ('gravitational torque'; magnitude is related to body-space lean angle). Therefore, to maintain a given body lean position, a corresponding compensatory torque must be generated. It is well known that subjects use kinematic sensory information on body-space lean from the vestibular system for this purpose. Less is known about kinetic cues from force/torque receptors. Previous work indicated that they are involved in compensating external contact forces such as a pull or push having impact on the body. In this study, we hypothesized that they play, in addition, a role when the vestibular estimate of the gravitational torque becomes erroneous. Reasons may be sudden changes in body mass, for instance by a load, or an impairment of the vestibular system. To test this hypothesis, we mimicked load effects on the gravitational torque in normal subjects and in patients with chronic bilateral vestibular loss (VL) with eyes closed. We added/subtracted extra torque to the gravitational torque by applying an external contact force (via cable winches and a body harness). The extra torque was referenced to body-space lean, using different proportionality factors. We investigated how it affected body-space lean responses that we evoked using sinusoidal tilts of the support surface (motion platform) with different amplitudes and frequencies (normals +/-1 degrees, +/-2 degrees, and +/-4 degrees at 0.05, 0.1, 0.2, and 0.4 Hz; patients +/-1 degrees and +/-2 degrees at 0.05 and 0.1 Hz). We found that added/subtracted extra torque scales the lean response in a systematic way, leading to increase/decrease in lean excursion. Expressing the responses in terms of gain and phase curves, we compared the experimental findings to predictions obtained from a recently published sensory feedback model. For the trials in which the extra torque tended to endanger stance control, predictions in normals were better when the model included force cues than without these cues. This supports our notion that force cues provide an automatic 'gravitational load compensation' upon changes in body mass in normals. The findings in the patients support our notion that the presumed force cue mechanism provides furthermore vestibular loss compensation. Patients showed a body-space stabilization that cannot be explained by ankle angle proprioception, but must involve graviception, most likely by force cues. Our findings suggest that force cues contribute considerably to the redundancy and robustness of the human stance control system.

Electromagnetic tweezers with independent force and torque control

NASA Astrophysics Data System (ADS)

Jiang, Chang; Lionberger, Troy A.; Wiener, Diane M.; Meyhofer, Edgar

2016-08-01

Magnetic tweezers are powerful tools to manipulate and study the mechanical properties of biological molecules and living cells. In this paper we present a novel, bona fide electromagnetic tweezer (EMT) setup that allows independent control of the force and torque applied via micrometer-sized magnetic beads to a molecule under study. We implemented this EMT by combining a single solenoid that generates force (f-EMT) with a set of four solenoids arranged into a symmetric quadrupole to generate torque (τ-EMT). To demonstrate the capability of the tweezers, we attached optically asymmetric Janus beads to single, tethered DNA molecules. We show that tension in the piconewton force range can be applied to single DNA molecules and the molecule can simultaneously be twisted with torques in the piconewton-nanometer range. Furthermore, the EMT allows the two components to be independently controlled. At various force levels applied to the Janus bead, the trap torsional stiffness can be continuously changed simply by varying the current magnitude applied to the τ-EMT. The flexible and independent control of force and torque by the EMT makes it an ideal tool for a range of measurements where tensional and torsional properties need to be studied simultaneously on a molecular or cellular level.

Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics.

PubMed

Noh, Yohan; Bimbo, Joao; Sareh, Sina; Wurdemann, Helge; Fraś, Jan; Chathuranga, Damith Suresh; Liu, Hongbin; Housden, James; Althoefer, Kaspar; Rhode, Kawal

2016-11-17

This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor's main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human-robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.

Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics

PubMed Central

Noh, Yohan; Bimbo, Joao; Sareh, Sina; Wurdemann, Helge; Fraś, Jan; Chathuranga, Damith Suresh; Liu, Hongbin; Housden, James; Althoefer, Kaspar; Rhode, Kawal

2016-01-01

This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor’s main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human–robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests. PMID:27869689

Primary stability, insertion torque, and bone density of conical implants with internal hexagon: is there a relationship?

PubMed

Trisi, Paolo; Berardi, Davide; Paolantonio, Michele; Spoto, Giuseppe; D'Addona, Antonio; Perfetti, Giorgio

2013-05-01

Between implants and peri-implant bone, there should be a minimum gap, without micromotions over a threshold, which could cause resorption and fibrosis. The higher the implant insertion torque, the higher will be the initial stability. The aim was to evaluate in vitro the correlation between micromotions and insertion torque of implants in bone of different densities. The test was performed on bovine bone of hard, medium, and soft density: 150 implants were used, 10 for each torque (20, 35, 45, 70, and 100 N/cm). Samples were fixed on a loading device. On each sample, we applied a 25-N horizontal force. Insertion torque and micromotions are statistically correlated. In soft bone with an insertion force of 20 and 35 N/cm, the micromotion resulted significantly over the risk threshold, which was not found with an insertion force of 45 and 70 N/cm and in hard and medium bones with any insertion torque. The increase in insertion torque reduces the amount of micromotions between implant and bone. Therefore, the immediate loading may be considered a valid therapeutic choice, even in low-density bone, as long as at least 45 N/cm of insertion torque is reached.

Torque during canal instrumentation using rotary nickel-titanium files.

PubMed

Sattapan, B; Palamara, J E; Messer, H H

2000-03-01

Nickel-titanium engine-driven rotary instruments are used increasingly in endodontic practice. One frequently mentioned problem is fracture of an instrument in the root canal. Very few studies have been conducted on torsional characteristics of these instruments, and none has been done under dynamic conditions. The purposes of this study were to measure the torque generated and the apical force applied during instrumentation with a commercial engine-driven nickel-titanium file system, and to relate torque generated during simulated clinical use to torsional failure of the instruments. Ten extracted human teeth (five with small-sized and five with medium-sized straight root canals) were instrumented with Quantec Series 2000 files, and the torque and apical force generated were measured. The applied apical force was generally low, not exceeding 150 g in either small or medium canals. The torque depended on the tip size and taper of each instrument, and on canal size. Instruments with 0.05 and 0.06 taper generated the highest torque, which was greater in small than in medium canals. The torque at failure was significantly (p < 0.001) higher than torque during instrumentation, but with considerable variation in the extent of the difference.

Influence of Manual Screwdriver Design in Combination With and Without Predrilling on Insertion Torque of Orthodontic Mini-Implants.

PubMed

Katalinic, Andrej; Trinajstic Zrinski, Magda; Roksandic Vrancic, Zlatka; Spalj, Stjepan

2017-02-01

The study focused on the influence of screwdriver design in combination with and without predrilling a pilot hole of inner implant diameter on insertion torque of orthodontic mini-implants, controlling for cortical thickness and vertical insertion force as cofactors. One hundred twenty mini-implants (Forestadent) of 1.7 mm in diameter and 6 and 8 mm in length were manually inserted into 120 swine rib bone samples. Maximal insertion torque as a measure of primary stability and vertical force were measured. The study included procedures with and without pilot hole and different screwdriver handles and shaft length and 2 implant lengths. Design of manual screwdriver does not modify insertion torque to a significant extent. In multiple linear regression model, significant predictors of insertion torque are thicker cortical bone (explaining 16.6% of variability), higher vertical force at maximal torque (13.5%), 6-mm implant length (2.5%), and the presence of pilot hole (2.3%). Handle type and shaft length of manual screwdriver do not significantly influence insertion torque, whereas predrilling a pilot hole has low impact on torque values of manually inserted self-drilling orthodontic mini-implants.

Changes in Muscle and Joint Coordination in Learning to Direct Forces

PubMed Central

Hasson, Christopher J.; Caldwell, Graham E.; van Emmerik, Richard E.A.

2008-01-01

While it has been suggested that biarticular muscles have a specialized role in directing external reaction forces, it is unclear how humans learn to coordinate mono- and bi-articular muscles to perform force-directing tasks. Subjects were asked to direct pedal forces in a specified target direction during one-legged cycling. We expected that with practice, performance improvement would be associated with specific changes in joint torque patterns and mono- and bi-articular muscular coordination. Nine male subjects practiced pedaling an ergometer with only their left leg, and were instructed to always direct their applied pedal force perpendicular to the crank arm (target direction) and to maintain a constant pedaling speed. After a single practice session, the mean error between the applied and target pedal force directions decreased significantly. This improved performance was accompanied by a significant decrease in the amount of ankle angular motion and a smaller increase in knee and hip angular motion. This coincided with a re-organization of lower extremity joint torques, with a decrease in ankle plantarflexor torque and an increase in knee and hip flexor torques. Changes were seen in both mono- and bi-articular muscle activity patterns. The monoarticular muscles exhibited greater alterations, and appeared to contribute to both mechanical work and force directing. With practice, a loosening of the coupling between biarticular thigh muscle activation and joint torque co-regulation was observed. The results demonstrated that subjects were able to learn a complex and dynamic force-directing task by changing the direction of their applied pedal forces through re-organization of joint torque patterns and mono- and bi-articular muscle coordination. PMID:18405988

Changes in muscle and joint coordination in learning to direct forces.

PubMed

Hasson, Christopher J; Caldwell, Graham E; van Emmerik, Richard E A

2008-08-01

While it has been suggested that bi-articular muscles have a specialized role in directing external reaction forces, it is unclear how humans learn to coordinate mono- and bi-articular muscles to perform force-directing tasks. Participants were asked to direct pedal forces in a specified target direction during one-legged cycling. We expected that with practice, performance improvement would be associated with specific changes in joint torque patterns and mono- and bi-articular muscular coordination. Nine male participants practiced pedaling an ergometer with only their left leg, and were instructed to always direct their applied pedal force perpendicular to the crank arm (target direction) and to maintain a constant pedaling speed. After a single practice session, the mean error between the applied and target pedal force directions decreased significantly. This improved performance was accompanied by a significant decrease in the amount of ankle angular motion and a smaller increase in knee and hip angular motion. This coincided with a re-organization of lower extremity joint torques, with a decrease in ankle plantarflexor torque and an increase in knee and hip flexor torques. Changes were seen in both mono- and bi-articular muscle activity patterns. The mono-articular muscles exhibited greater alterations, and appeared to contribute to both mechanical work and force-directing. With practice, a loosening of the coupling between bi-articular thigh muscle activation and joint torque co-regulation was observed. The results demonstrated that participants were able to learn a complex and dynamic force-directing task by changing the direction of their applied pedal forces through re-organization of joint torque patterns and mono- and bi-articular muscle coordination.

Radial Splines Would Prevent Rotation Of Bearing Race

NASA Technical Reports Server (NTRS)

Kaplan, Ronald M.; Chokshi, Jaisukhlal V.

1993-01-01

Interlocking fine-pitch ribs and grooves formed on otherwise flat mating end faces of housing and outer race of rolling-element bearing to be mounted in housing, according to proposal. Splines bear large torque loads and impose minimal distortion on raceway.

Analysis of forces developed during root canal preparation with the balanced force technique.

PubMed

Blum, J Y; Machtou, P; Esber, S; Micallef, J P

1997-11-01

The aim of this study was to examine the forces and torque developed during root canal preparation with the balanced force technique using a recently described force-analyser device. A tooth was placed in a holder within the Endograph and forces and torques exerted were recorded. These parameters, which can be studied during preparation (on-line) or stored and examinated subsequently (off-line) generated endograms, which showed the forces generated with time. In addition, the endograms of preparations performed by students and endodontists, as well as deliberately induced failures in preparation technique (broken instruments), were compared. The values for the forces and torques depended on the size of the instruments and were related to the phase of the preparation. For the endodontists, the vertical and horizontal forces varied, respectively, from 0.08 +/- 0.01 kg for a size 15 to 0.65 +/- 0.10 kg for a size 45, and from 0.01 +/- 0.005 kg for a size 15 to 0.4 +/- 0.1 kg for a size 40. The torque varied from 0.08 +/- 1 kg mm-1 for a size 15 to 1.6 +/- 0.4 kg mm-1 for a size 45. With the endograms used as a reference, the relation between the developed vertical forces and the torque became more similar between the groups of endodontists and students. The Endograph provides a new approach to the analysis of preparation technique because it depicts the relationships between the different parameters of the preparation.

Determination Of Slitting Criterion Parameter During The Multi Slit Rolling Process

NASA Astrophysics Data System (ADS)

Stefanik, Andrzej; Mróz, Sebastian; Szota, Piotr; Dyja, Henryk

2007-05-01

The rolling of rods with slitting of the strip calls for the use of special mathematical models that would allow for the separating of metal. A theoretical analysis of the effect of the gap of slitting rollers on the process of band slitting during the rolling of 20 mm and 16 mm-diameter ribbed rods rolled according to the two-strand technology was carried out within this study. For the numerical modeling of strip slitting the Forge3® computer program was applied. The strip slitting in the simulation is implemented by the algorithm of removing elements in which the critical value of the normalized Cockroft - Latham criterion has been exceeded. To determine the value of the criterion the inverse method was applied. Distance between a point, where crack begins, and point of contact metal with the slitting rollers was the parameter for analysis. Power and rolling torque during slit rolling were presented. Distribution and change of the stress in strand while slitting were presented.

Force and displacement measurements of the distal fibula during simulated ankle loading tests for high ankle sprains.

PubMed

Markolf, Keith L; Jackson, Steven; McAllister, David R

2012-09-01

Syndesmosis (high ankle) sprains produce disruption of the distal tibiofibular ligaments. Forces on the distal fibula that produce these injuries are unknown. Twenty-seven fresh-frozen lower extremities were used for this study. A load cell recorded forces acting on the distal fibula from forced ankle dorsiflexion and applied external foot torque; medial-lateral and anterior-posterior displacements of the distal fibula were recorded. Fibular forces and axial displacements were also recorded with applied axial force. During forced ankle dorsiflexion and external foot torque tests, the distal fibula always displaced posteriorly with respect to the tibia with no measurable medial-lateral displacement. With 10 Nm dorsiflexion moment, cutting the tibiofibular ligaments approximately doubled fibular force and displacement values. Cutting the tibiofibular ligaments significantly increased fibular displacement from applied external foot torque. Fibular forces and axial displacements from applied axial weight-bearing force were highest with the foot dorsiflexed. The highest mean fibular force in the study (271.9 N) occurred with 10 Nm external foot torque applied to a dorsiflexed foot under 1000 N axial force. Two important modes of loading that could produce high ankle sprains were identified: forced ankle dorsiflexion and external foot torque applied to a dorsiflexed ankle loaded with axial force. The distal tibiofibular ligaments restrained fibular displacement during these tests. Residual mortise widening observed at surgery may be the result of tibiofibular ligament injuries caused by posterior displacement of the fibula. Therefore, a syndesmosis screw used to fix the fibula would be subjected to posterior bending forces from these loading modes. Ankle bracing to prevent extreme ankle dorsiflexion during rehabilitation may be advisable to prevent excessive fibular motions that could affect syndesmosis healing.

Mathematical model of the solar radiation force and torques acting on the components of a spacecraft

NASA Technical Reports Server (NTRS)

Georgevic, R. M.

1971-01-01

General expressions for the solar radiation force and torques are derived in the vectorial form for any given reflecting surface, provided that the reflecting characteristics of the surface, as well as the value of the solar constant, are known. An appropriate choice of a spacecraft-fixed frame of reference leads to relatively simple expressions for the solar radiation forces and torques in terms of the functions of the sun-spacecraft-earth angle.

Stability Control of Grasping Objects with Different Locations of Center of Mass and Rotational Inertia

PubMed Central

Slota, Gregory P.; Suh, Moon Suk; Latash, Mark L.; Zatsiorsky, Vladimir M.

2012-01-01

The objective of this study was to observe how the digits of the hand adjust to varying location of the center of mass (CoM) above/below the grasp and rotational inertia (RI) of a hand held object. Such manipulations do not immediately affect the equilibrium equations while stability control is affected. Participants were instructed to hold a handle, instrumented with five force/torque transducers and a 3-D rotational tilt sensor, while either the location of the CoM or the RI values were adjusted. On the whole, people use two mechanisms to adjust to the changed stability requirements; they increase the grip force and redistribute the total moment between the normal and tangential forces offsetting internal torques. The increase in grip force, an internal force, and offsetting internal torques allows for increases in joint and hand rotational apparent stiffness while not creating external forces/torques which would unbalance the equations of equilibrium. PMID:22456054

Cornering characteristics of the main-gear tire of the space shuttle orbiter

NASA Technical Reports Server (NTRS)

Daugherty, Robert H.; Stubbs, Sandy M.; Robinson, Martha P.

1988-01-01

An experimental investigation was conducted at the NASA Langley Research Center to study the effects of various vertical load and yaw angle conditions on the cornering behavior of the Space Shuttle Orbiter main gear tire. Measured parameters included side and drag force, side and drag force coefficients, aligning torque, and overturning torque. Side force coefficient was found to increase as yaw angle was increased, but decreased as the vertical load was increased. Drag force was found to increase as vertical load was increased at constant yaw angles. Aligning torque measurements indicated that the tire is stable in yaw.

Force, torque, linear momentum, and angular momentum in classical electr odynamics

NASA Astrophysics Data System (ADS)

Mansuripur, Masud

2017-10-01

The classical theory of electrodynamics is built upon Maxwell's equations and the concepts of electromagnetic (EM) field, force, energy, and momentum, which are intimately tied together by Poynting's theorem and by the Lorentz force law. Whereas Maxwell's equations relate the fields to their material sources, Poynting's theorem governs the flow of EM energy and its exchange between fields and material media, while the Lorentz law regulates the back-and-forth transfer of momentum between the media and the fields. An alternative force law, first proposed by Einstein and Laub, exists that is consistent with Maxwell's equations and complies with the conservation laws as well as with the requirements of special relativity. While the Lorentz law requires the introduction of hidden energy and hidden momentum in situations where an electric field acts on a magnetized medium, the Einstein-Laub (E-L) formulation of EM force and torque does not invoke hidden entities under such circumstances. Moreover, total force/torque exerted by EM fields on any given object turns out to be independent of whether the density of force/torque is evaluated using the law of Lorentz or that of Einstein and Laub. Hidden entities aside, the two formulations differ only in their predicted force and torque distributions inside matter. Such differences in distribution are occasionally measurable, and could serve as a guide in deciding which formulation, if either, corresponds to physical reality.

Friction torque in thrust ball bearings grease lubricated

NASA Astrophysics Data System (ADS)

Ianuş, G.; Dumitraşcu, A. C.; Cârlescu, V.; Olaru, D. N.

2016-08-01

The authors investigated experimentally and theoretically the friction torque in a modified thrust ball bearing having only 3 balls operating at low axial load and lubricated with NGLI-00 and NGLI-2 greases. The experiments were made by using spin-down methodology and the results were compared with the theoretical values based on Biboulet&Houpert's rolling friction equations. Also, the results were compared with the theoretical values obtained with SKF friction model adapted for 3 balls. A very good correlation between experiments and Biboulet_&_Houpert's predicted results was obtained for the two greases. Also was observed that the theoretical values for the friction torque calculated with SKF model adapted for a thrust ball bearing having only 3 balls are smaller that the experimental values.

Mechanics of torque generation in the bacterial flagellar motor.

PubMed

Mandadapu, Kranthi K; Nirody, Jasmine A; Berry, Richard M; Oster, George

2015-08-11

The bacterial flagellar motor (BFM) is responsible for driving bacterial locomotion and chemotaxis, fundamental processes in pathogenesis and biofilm formation. In the BFM, torque is generated at the interface between transmembrane proteins (stators) and a rotor. It is well established that the passage of ions down a transmembrane gradient through the stator complex provides the energy for torque generation. However, the physics involved in this energy conversion remain poorly understood. Here we propose a mechanically specific model for torque generation in the BFM. In particular, we identify roles for two fundamental forces involved in torque generation: electrostatic and steric. We propose that electrostatic forces serve to position the stator, whereas steric forces comprise the actual "power stroke." Specifically, we propose that ion-induced conformational changes about a proline "hinge" residue in a stator α-helix are directly responsible for generating the power stroke. Our model predictions fit well with recent experiments on a single-stator motor. The proposed model provides a mechanical explanation for several fundamental properties of the flagellar motor, including torque-speed and speed-ion motive force relationships, backstepping, variation in step sizes, and the effects of key mutations in the stator.

Spacesuit mobility joints

NASA Technical Reports Server (NTRS)

Vykukal, H. C. (Inventor)

1978-01-01

Joints for use in interconnecting adjacent segments of an hermetically sealed spacesuit which have low torques, low leakage and a high degree of reliability are described. Each of the joints is a special purpose joint characterized by substantially constant volume and low torque characteristics. Linkages which restrain the joint from longitudinal distension and a flexible, substantially impermeable diaphragm of tubular configuration spanning the distance between pivotally supported annuli are featured. The diaphragms of selected joints include rolling convolutions for balancing the joints, while various joints include wedge-shaped sections which enhance the range of motion for the joints.

Measurement of the Differential and Total Thrust and Torque of Six Full-Scale Adjustable-Pitch Propellers

NASA Technical Reports Server (NTRS)

Stickle, George W

1933-01-01

Force measurements giving total thrust and torque, and propeller slip stream surveys giving differential thrust and torque were simultaneously made on each of six full-scale propellers in the 20-foot propeller-research tunnel of the National Advisory Committee for Aeronautics. They were adjustable-pitch metal propellers 9.5 feet in diameter; three had modified Clark Y blade sections and three had modified RAF-6 blade sections. This report gives the differential thrust and torque and the variation caused by changing the propeller tip speed and the pitch setting. The total thrust and torque obtained from integration of the thrust and torque distribution curves are compared with those obtained by direct force measurements.

Kinesthetic coupling between operator and remote manipulator

NASA Technical Reports Server (NTRS)

Bejczy, A. K.; Salisbury, J. K., Jr.

1980-01-01

A universal force-reflecting hand controller has been developed which allows the establishment of a kinesthetic coupling between the operator and a remote manipulator. The six-degree-of-freedom controller was designed to generate forces and torques on its three positional and three rotational axes in order to permit the operator to accurately feel the forces encountered by the manipulator and be as transparent to operate as possible. The universal controller has been used in an application involving a six-degree-of-freedom mechanical arm equipped with a six-dimensional force-torque sensor at its base. In this application, the hand controller acts as a position control input device to the arm, while forces and torques sensed at the base of the mechanical hand back drive the hand controller. The positional control relation and the back driving of the controller according to inputs experienced by the force-torque sensor are established through complex mathematical transformations performed by a minicomputer. The hand controller is intended as a development tool for investigating force-reflecting master-slave manipulator control technology.

Fundamentals of Physics, Part 1 (Chapters 1-11)

NASA Astrophysics Data System (ADS)

Halliday, David; Resnick, Robert; Walker, Jearl

2003-12-01

Chapter 1.Measurement. How does the appearance of a new type of cloud signal changes in Earth's atmosphere? 1-1 What Is Physics? 1-2 Measuring Things. 1-3 The International System of Units. 1-4 Changing Units. 1-5 Length. 1-6 Time. 1-7 Mass. Review & Summary. Problems. Chapter 2.Motion Along a Straight Line. What causes whiplash injury in rear-end collisions of cars? 2-1 What Is Physics? 2-2 Motion. 2-3 Position and Displacement. 2-4 Average Velocity and Average Speed. 2-5 Instantaneous Velocity and Speed. 2-6 Acceleration. 2-7 Constant Acceleration: A Special Case. 2-8 Another Look at Constant Acceleration. 2-9 Free-Fall Acceleration. 2-10 Graphical Integration in Motion Analysis. Review & Summary. Questions. Problems. Chapter 3.Vectors. How does an ant know the way home with no guiding clues on the deser t plains? 3-2 Vectors and Scalars. 3-3 Adding Vectors Geometrically. 3-4 Components of Vectors. 3-5 Unit Vectors. 3-6 Adding Vectors by Components. 3-7 Vectors and the Laws of Physics. 3-8 Multiplying Vectors. Review & Summary. Questions. Problems. Chapter 4.Motion in Two and Three Dimensions. In a motorcycle jump for record distance, where does the jumper put the second ramp? 4-1 What Is Physics? 4-2 Position and Displacement. 4-3 Average Velocity and Instantaneous Velocity. 4-4 Average Acceleration and Instantaneous Acceleration. 4-5 Projectile Motion. 4-6 Projectile Motion Analyzed. 4-7 Uniform Circular Motion. 4-8 Relative Motion in One Dimension. 4-9 Relative Motion in Two Dimensions. Review & Summary. Questions. Problems. Chapter 5.Force and Motion-I. When a pilot takes off from an aircraft carrier, what causes the compulsion to fly the plane into the ocean? 5-1 What Is Physics? 5-2 Newtonian Mechanics. 5-3 Newton's First Law. 5-4 Force. 5-5 Mass. 5-6 Newton's Second Law. 5-7 Some Particular Forces. 5-8 Newton's Third Law. 5-9 Applying Newton's Laws. Review & Summary. Questions. Problems. Chapter 6.Force and Motion-II. Can a Grand Prix race car be driven upside down on a ceiling? 6-1 What Is Physics? 6-2 Friction. 6-3 Properties of Friction. 6-4 The Drag Force and Terminal Speed. 6-5 Uniform Circular Motion. Review & Summary. Questions. Problems. Chapter 7.Kinetic Energy and Work. In an epidural procedure, what sensations clue a surgeon that the needle has reached the spinal canal? 7-1 What Is Physics? 7-2 What Is Energy? 7-3 Kinetic Energy. 7-4 Work. 7-5 Work and Kinetic Energy. 7-6 Work Done by the Gravitational Force. 7-7 Work Done by a Spring Force. 7-8 Work Done by a General Variable Force. 7-9 Power. Review & Summary. Questions. Problems. Chapter 8.Potential Energy and Conservation of Energy. In rock climbing, what subtle factor determines if a falling climber will snap the rope? 8-1 What Is Physics? 8-2 Work and Potential Energy. 8-3 Path Independence of Conservative Forces. 8-4 Determining Potential Energy Values. 8-5 Conservation of Mechanical Energy. 8-6 Reading a Potential Energy Curve. 8-7 Work Done on a System by an External Force. 8-8 Conservation of Energy. Review & Summary. Questions. Problems. Chapter 9.Center of Mass and Linear Momentum. Does the presence of a passenger reduce the fatality risk in head-on car collisions? 9-1 What Is Physics? 9-2 The Center of Mass. 9-3 Newton's Second Law for a System of Particles. 9-4 Linear Momentum. 9-5 The Linear Momentum of a System of Particles. 9-6 Collision and Impulse. 9-7 Conservation of Linear Momentum. 9-8 Momentum and Kinetic Energy in Collisions. 9-9 Inelastic Collisions in One Dimension. 9-10 Elastic Collisions in One Dimension. 9-11 Collisions in Two Dimensions. 9-12 Systems with Varying Mass: A Rocket. Review & Summary. Questions. Problems. Chapter 10.Rotation. What causes roller-coaster headache? 10-1 What Is Physics? 10-2 The Rotational Variables. 10-3 Are Angular Quantities Vectors? 10-4 Rotation with Constant Angular Acceleration. 10-5 Relating the Linear and Angular Variables. 10-6 Kinetic Energy of Rotation. 10-7 Calculating the Rotational Inertia. 10-8 Torque. 10-9 Newton's Second Law for Rotation. 10-10 Work and Rotational Kinetic Energy. Review & Summary. Questions. Problems. Chapter 11.Rolling, Torque, and Angular Momentum. When a jet-powered car became supersonic in setting the land-speed record, what was the danger to the wheels? 11-1 What Is Physics? 11-2 Rolling as Translation and Rotation Combined. 11-3 The Kinetic Energy of Rolling. 11-4 The Forces of Rolling. 11-5 The Yo-Yo. 11-6 Torque Revisited. 11-7 Angular Momentum. 11-8 Newton's Second Law in Angular Form. 11-9 The Angular Momentum of a System of Particles. 11-10 The Angular Momentum of a Rigid Body Rotating About a Fixed Axis. 11-11 Conservation of Angular Momentum. 11-12 Precession of a Gyroscope. Review & Summary. Questions. Problems. Appendix A: The International System of Units (SI). Appendix B: Some Fundamental Constants of Physics. Appendix C: Some Astronomical Data. Appendix D: Conversion Factors. Appendix E: Mathematical Formulas. Appendix F: Properties of the Elements. Appendix G: Periodic Table of the Elements. Answers to Checkpoints and Odd-Numbered Questions and Problems. Index.

The effect of grip force, stroke rotation and frequency on discomfort for a torqueing tasks.

PubMed

Bano, Farheen; Mallick, Zulqernian; Khan, Abid Ali

2015-08-08

Occupational tasks involve awkward upper limb postures, especially movement of forearm with repetitive combined gripping and torqueing exertions, which may lead to development of WMSDs. From the literature survey it was observed that there was a lack of studies focussed on the combined effect of torque and grip exertions on forearm discomfort. The present study was to investigate the effects of grip force, stroke rotation and frequency of exertions on discomfort and Electromyography (EMG) activities of the forearm muscles in a repetitive torqueing task. Twenty-seven male participants volunteered in this study. The participants performed repetitive exertions for a 5 minutes duration for each combination of the different levels of stroke rotation, grip force and frequency of exertions. Three levels of stroke rotation, three levels of grip force and three levels of frequency of exertion were chosen as independent variables. Therefore a 3 × 3 customized factorial design was used for the experiment for each level of grip force. Hence, the study was divided into three groups on the basis of grip force (50N, 70N and 90N). The ANOVA showed that stroke rotation and frequency of exertion were significant on discomfort. Further Students Newmann test (SNK) revealed that discomfort was increased with increasing stroke rotation and frequency of exertion. The multivariate analysis of variances (MANOVA) performed on EMG data instead of ANOVA because EMG activities of five muscles simultaneously were recorded. The Results found that extensor muscles were more fatigued in torqueing with gripping task. It was found that stroke rotation for the torqueing tasks must be kept below 45°. It was concluded that it is important to control stroke rotation to improve performance of repetitive torqueing activity.

attitude control design for the solar polar orbit radio telesope

NASA Astrophysics Data System (ADS)

Gao, D.; Zheng, J.

This paper studies the attitude dynamics and control of the Solar Polar Orbit Radio Telescope SPORT The SPORT which consists of one parent satellite and eight tethered satellites runs around the Sun in a polar orbit The parent satellite locates at the mass center of the constellation and tethered satellites which are tied with the parent satellite through a non-electric rope rotate around the parent satellite It is also supposed that the parent satellite and all tethered satellites are in a plane when the constellation works begin figure htbp centerline includegraphics width 3 85in height 2 38in 75271331 6a6eb71057 doc1 eps label fig1 end figure Fig 1 the SPORT constellation Firstly this paper gives the dynamic equations of the tethered satellite and the parent satellite From the dynamic characteristic of the tethered satellite we then find that the roll axis is coupled with the yaw axis The control torque of the roll axis can control the yaw angle But the control torque of the roll axis and pitch axis provided by the tether is very small it can not meet the accuracy requirement of the yaw angle In order to improve the attitude pointing accuracy of the tethered satellite a gradient pole is set in the negative orientation of the yaw axis The gradient pole can improve not only the attitude accuracy of roll angle and pitch angle but also that of the yaw angle indirectly As to the dynamic characteristic of the parent satellite the roll axis is coupled with the pitch axis due to the spinning angular velocity At the same

A comparison of force sensing techniques for planetary manipulation

NASA Technical Reports Server (NTRS)

Helmick, Daniel; Okon, Avi; DiCicco, Matt

2006-01-01

Five techniques for sensing forces with a manipulator are compared analytically and experimentally. The techniques compared are: a six-axis wrist force/torque sensor, joint torque sensors, link strain gauges, motor current sensors, and flexibility modeling. The accuracy and repeatability fo each technique is quantified and compared.

Joint torques in a freely walking insect reveal distinct functions of leg joints in propulsion and posture control

PubMed Central

2016-01-01

Determining the mechanical output of limb joints is critical for understanding the control of complex motor behaviours such as walking. In the case of insect walking, the neural infrastructure for single-joint control is well described. However, a detailed description of the motor output in form of time-varying joint torques is lacking. Here, we determine joint torques in the stick insect to identify leg joint function in the control of body height and propulsion. Torques were determined by measuring whole-body kinematics and ground reaction forces in freely walking animals. We demonstrate that despite strong differences in morphology and posture, stick insects show a functional division of joints similar to other insect model systems. Propulsion was generated by strong depression torques about the coxa–trochanter joint, not by retraction or flexion/extension torques. Torques about the respective thorax–coxa and femur–tibia joints were often directed opposite to fore–aft forces and joint movements. This suggests a posture-dependent mechanism that counteracts collapse of the leg under body load and directs the resultant force vector such that strong depression torques can control both body height and propulsion. Our findings parallel propulsive mechanisms described in other walking, jumping and flying insects, and challenge current control models of insect walking. PMID:26791608

van der Waals torque

NASA Astrophysics Data System (ADS)

Esquivel-Sirvent, Raul; Schatz, George

2014-03-01

The theory of generalized van der Waals forces by Lifshtz when applied to optically anisotropic media predicts the existence of a torque. In this work we present a theoretical calculation of the van der Waals torque for two systems. First we consider two isotropic parallel plates where the anisotropy is induced using an external magnetic field. The anisotropy will in turn induce a torque. As a case study we consider III-IV semiconductors such as InSb that can support magneto plasmons. The calculations of the torque are done in the Voigt configuration, that occurs when the magnetic field is parallel to the surface of the slabs. The change in the dielectric function as the magnetic field increases has the effect of decreasing the van der Waals force and increasing the torque. Thus, the external magnetic field is used to tune both the force and torque. The second example we present is the use of the torque in the non retarded regime to align arrays of nano particle slabs. The torque is calculated within Barash and Ginzburg formalism in the nonretarded limit, and is quantified by the introduction of a Hamaker torque constant. Calculations are conducted between anisotropic slabs of materials including BaTiO3 and arrays of Ag nano particles. Depending on the shape and arrangement of the Ag nano particles the effective dielectric function of the array can be tuned as to make it more or less anisotropic. We show how this torque can be used in self assembly of arrays of nano particles. ref. R. Esquivel-Sirvent, G. C. Schatz, Phys. Chem C, 117, 5492 (2013). partial support from DGAPA-UNAM.

Evaluation of handle design characteristics in a maximum screwdriving torque task.

PubMed

Kong, Y-K; Lowe, B D; Lee, S-J; Krieg, E F

2007-09-01

The purpose of this study was to evaluate the effects of screwdriver handle shape, surface material and workpiece orientation on torque performance, finger force distribution and muscle activity in a maximum screwdriving torque task. Twelve male subjects performed maximum screw-tightening exertions using screwdriver handles with three longitudinal shapes (circular, hexagonal and triangular), four lateral shapes (cylindrical, double frustum, cone and reversed double frustum) and two surfaces (rubber and plastic). The average finger force contributions to the total hand force were 28.1%, 39.3%, 26.5% and 6.2%, in order from index to little fingers; the average phalangeal segment force contributions were 47.3%, 14.0%, 20.5% and 18.1% for distal, middle, proximal and metacarpal phalanges, respectively. The plastic surface handles were associated with 15% less torque output (4.86 Nm) than the rubber coated handles (5.73 Nm). In general, the vertical workpiece orientation was associated with higher torque output (5.9 Nm) than the horizontal orientation (4.69 Nm). Analysis of handle shapes indicates that screwdrivers designed with a circular or hexagonal cross-sectional shape result in greater torque outputs (5.49 Nm, 5.57 Nm), with less total finger force (95 N, 105 N). In terms of lateral shape, reversed double frustum handles were associated with less torque output (5.23 Nm) than the double frustum (5.44 Nm) and cone (5.37 Nm) handles. Screwdriver handles designed with combinations of circular or hexagonal cross-sectional shapes with double frustum and cone lateral shapes were optimal in this study.

Force/torque and tactile sensors for sensor-based manipulator control

NASA Technical Reports Server (NTRS)

Vanbrussel, H.; Belieen, H.; Bao, Chao-Ying

1989-01-01

The autonomy of manipulators, in space and in industrial environments, can be dramatically enhanced by the use of force/torque and tactile sensors. The development and future use of a six-component force/torque sensor for the Hermes Robot Arm (HERA) Basic End-Effector (BEE) is discussed. Then a multifunctional gripper system based on tactile sensors is described. The basic transducing element of the sensor is a sheet of pressure-sensitive polymer. Tactile image processing algorithms for slip detection, object position estimation, and object recognition are described.

Coupled thermal-fluid-mechanics analysis of twin roll casting of A7075 aluminum alloy

NASA Astrophysics Data System (ADS)

Lee, Yun-Soo; Kim, Hyoung-Wook; Cho, Jae-Hyung; Chun, Se-Hwan

2017-09-01

Better understanding of temperature distribution and roll separation force during twin roll casting of aluminum alloys is critical to successfully fabricate good quality of aluminum strips. Therefore, the simulation techniques are widely applied to understand the twin roll casting process in a comprehensive way and to reduce the experimental time and cost of trial and error. However, most of the conventional approaches are considered thermally coupled flow, or thermally coupled mechanical behaviors. In this study, a fully coupled thermal-fluid-mechanical analysis of twin roll casting of A7075 aluminum strips was carried out using the finite element method. Temperature profile, liquid fraction and metal flow of aluminum strips with different thickness were predicted. Roll separation force and roll temperatures were experimentally obtained from a pilot-scale twin roll caster, and those results were compared with model predictions. Coupling the fluid of the liquid melt to the thermal and mechanical modeling reasonably predicted roll temperature distribution and roll separation force during twin roll casting.

An ergonomic, instrumented ultrasound probe for 6-axis force/torque measurement.

PubMed

Gilbertson, Matthew W; Anthony, Brian W

2013-01-01

An ergonomic, instrumented ultrasound probe has been developed for medical imaging applications. The device, which fits compactly in the hand of sonographers and permits rapid attachment & removal of the ultrasound probe, measures ultrasound probe-to-patient contact forces and torques in all six axes. The device was used to measure contact forces and torques applied by ten professional sonographers on five patients during thirty-six abdominal exams. Of the three contact forces, those applied along the probe axis were found to be largest, averaging 7.0N. Measurement noise was quantified for each axis, and found to be small compared with the axial force. Understanding the range of forces applied during ultrasound imaging enables the design of more accurate robotic imaging systems and could also improve understanding of the correlation between contact force and sonographer fatigue and injury.

Force Analysis and Energy Operation of Chaotic System of Permanent-Magnet Synchronous Motor

NASA Astrophysics Data System (ADS)

Qi, Guoyuan; Hu, Jianbing

2017-12-01

The disadvantage of a nondimensionalized model of a permanent-magnet synchronous Motor (PMSM) is identified. The original PMSM model is transformed into a Kolmogorov system to aid dynamic force analysis. The vector field of the PMSM is analogous to the force field including four types of torque — inertial, internal, dissipative, and generalized external. Using the feedback thought, the error torque between external torque and dissipative torque is identified. The pitchfork bifurcation of the PMSM is performed. Four forms of energy are identified for the system — kinetic, potential, dissipative, and supplied. The physical interpretations of the decomposition of force and energy exchange are given. Casimir energy is stored energy, and its rate of change is the error power between the dissipative energy and the energy supplied to the motor. Error torque and error power influence the different types of dynamic modes. The Hamiltonian energy and Casimir energy are compared to find the function of each in producing the dynamic modes. A supremum bound for the chaotic attractor is proposed using the error power and Lagrange multiplier.

Approaching Free Fall on Two Degrees of Freedom: Simultaneous Measurement of Residual Force and Torque on a Double Torsion Pendulum.

PubMed

Bassan, M; Cavalleri, A; De Laurentis, M; De Marchi, F; De Rosa, R; Di Fiore, L; Dolesi, R; Finetti, N; Garufi, F; Grado, A; Hueller, M; Marconi, L; Milano, L; Pucacco, G; Stanga, R; Visco, M; Vitale, S; Weber, W J

2016-02-05

A torsion pendulum with 2 soft degrees of freedom (DOFs), realized by off-axis cascading two torsion fibers, has been built and operated. This instrument helps characterize the geodesic motion of a test mass for LISA Pathfinder or any other free-fall space mission, providing information on cross talk and other effects that cannot be detected when monitoring a single DOF. We show that it is possible to simultaneously measure both the residual force and the residual torque acting on a quasifree test mass. As an example of the investigations that a double pendulum allows, we report the measurement of the force-to-torque cross talk, i.e., the amount of actuation signal, produced by applying a force on the suspended test mass, that leaks into the rotational DOF, detected by measuring the corresponding (unwanted) torque.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Unseren, M.A.

A general framework for solving the dynamic load distribution when two manipulators hold a rigid object is proposed. The underspecified problem of solving for the contact forces and torques based on the object`s equations of motion is transformed into a well specified problem. This is accomplished by augmenting the object`s equations of motion with additional equations which relate a new vector variable quantifying the internal contact force and torque degrees of freedom (DOF) as a linear function of the contact forces and torques. The resulting augmented system yields a well specified solution for the contact forces and torques in whichmore » they are separated into their motion inducing and internal components. A particular solution is suggested which enables the designer to conveniently specify what portion of the payload`s mass each manipulator is to bear. It is also shown that the results of the previous work are just a special case of the general load distribution framework described here.« less

Fast Estimation of Strains for Cross-Beams Six-Axis Force/Torque Sensors by Mechanical Modeling

PubMed Central

Ma, Junqing; Song, Aiguo

2013-01-01

Strain distributions are crucial criteria of cross-beams six-axis force/torque sensors. The conventional method for calculating the criteria is to utilize Finite Element Analysis (FEA) to get numerical solutions. This paper aims to obtain analytical solutions of strains under the effect of external force/torque in each dimension. Genetic mechanical models for cross-beams six-axis force/torque sensors are proposed, in which deformable cross elastic beams and compliant beams are modeled as quasi-static Timoshenko beam. A detailed description of model assumptions, model idealizations, application scope and model establishment is presented. The results are validated by both numerical FEA simulations and calibration experiments, and test results are found to be compatible with each other for a wide range of geometric properties. The proposed analytical solutions are demonstrated to be an accurate estimation algorithm with higher efficiency. PMID:23686144

Hyperstaticity for ergonomie design of a wrist exoskeleton.

PubMed

Esmaeili, Mohammad; Jarrassé, Nathanaël; Dailey, Wayne; Burdet, Etienne; Campolo, Domenico

2013-06-01

Increasing the level of transparency in rehabilitation devices has been one of the main goals in robot-aided neurorehabilitation for the past two decades. This issue is particularly important to robotic structures that mimic the human counterpart's morphology and attach directly to the limb. Problems arise for complex joints such as the human wrist, which cannot be accurately matched with a traditional mechanical joint. In such cases, mechanical differences between human and robotic joint cause hyperstaticity (i.e. overconstraint) which, coupled with kinematic misalignments, leads to uncontrolled force/torque at the joint. This paper focuses on the prono-supination (PS) degree of freedom of the forearm. The overall force and torque in the wrist PS rotation is quantified by means of a wrist robot. A practical solution to avoid hyperstaticity and reduce the level of undesired force/torque in the wrist is presented, which is shown to reduce 75% of the force and 68% of the torque.

Tetherless mobile micrograsping using a magnetic elastic composite material

NASA Astrophysics Data System (ADS)

Zhang, Jiachen; Diller, Eric

2016-11-01

In this letter, we propose and characterize a new type of tetherless mobile microgripper for micrograsping that is made of a magnetic elastic composite material. Its magnetically-programmable material and structures make it the first three-dimensional (3D) mobile microgripper that is directly actuated and controlled by magnetic forces and torques. With a symmetric four-limb structure, the microgripper is 3.5 mm long from tip to tip when it is open and 30 μm thick. It forms an approximate 700 μm cube when it is closed. The orientation and 3D shape of the microgripper are determined by the direction and strength of the applied magnetic field, respectively. As a mobile device, the microgripper can be moved through aqueous environments for precise grasping and transportation of micro-objects, pulled by magnetic gradients directly or rolled in rotating magnetic fields. The deformation of the microgripper under magnetic actuation is characterized by modeling and confirmed experimentally. Being directly controlled by magnetic forces and torques, the microgripper is easier and more intuitive to control than other magnetic microgrippers that require other inputs such as thermal and chemical responses. In addition, the microgripper is capable of performing fast repeatable grasping motions, requiring no more than 25 ms to change from fully open to fully closed in water at room temperature. As a result of its large-amplitude 3D deformation, the microgripper can accommodate cargoes with a wide range of geometries and dimensions. A pick-and-place experiment demonstrates the efficacy of the microgripper and its potentials in biomedical, microfluidic, and microrobotic applications.

Numerical Simulation of Forced and Free-to-Roll Delta-Wing Motions

NASA Technical Reports Server (NTRS)

Chaderjian, Neal M.; Schiff, Lewis B.

1996-01-01

The three-dimensional, Reynolds-averaged, Navier-Stokes (RANS) equations are used to numerically simulate nonsteady vortical flow about a 65-deg sweep delta wing at 30-deg angle of attack. Two large-amplitude, high-rate, forced-roll motions, and a damped free-to-roll motion are presented. The free-to-roll motion is computed by coupling the time-dependent RANS equations to the flight dynamic equation of motion. The computed results are in good agreement with the forces, moments, and roll-angle time histories. Vortex breakdown is present in each case. Significant time lags in the vortex breakdown motions relative to the body motions strongly influence the dynamic forces and moments.

Reconstruction of Twist Torque in Main Parachute Risers

NASA Technical Reports Server (NTRS)

Day, Joshua D.

2015-01-01

The reconstruction of twist torque in the Main Parachute Risers of the Capsule Parachute Assembly System (CPAS) has been successfully used to validate CPAS Model Memo conservative twist torque equations. Reconstruction of basic, one degree of freedom drop tests was used to create a functional process for the evaluation of more complex, rigid body simulation. The roll, pitch, and yaw of the body, the fly-out angles of the parachutes, and the relative location of the parachutes to the body are inputs to the torque simulation. The data collected by the Inertial Measurement Unit (IMU) was used to calculate the true torque. The simulation then used photogrammetric and IMU data as inputs into the Model Memo equations. The results were then compared to the true torque results to validate the Model Memo equations. The Model Memo parameters were based off of steel risers and the parameters will need to be re-evaluated for different materials. Photogrammetric data was found to be more accurate than the inertial data in accounting for the relative rotation between payload and cluster. The Model Memo equations were generally a good match and when not matching were generally conservative.

Multi-body dynamic coupling mechanism for generating throwing arm velocity during baseball pitching.

PubMed

Naito, Kozo; Takagi, Tokio; Kubota, Hideaki; Maruyama, Takeo

2017-08-01

The purpose of this study was to identify the detailed mechanism how the maximum throwing arm endpoint velocity is determined by the muscular torques and non-muscular interactive torques from the perspective of the dynamic coupling among the trunk, thorax and throwing and non-throwing arm segments. The pitching movements of ten male collegiate baseball pitchers were measured by a three-dimensional motion capture system. Using the induced-segmental velocity analysis (IVA) developed in this study, the maximum fingertip velocity of the throwing arm (MFV) was decomposed into each contribution of the muscular torques, passive motion-dependent torques due to gyroscopic moment, Coriolis force and centrifugal force, and other interactive torque components. The results showed that MFV (31.6±1.7m/s) was mainly attributed to two different mechanisms. The first is the passive motion-dependent effect on increasing the angular velocities of three joints (thorax rotation, elbow extension and wrist flexion). The second is the muscular torque effect of the shoulder internal rotation (IR) torque on generating IR angular velocity. In particular, the centrifugal force-induced elbow extension motion, which was the greatest contributor among individual joint contributions, was caused primarily by the angular velocity-dependent forces associated with the humerus, thorax, and trunk rotations. Our study also found that a compensatory mechanism was achieved by the negative and positive contributions of the muscular torque components. The current IVA is helpful to understand how the rapid throwing arm movement is determined by the dynamic coupling mechanism. Copyright © 2017 Elsevier B.V. All rights reserved.

Linear modeling of human hand-arm dynamics relevant to right-angle torque tool interaction.

PubMed

Ay, Haluk; Sommerich, Carolyn M; Luscher, Anthony F

2013-10-01

A new protocol was evaluated for identification of stiffness, mass, and damping parameters employing a linear model for human hand-arm dynamics relevant to right-angle torque tool use. Powered torque tools are widely used to tighten fasteners in manufacturing industries. While these tools increase accuracy and efficiency of tightening processes, operators are repetitively exposed to impulsive forces, posing risk of upper extremity musculoskeletal injury. A novel testing apparatus was developed that closely mimics biomechanical exposure in torque tool operation. Forty experienced torque tool operators were tested with the apparatus to determine model parameters and validate the protocol for physical capacity assessment. A second-order hand-arm model with parameters extracted in the time domain met model accuracy criterion of 5% for time-to-peak displacement error in 93% of trials (vs. 75% for frequency domain). Average time-to-peak handle displacement and relative peak handle force errors were 0.69 ms and 0.21%, respectively. Model parameters were significantly affected by gender and working posture. Protocol and numerical calculation procedures provide an alternative method for assessing mechanical parameters relevant to right-angle torque tool use. The protocol more closely resembles tool use, and calculation procedures demonstrate better performance of parameter extraction using time domain system identification methods versus frequency domain. Potential future applications include parameter identification for in situ torque tool operation and equipment development for human hand-arm dynamics simulation under impulsive forces that could be used for assessing torque tools based on factors relevant to operator health (handle dynamics and hand-arm reaction force).

Validation of a Biofeedback System for Wheelchair Propulsion Training

PubMed Central

Guo, Liyun; Kwarciak, Andrew M.; Rodriguez, Russell; Sarkar, Nilanjan; Richter, W. Mark

2011-01-01

This paper describes the design and validation of the OptiPush Biofeedback System, a commercially available, instrumented wheel system that records handrim biomechanics and provides stroke-by-stroke biofeedback and targeting for 11 propulsion variables. Testing of the system revealed accurate measurement of wheel angle (0.02% error), wheel speed (0.06% error), and handrim loads. The maximum errors in static force and torque measurements were 3.80% and 2.05%, respectively. Measured forces were also found to be highly linear (0.985 < slope < 1.011) and highly correlated to the reference forces (r 2 > .998). Dynamic measurements of planar forces (F x and F y) and axle torque also had low error (−0.96 N to 0.83 N for force and 0.10 Nm to 0.14 Nm for torque) and were highly correlated (r > .986) with expected force and torque values. Overall, the OptiPush Biofeedback System provides accurate measurement of wheel dynamics and handrim biomechanics and may be a useful tool for improving manual wheelchair propulsion. PMID:22110977

Decoding tactile afferent activity to obtain an estimate of instantaneous force and torque applied to the fingerpad

PubMed Central

Birznieks, Ingvars; Redmond, Stephen J.

2015-01-01

Dexterous manipulation is not possible without sensory information about object properties and manipulative forces. Fundamental neuroscience has been unable to demonstrate how information about multiple stimulus parameters may be continuously extracted, concurrently, from a population of tactile afferents. This is the first study to demonstrate this, using spike trains recorded from tactile afferents innervating the monkey fingerpad. A multiple-regression model, requiring no a priori knowledge of stimulus-onset times or stimulus combination, was developed to obtain continuous estimates of instantaneous force and torque. The stimuli consisted of a normal-force ramp (to a plateau of 1.8, 2.2, or 2.5 N), on top of which −3.5, −2.0, 0, +2.0, or +3.5 mNm torque was applied about the normal to the skin surface. The model inputs were sliding windows of binned spike counts recorded from each afferent. Models were trained and tested by 15-fold cross-validation to estimate instantaneous normal force and torque over the entire stimulation period. With the use of the spike trains from 58 slow-adapting type I and 25 fast-adapting type I afferents, the instantaneous normal force and torque could be estimated with small error. This study demonstrated that instantaneous force and torque parameters could be reliably extracted from a small number of tactile afferent responses in a real-time fashion with stimulus combinations that the model had not been exposed to during training. Analysis of the model weights may reveal how interactions between stimulus parameters could be disentangled for complex population responses and could be used to test neurophysiologically relevant hypotheses about encoding mechanisms. PMID:25948866

Optomechanical measurement of photon spin angular momentum and optical torque in integrated photonic devices.

PubMed

He, Li; Li, Huan; Li, Mo

2016-09-01

Photons carry linear momentum and spin angular momentum when circularly or elliptically polarized. During light-matter interaction, transfer of linear momentum leads to optical forces, whereas transfer of angular momentum induces optical torque. Optical forces including radiation pressure and gradient forces have long been used in optical tweezers and laser cooling. In nanophotonic devices, optical forces can be significantly enhanced, leading to unprecedented optomechanical effects in both classical and quantum regimes. In contrast, to date, the angular momentum of light and the optical torque effect have only been used in optical tweezers but remain unexplored in integrated photonics. We demonstrate the measurement of the spin angular momentum of photons propagating in a birefringent waveguide and the use of optical torque to actuate rotational motion of an optomechanical device. We show that the sign and magnitude of the optical torque are determined by the photon polarization states that are synthesized on the chip. Our study reveals the mechanical effect of photon's polarization degree of freedom and demonstrates its control in integrated photonic devices. Exploiting optical torque and optomechanical interaction with photon angular momentum can lead to torsional cavity optomechanics and optomechanical photon spin-orbit coupling, as well as applications such as optomechanical gyroscopes and torsional magnetometry.

Optomechanical measurement of photon spin angular momentum and optical torque in integrated photonic devices

PubMed Central

He, Li; Li, Huan; Li, Mo

2016-01-01

Photons carry linear momentum and spin angular momentum when circularly or elliptically polarized. During light-matter interaction, transfer of linear momentum leads to optical forces, whereas transfer of angular momentum induces optical torque. Optical forces including radiation pressure and gradient forces have long been used in optical tweezers and laser cooling. In nanophotonic devices, optical forces can be significantly enhanced, leading to unprecedented optomechanical effects in both classical and quantum regimes. In contrast, to date, the angular momentum of light and the optical torque effect have only been used in optical tweezers but remain unexplored in integrated photonics. We demonstrate the measurement of the spin angular momentum of photons propagating in a birefringent waveguide and the use of optical torque to actuate rotational motion of an optomechanical device. We show that the sign and magnitude of the optical torque are determined by the photon polarization states that are synthesized on the chip. Our study reveals the mechanical effect of photon’s polarization degree of freedom and demonstrates its control in integrated photonic devices. Exploiting optical torque and optomechanical interaction with photon angular momentum can lead to torsional cavity optomechanics and optomechanical photon spin-orbit coupling, as well as applications such as optomechanical gyroscopes and torsional magnetometry. PMID:27626072

A Fully Nonlinear, Dynamically Consistent Numerical Model for Solid-Body Ship Motion. I. Ship Motion with Fixed Heading

NASA Technical Reports Server (NTRS)

Lin, Ray-Quing; Kuang, Weijia

2011-01-01

In this paper, we describe the details of our numerical model for simulating ship solidbody motion in a given environment. In this model, the fully nonlinear dynamical equations governing the time-varying solid-body ship motion under the forces arising from ship wave interactions are solved with given initial conditions. The net force and moment (torque) on the ship body are directly calculated via integration of the hydrodynamic pressure over the wetted surface and the buoyancy effect from the underwater volume of the actual ship hull with a hybrid finite-difference/finite-element method. Neither empirical nor free parametrization is introduced in this model, i.e. no a priori experimental data are needed for modelling. This model is benchmarked with many experiments of various ship hulls for heave, roll and pitch motion. In addition to the benchmark cases, numerical experiments are also carried out for strongly nonlinear ship motion with a fixed heading. These new cases demonstrate clearly the importance of nonlinearities in ship motion modelling.

Analysis of Real Ship Rolling Dynamics under Wave Excitement Force Composed of Sums of Cosine Functions

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhang, Y. S.; Cai, F.; Xu, W. M.

2011-09-28

The ship motion equation with a cosine wave excitement force describes the slip moments in regular waves. A new kind of wave excitement force model, with the form as sums of cosine functions was proposed to describe ship rolling in irregular waves. Ship rolling time series were obtained by solving the ship motion equation with the fourth-order-Runger-Kutta method. These rolling time series were synthetically analyzed with methods of phase-space track, power spectrum, primary component analysis, and the largest Lyapunove exponent. Simulation results show that ship rolling presents some chaotic characteristic when the wave excitement force was applied by sums ofmore » cosine functions. The result well explains the course of ship rolling's chaotic mechanism and is useful for ship hydrodynamic study.« less

Biomechanics of the Flexion of Spine.

ERIC Educational Resources Information Center

Hobbs, Harry K.; Aurora, T. S.

1991-01-01

The forces and torques experienced by the spine are examined to understand, and possibly avoid, low back pain. The structure, degrees of freedom, forces and torques when lifting objects, an experimental study, and other factors affecting the back are discussed. (KR)

Rolling Process Modeling Report: Finite-Element Prediction of Roll Separating Force and Rolling Defects

DOE Office of Scientific and Technical Information (OSTI.GOV)

Soulami, Ayoub; Lavender, Curt A.; Paxton, Dean M.

2014-04-23

Pacific Northwest National Laboratory (PNNL) has been investigating manufacturing processes for the uranium-10% molybdenum (U-10Mo) alloy plate-type fuel for the U.S. high-performance research reactors. This work supports the Convert Program of the U.S. Department of Energy’s National Nuclear Security Administration (DOE/NNSA) Global Threat Reduction Initiative. This report documents modeling results of PNNL’s efforts to perform finite-element simulations to predict roll separating forces and rolling defects. Simulations were performed using a finite-element model developed using the commercial code LS-Dyna. Simulations of the hot rolling of U-10Mo coupons encapsulated in low-carbon steel have been conducted following two different schedules. Model predictions ofmore » the roll-separation force and roll-pack thicknesses at different stages of the rolling process were compared with experimental measurements. This report discusses various attributes of the rolled coupons revealed by the model (e.g., dog-boning and thickness non-uniformity).« less

Gravitational force and torque on a solar power satellite considering the structural flexibility

NASA Astrophysics Data System (ADS)

Zhao, Yi; Zhang, Jingrui; Zhang, Yao; Zhang, Jun; Hu, Quan

2017-11-01

The solar power satellites (SPS) are designed to collect the constant solar energy and beam it to Earth. They are traditionally large in scale and flexible in structure. In order to obtain an accurate model of such system, the analytical expressions of the gravitational force, gravity gradient torque and modal force are investigated. They are expanded to the fourth order in a Taylor series with the elastic displacements considered. It is assumed that the deformation of the structure is relatively small compared with its characteristic length, so that the assumed mode method is applicable. The high-order moments of inertia and flexibility coefficients are presented. The comprehensive dynamics of a large flexible SPS and its orbital, attitude and vibration evolutions with different order gravitational forces, gravity gradient torques and modal forces in geosynchronous Earth orbit are performed. Numerical simulations show that an accurate representation of the SPS‧ dynamic characteristics requires the retention of the higher moments of inertia and flexibility. Perturbations of orbit, attitude and vibration can be retained to the 1-2nd order gravitational forces, the 1-2nd order gravity gradient torques and the 1-2nd order modal forces for a large flexible SPS in geosynchronous Earth orbit.

Catch bonds govern adhesion through L-selectin at threshold shear.

PubMed

Yago, Tadayuki; Wu, Jianhua; Wey, C Diana; Klopocki, Arkadiusz G; Zhu, Cheng; McEver, Rodger P

2004-09-13

Flow-enhanced cell adhesion is an unexplained phenomenon that might result from a transport-dependent increase in on-rates or a force-dependent decrease in off-rates of adhesive bonds. L-selectin requires a threshold shear to support leukocyte rolling on P-selectin glycoprotein ligand-1 (PSGL-1) and other vascular ligands. Low forces decrease L-selectin-PSGL-1 off-rates (catch bonds), whereas higher forces increase off-rates (slip bonds). We determined that a force-dependent decrease in off-rates dictated flow-enhanced rolling of L-selectin-bearing microspheres or neutrophils on PSGL-1. Catch bonds enabled increasing force to convert short-lived tethers into longer-lived tethers, which decreased rolling velocities and increased the regularity of rolling steps as shear rose from the threshold to an optimal value. As shear increased above the optimum, transitions to slip bonds shortened tether lifetimes, which increased rolling velocities and decreased rolling regularity. Thus, force-dependent alterations of bond lifetimes govern L-selectin-dependent cell adhesion below and above the shear optimum. These findings establish the first biological function for catch bonds as a mechanism for flow-enhanced cell adhesion.

Prehension Synergies in Three Dimensions

PubMed Central

Shim, Jae Kun; Latash, Mark L.; Zatsiorsky, Vladimir M.

2010-01-01

The goal of this study was to investigate the conjoint changes of digit forces/moments in 3 dimensions during static prehension under external torques acting on the object in one plane. The experimental paradigm was similar to holding a book vertically in the air where the center of mass of the book is located farther from the hand than the points of digit contacts. Three force and 3 moment components from each digit were recorded during static prehension of a customized handle. Subjects produced forces and moments in all 3 directions, although the external torques were exerted on the handheld object about only the Z-axis. The 3-dimensional response to a 2-dimensional task was explained by the cause– effect chain effects prompted by the noncollinearity of the normal forces of the thumb and the 4 fingers (represented by the “virtual finger”). Because the forces are not collinear (not along the same line), they generate moments of force about X- and Y-axes that are negated by the finger forces along the Y- and X-directions. The magnitudes of forces produced by lateral fingers (index and little) with longer moment arms were larger compared with the central fingers (middle and ring). At the virtual finger (an imaginary digit whose mechanical action is equivalent to the summed action of the 4 fingers) level, the relative contribution of different fractions of the resistive moment produced by subjects did not depend on the torque magnitude. We conclude that the CNS 1) solves a planar prehension task by producing forces and moments in all 3 directions, 2) uses mechanical advantage of fingers, and 3) shares the total torque among finger forces and moments in a particular way disregarding the torque magnitude. PMID:15456799

A Progression of Static Equilibrium Laboratory Exercises

NASA Astrophysics Data System (ADS)

Kutzner, Mickey; Kutzner, Andrew

2013-10-01

Although simple architectural structures like bridges, catwalks, cantilevers, and Stonehenge have been integral in human societies for millennia, as have levers and other simple tools, modern students of introductory physics continue to grapple with Newton's conditions for static equilibrium. As formulated in typical introductory physics textbooks, these two conditions appear as ΣF=0(1) and Στ=0,(2) where each torque τ is defined as the cross product between the lever arm vector r and the corresponding applied force F, τ =r×F,(3) having magnitude, τ =Frsinθ.(4) The angle θ here is between the two vectors F and r. In Eq. (1), upward (downward) forces are considered positive (negative). In Eq. (2), counterclockwise (clockwise) torques are considered positive (negative). Equation (1) holds that the vector sum of the external forces acting on an object must be zero to prevent linear accelerations; Eq. (2) states that the vector sum of torques due to external forces about any axis must be zero to prevent angular accelerations. In our view these conditions can be problematic for students because a) the equations contain the unfamiliar summation notation Σ, b) students are uncertain of the role of torques in causing rotations, and c) it is not clear why the sum of torques is zero regardless of the choice of axis. Gianino5 describes an experiment using MBL and a force sensor to convey the meaning of torque as applied to a rigid-body lever system without exploring quantitative aspects of the conditions for static equilibrium.

Explosive sport training and torque kinetics in children.

PubMed

Dotan, Raffy; Mitchell, Cameron J; Cohen, Rotem; Gabriel, David; Klentrou, Panagiota; Falk, Bareket

2013-07-01

A high rate of force development (RFD) is often more important than maximal force in daily and sports activities. In children, resistance training has been shown to increase maximal force. It is unclear whether, or to what extent, can children improve RFD and force kinetics. For this study, we compared strength and force kinetics of boy gymnasts with those of untrained boys and untrained men. Eight boy gymnasts (age, 9.5 ± 1.2 y), 20 untrained boys (age, 10.1 ± 1.3 y), and 20 untrained men (age, 22.9 ± 4.4 y) performed maximal, explosive, isometric elbow flexions (EF) and knee flexions (KF). Peak torque (maximal voluntary contraction (MVC)), elapsed times to 10%-100% MVC, peak rate of torque development (RTDpk), and other kinetics parameters were determined. When gymnasts were compared with untrained boys, size-normalized EF MVC was 11%-20% higher, RTDpk was 32% higher, and times to 30% and 80% MVC were 16% and 55% shorter, respectively (p < 0.05). No corresponding differences were observed in KF. Furthermore, although the normalized EF MVC was 28% lower in gymnasts than in men (p < 0.001), their torque kinetics parameters were similar. These findings highlight the specificity of gymnastics training, which markedly elevated the torque kinetics of young, prepubertal boys to adult levels, but only moderately affected peak torque. It is suggested that neurologic adaptations, such as enhanced firing and activation rates or increased type II motor-unit recruitment, as well as changes in musculotendinous stiffness, could explain these findings.

Enhanced precision of ankle torque measure with an open-unit dynamometer mounted with a 3D force-torque sensor.

PubMed

Toumi, A; Leteneur, S; Gillet, C; Debril, J-F; Decoufour, N; Barbier, F; Jakobi, J M; Simoneau-Buessinger, Emilie

2015-11-01

Many studies have focused on maximum torque exerted by ankle joint muscles during plantar flexion. While strength parameters are typically measured with isokinetic or isolated ankle dynamometers, these devices often present substantial limitations for the measurement of torque because they account for force in only 1 dimension (1D), and the device often constrains the body in a position that augments torque through counter movements. The purposes of this study were to determine the contribution of body position to ankle plantar-flexion torque and to assess the use of 1D and 3D torque sensors. A custom designed 'Booted, Open-Unit, Three dimension, Transportable, Ergometer' (B.O.T.T.E.) was used to quantify plantar flexion in two conditions: (1) when the participant was restrained within the unit (locked-unit) and (2) when the participant's position was independent of the ankle dynamometer (open-unit). Ten young males performed maximal voluntary isometric plantar-flexion contractions using the B.O.T.T.E. in open and locked-unit mechanical configurations. The B.O.T.T.E. was reliable with ICC higher than 0.90, and CV lower than 7 %. The plantar-flexion maximal resultant torque was significantly higher in the locked-unit compared with open-unit configuration (P < 0.001; +61 to +157 %) due to the addition of forces from the body being constrained within the testing device. A 1D compared with 3D torque sensor significantly underestimated the proper capacity of plantar-flexion torque production (P < 0.001; -37 to -60 %). Assessment of plantar-flexion torque should be performed with an open-unit dynamometer mounted with a 3D sensor that is exclusive of accessory muscles but inclusive of all ankle joint movements.

Understanding movement control in infants through the analysis of limb intersegmental dynamics.

PubMed

Schneider, K; Zernicke, R F; Ulrich, B D; Jensen, J L; Thelen, E

1990-12-01

One important component in the understanding of the control of limb movements is the way in which the central nervous system accounts for joint forces and torques that may be generated not only by muscle actions but by gravity and by passive reactions related to the movements of limb segments. In this study, we asked how the neuromotor system of young infants controls a range of active and passive forces to produce a stereotypic, nonintentional movement. We specifically analyzed limb intersegmental dynamics in spontaneous, cyclic leg movements (kicking) of varying intensity in supine 3-month-old human infants. Using inverse dynamics, we calculated the contributions of active (muscular) and passive (motion-dependent and gravitational) torque components at the hip, knee, and ankle joints from three-dimensional limb kinematics. To calculate joint torques, accurate estimates were needed of the limb's anthropometric parameters, which we determined using a model of the human body. Our analysis of limb intersegmental dynamics explicitly quantified the complex interplay of active and passive forces producing the simple, involuntary kicking movements commonly seen in 3-month-old infants. our results revealed that in nonvigorous kicks, hip joint reversal was the result of an extensor torque due to gravity, opposed by the combined flexor effect of the muscle torque and the total motion-dependent torque. The total motion-dependent torque increased as a hip flexor torque in more vigorous kicks; an extensor muscle torque was necessary to counteract the flexor influences of the total motion-dependent torque and, in the case of large ranges of motion, a flexor gravity torque as well. Thus, with changing passive torque influences due to motions of the linked segments, the muscle torques were adjusted to produce a net torque to reverse the kicking motion. As a consequence, despite considerable heterogeneity in the intensity, range of motion, coordination, and movement context of each kick, smooth trajectories resulted from the muscle torque, counteracting and complementing not only gravity but also the motion-dependent torques generated by movement of the linked segments.

Spacesuit mobility knee joints

NASA Technical Reports Server (NTRS)

Vykukal, H. C. (Inventor)

1979-01-01

Pressure suit mobility joints are for use in interconnecting adjacent segments of an hermetically sealed spacesuit in which low torques, low leakage and a high degree of reliability are required. Each of the joints is a special purpose joint characterized by substantially constant volume and low torque characteristics and includes linkages which restrain the joint from longitudinal distension and includes a flexible, substantially impermeable diaphragm of tubular configuration spanning the distance between pivotally supported annuli. The diaphragms of selected joints include rolling convolutions for balancing the joints, while various joints include wedge-shaped sections which enhance the range of motion for the joints.

Position And Force Control For Multiple-Arm Robots

NASA Technical Reports Server (NTRS)

Hayati, Samad A.

1988-01-01

Number of arms increased without introducing undue complexity. Strategy and computer architecture developed for simultaneous control of positions of number of robot arms manipulating same object and of forces and torques that arms exert on object. Scheme enables coordinated manipulation of object, causing it to move along assigned trajectory and be subjected to assigned internal forces and torques.

An optimized BP neural network based on genetic algorithm for static decoupling of a six-axis force/torque sensor

NASA Astrophysics Data System (ADS)

Fu, Liyue; Song, Aiguo

2018-02-01

In order to improve the measurement precision of 6-axis force/torque sensor for robot, BP decoupling algorithm optimized by GA (GA-BP algorithm) is proposed in this paper. The weights and thresholds of a BP neural network with 6-10-6 topology are optimized by GA to develop decouple a six-axis force/torque sensor. By comparison with other traditional decoupling algorithm, calculating the pseudo-inverse matrix of calibration and classical BP algorithm, the decoupling results validate the good decoupling performance of GA-BP algorithm and the coupling errors are reduced.

Runners do not push off the ground but fall forwards via a gravitational torque.

PubMed

Romanov, Nicholas; Fletcher, Graham

2007-09-01

The relationship between the affect and timing of the four forces involved in running (gravity, ground reaction force, muscle force, and potential strain energy) is presented. These forces only increase horizontal acceleration of the centre of mass during stance but not flight. The current hierarchical models of running are critiqued because they do not show gravity, a constant force, in affect during stance. A new gravitational model of running is developed, which shows gravity as the motive force. Gravity is shown to cause a torque as the runner's centre of mass moves forward of the support foot. Ground reaction force is not a motive force but operates according to Newton's third law; therefore, the ground can only propel a runner forward in combination with muscle activity. However, leg and hip extensor muscles have consistently proven to be silent during leg extension (mid-terminal stance). Instead, high muscle-tendon forces at terminal stance suggest elastic recoil regains most of the centre of mass's height. Therefore, the only external motive force from mid-terminal stance is gravity via a gravitational torque, which causes a horizontal displacement. The aim of this paper is to establish a definitive biomechanical technique (Pose method) that is easily taught to runners (Romanov, 2002): falling forwards via a gravitational torque while pulling the support foot rapidly from the ground using the hamstring muscles.

Tyre induced vibrations of the car-trailer system

NASA Astrophysics Data System (ADS)

Beregi, S.; Takács, D.; Stépán, G.

2016-02-01

The lateral and yaw dynamics of the car-trailer combination are analysed by means of a single track model. The equations of motion are derived rigorously by means of the Appell-Gibbs equations for constant longitudinal velocity of the vehicle. The tyres are described with the help of the so-called delayed tyre model, which is based on a brush model with pure rolling contact. The lateral forces and aligning torques of the tyre/road interaction are calculated via the instantaneous lateral deformations in the contact patches. The linear stability analysis of the rectilinear motion is performed via the analytically determined characteristic function of the system. Stability charts are constructed with respect to the vehicle longitudinal velocity and the payload position on the trailer. Self-excited lateral vibrations are detected with different vibration modes at low and at high longitudinal speeds of the vehicle. The effects of the tyre parameters are also investigated.

Origins of Rolling Friction

ERIC Educational Resources Information Center

Cross, Rod

2017-01-01

When a hard object rolls on a soft surface, or vice versa, rolling friction arises from deformation of the soft object or the soft surface. The friction force can be described in terms of an offset in the normal reaction force or in terms of energy loss arising from the deformation. The origin of the friction force itself is not entirely clear. It…

A Computational Model of Torque Generation: Neural, Contractile, Metabolic and Musculoskeletal Components

PubMed Central

Callahan, Damien M.; Umberger, Brian R.; Kent-Braun, Jane A.

2013-01-01

The pathway of voluntary joint torque production includes motor neuron recruitment and rate-coding, sarcolemmal depolarization and calcium release by the sarcoplasmic reticulum, force generation by motor proteins within skeletal muscle, and force transmission by tendon across the joint. The direct source of energetic support for this process is ATP hydrolysis. It is possible to examine portions of this physiologic pathway using various in vivo and in vitro techniques, but an integrated view of the multiple processes that ultimately impact joint torque remains elusive. To address this gap, we present a comprehensive computational model of the combined neuromuscular and musculoskeletal systems that includes novel components related to intracellular bioenergetics function. Components representing excitatory drive, muscle activation, force generation, metabolic perturbations, and torque production during voluntary human ankle dorsiflexion were constructed, using a combination of experimentally-derived data and literature values. Simulation results were validated by comparison with torque and metabolic data obtained in vivo. The model successfully predicted peak and submaximal voluntary and electrically-elicited torque output, and accurately simulated the metabolic perturbations associated with voluntary contractions. This novel, comprehensive model could be used to better understand impact of global effectors such as age and disease on various components of the neuromuscular system, and ultimately, voluntary torque output. PMID:23405245

Removal torque evaluation of three different abutment screws for single implant restorations after mechanical cyclic loading.

PubMed

Paepoemsin, T; Reichart, P A; Chaijareenont, P; Strietzel, F P; Khongkhunthian, P

2016-01-01

The aim of this study was to evaluate the removal torque of three different abutment screws and pull out strength of implant-abutment connection for single implant restorations after mechanical cyclic loading. The study was performed in accordance with ISO 14801:2007. Three implant groups (n=15) were used: group A, PW Plus® with flat head screw; group B, PW Plus® with tapered screw; and group C, Conelog® with flat head screw. All groups had the same implant-abutment connection feature: cone with mandatory index. All screws were tightened with manufacturer's recommended torque. Ten specimens in each group underwent cyclic loading (1×106 cycles, 10 Hz, and 250 N). Then, all specimens were un-tightened, measured for the removal torque, and underwent a tensile test. The force that dislodged abutment from implant fixture was recorded. The data were analysed using independent sample t-test, ANOVA and Tukey HSD test. Before cyclic loading, removal torque in groups A, B and C were significantly different (B> A> C, P<.05). After cyclic loading, removal torque in all groups decreased significantly (P<.05). Group C revealed significantly less removal torque than groups A and B (P<.005). Tensile force in all groups significantly increased after cyclic loading (P<.05), group A had significantly less tensile force than groups B and C (P<.005). Removal torque reduced significantly after cyclic loading. Before cyclic loading, tapered screws maintained more preload than did flat head screws. After cyclic loading, tapered and flat head screws maintained even amounts of preload. The tensile force that dislodged abutment from implant fixture increased immensely after cyclic loading.

Removal torque evaluation of three different abutment screws for single implant restorations after mechanical cyclic loading

PubMed Central

PAEPOEMSIN, T.; REICHART, P. A.; CHAIJAREENONT, P.; STRIETZEL, F. P.; KHONGKHUNTHIAN, P.

2016-01-01

SUMMARY Purpose The aim of this study was to evaluate the removal torque of three different abutment screws and pull out strength of implant-abutment connection for single implant restorations after mechanical cyclic loading. Methods The study was performed in accordance with ISO 14801:2007. Three implant groups (n=15) were used: group A, PW Plus® with flat head screw; group B, PW Plus® with tapered screw; and group C, Conelog® with flat head screw. All groups had the same implant-abutment connection feature: cone with mandatory index. All screws were tightened with manufacturer’s recommended torque. Ten specimens in each group underwent cyclic loading (1×106 cycles, 10 Hz, and 250 N). Then, all specimens were un-tightened, measured for the removal torque, and underwent a tensile test. The force that dislodged abutment from implant fixture was recorded. The data were analysed using independent sample t-test, ANOVA and Tukey HSD test. Results Before cyclic loading, removal torque in groups A, B and C were significantly different (B> A> C, P<.05). After cyclic loading, removal torque in all groups decreased significantly (P<.05). Group C revealed significantly less removal torque than groups A and B (P<.005). Tensile force in all groups significantly increased after cyclic loading (P<.05), group A had significantly less tensile force than groups B and C (P<.005). Conclusions Removal torque reduced significantly after cyclic loading. Before cyclic loading, tapered screws maintained more preload than did flat head screws. After cyclic loading, tapered and flat head screws maintained even amounts of preload. The tensile force that dislodged abutment from implant fixture increased immensely after cyclic loading. PMID:28042450

Rolling resistance forces in pneumatic tires

DOT National Transportation Integrated Search

1976-01-31

An analysis is presented for the influence of test drum curvature on stress levels and resulting rolling resistance forces in pneumatic tires. The influence of test method on the measurement of rolling loss is also considered, and expressions are der...

Unsteady aerodynamic forces and torques on falling parallelograms in coupled tumbling-helical motions

NASA Astrophysics Data System (ADS)

Varshney, Kapil; Chang, Song; Wang, Z. Jane

2013-05-01

Falling parallelograms exhibit coupled motion of autogyration and tumbling, similar to the motion of falling tulip seeds, unlike maple seeds which autogyrate but do not tumble, or rectangular cards which tumble but do not gyrate. This coupled tumbling and autogyrating motion are robust, when card parameters, such as aspect ratio, internal angle, and mass density, are varied. We measure the three-dimensional (3D) falling kinematics of the parallelograms and quantify their descending speed, azimuthal rotation, tumbling rotation, and cone angle in each falling. The cone angle is insensitive to the variation of the card parameters, and the card tumbling axis does not overlap with but is close to the diagonal axis. In addition to this connection to the dynamics of falling seeds, these trajectories provide an ideal set of data to analyze 3D aerodynamic force and torque at an intermediate range of Reynolds numbers, and the results will be useful for constructing 3D aerodynamic force and torque models. Tracking these free falling trajectories gives us a nonintrusive method for deducing instantaneous aerodynamic forces. We determine the 3D aerodynamic forces and torques based on Newton-Euler equations. The dynamical analysis reveals that, although the angle of attack changes dramatically during tumbling, the aerodynamic forces have a weak dependence on the angle of attack. The aerodynamic lift is dominated by the coupling of translational and rotational velocities. The aerodynamic torque has an unexpectedly large component perpendicular to the card. The analysis of the Euler equation suggests that this large torque is related to the deviation of the tumbling axis from the principle axis of the card.

Unsteady aerodynamic forces and torques on falling parallelograms in coupled tumbling-helical motions.

PubMed

Varshney, Kapil; Chang, Song; Wang, Z Jane

2013-05-01

Falling parallelograms exhibit coupled motion of autogyration and tumbling, similar to the motion of falling tulip seeds, unlike maple seeds which autogyrate but do not tumble, or rectangular cards which tumble but do not gyrate. This coupled tumbling and autogyrating motion are robust, when card parameters, such as aspect ratio, internal angle, and mass density, are varied. We measure the three-dimensional (3D) falling kinematics of the parallelograms and quantify their descending speed, azimuthal rotation, tumbling rotation, and cone angle in each falling. The cone angle is insensitive to the variation of the card parameters, and the card tumbling axis does not overlap with but is close to the diagonal axis. In addition to this connection to the dynamics of falling seeds, these trajectories provide an ideal set of data to analyze 3D aerodynamic force and torque at an intermediate range of Reynolds numbers, and the results will be useful for constructing 3D aerodynamic force and torque models. Tracking these free falling trajectories gives us a nonintrusive method for deducing instantaneous aerodynamic forces. We determine the 3D aerodynamic forces and torques based on Newton-Euler equations. The dynamical analysis reveals that, although the angle of attack changes dramatically during tumbling, the aerodynamic forces have a weak dependence on the angle of attack. The aerodynamic lift is dominated by the coupling of translational and rotational velocities. The aerodynamic torque has an unexpectedly large component perpendicular to the card. The analysis of the Euler equation suggests that this large torque is related to the deviation of the tumbling axis from the principle axis of the card.

Activation of biceps femoris long head reduces tibiofemoral anterior shear force and tibial internal rotation torque in healthy subjects

PubMed Central

Azmi, Nur Liyana; Ding, Ziyun; Xu, Rui

2018-01-01

The anterior cruciate ligament (ACL) provides resistance to tibial internal rotation torque and anterior shear at the knee. ACL deficiency results in knee instability. Optimisation of muscle contraction through functional electrical stimulation (FES) offers the prospect of mitigating the destabilising effects of ACL deficiency. The hypothesis of this study is that activation of the biceps femoris long head (BFLH) reduces the tibial internal rotation torque and the anterior shear force at the knee. Gait data of twelve healthy subjects were measured with and without the application of FES and taken as inputs to a computational musculoskeletal model. The model was used to investigate the optimum levels of BFLH activation during FES gait in reducing the anterior shear force to zero. This study found that FES significantly reduced the tibial internal rotation torque at the knee during the stance phase of gait (p = 0.0322) and the computational musculoskeletal modelling revealed that a mean BFLH activation of 20.8% (±8.4%) could reduce the anterior shear force to zero. At the time frame when the anterior shear force was zero, the internal rotation torque was reduced by 0.023 ± 0.0167 Nm/BW, with a mean 188% reduction across subjects (p = 0.0002). In conclusion, activation of the BFLH is able to reduce the tibial internal rotation torque and the anterior shear force at the knee in healthy control subjects. This should be tested on ACL deficient subject to consider its effect in mitigating instability due to ligament deficiency. In future clinical practice, activating the BFLH may be used to protect ACL reconstructions during post-operative rehabilitation, assist with residual instabilities post reconstruction, and reduce the need for ACL reconstruction surgery in some cases. PMID:29304102

Activation of biceps femoris long head reduces tibiofemoral anterior shear force and tibial internal rotation torque in healthy subjects.

PubMed

Azmi, Nur Liyana; Ding, Ziyun; Xu, Rui; Bull, Anthony M J

2018-01-01

The anterior cruciate ligament (ACL) provides resistance to tibial internal rotation torque and anterior shear at the knee. ACL deficiency results in knee instability. Optimisation of muscle contraction through functional electrical stimulation (FES) offers the prospect of mitigating the destabilising effects of ACL deficiency. The hypothesis of this study is that activation of the biceps femoris long head (BFLH) reduces the tibial internal rotation torque and the anterior shear force at the knee. Gait data of twelve healthy subjects were measured with and without the application of FES and taken as inputs to a computational musculoskeletal model. The model was used to investigate the optimum levels of BFLH activation during FES gait in reducing the anterior shear force to zero. This study found that FES significantly reduced the tibial internal rotation torque at the knee during the stance phase of gait (p = 0.0322) and the computational musculoskeletal modelling revealed that a mean BFLH activation of 20.8% (±8.4%) could reduce the anterior shear force to zero. At the time frame when the anterior shear force was zero, the internal rotation torque was reduced by 0.023 ± 0.0167 Nm/BW, with a mean 188% reduction across subjects (p = 0.0002). In conclusion, activation of the BFLH is able to reduce the tibial internal rotation torque and the anterior shear force at the knee in healthy control subjects. This should be tested on ACL deficient subject to consider its effect in mitigating instability due to ligament deficiency. In future clinical practice, activating the BFLH may be used to protect ACL reconstructions during post-operative rehabilitation, assist with residual instabilities post reconstruction, and reduce the need for ACL reconstruction surgery in some cases.

Mechanics of torque generation in the bacterial flagellar motor

PubMed Central

Mandadapu, Kranthi K.; Nirody, Jasmine A.; Berry, Richard M.; Oster, George

2015-01-01

The bacterial flagellar motor (BFM) is responsible for driving bacterial locomotion and chemotaxis, fundamental processes in pathogenesis and biofilm formation. In the BFM, torque is generated at the interface between transmembrane proteins (stators) and a rotor. It is well established that the passage of ions down a transmembrane gradient through the stator complex provides the energy for torque generation. However, the physics involved in this energy conversion remain poorly understood. Here we propose a mechanically specific model for torque generation in the BFM. In particular, we identify roles for two fundamental forces involved in torque generation: electrostatic and steric. We propose that electrostatic forces serve to position the stator, whereas steric forces comprise the actual “power stroke.” Specifically, we propose that ion-induced conformational changes about a proline “hinge” residue in a stator α-helix are directly responsible for generating the power stroke. Our model predictions fit well with recent experiments on a single-stator motor. The proposed model provides a mechanical explanation for several fundamental properties of the flagellar motor, including torque–speed and speed–ion motive force relationships, backstepping, variation in step sizes, and the effects of key mutations in the stator. PMID:26216959

Hand-handle interface force and torque measurement system for pneumatic assembly tool operations: suggested enhancement to ISO 6544.

PubMed

Lin, Jia-Hua; McGorry, Raymond W; Chang, Chien-Chi

2007-05-01

A hand-handle interface force and torque measurement system is introduced to fill the void acknowledged in the international standard ISO 6544, which governs pneumatic, assembly tool reaction torque and force measurement. This system consists of an instrumented handle with a sensor capable of measuring grip force and reaction hand moment when threaded, fastener-driving tools are used by operators. The handle is rigidly affixed to the tool in parallel to the original tool handle allowing normal fastener-driving operations with minimal interference. Demonstration of this proposed system was made with tools of three different shapes: pistol grip, right angle, and in-line. During tool torque buildup, the proposed system measured operators exerting greater grip force on the soft joint than on the hard joint. The system also demonstrated that the soft joint demanded greater hand moment impulse than the hard joint. The results demonstrate that the measurement system can provide supplemental data useful in exposure assessment with power hand tools as proposed in ISO 6544.

Relationship between locking-bolt torque and load pre-tension in the Ilizarov frame.

PubMed

Osei, N A; Bradley, B M; Culpan, P; Mitchell, J B; Barry, M; Tanner, K E

2006-10-01

The wire-bolt interface in an Ilizarov frame has been mechanically tested. The optimal torque to be applied to the frame locking-bolts during physiological loading has been defined. The set-up configuration was as is used clinically except a copper tube was used to simulate bone. The force-displacement curves of the Ilizarov wires are not altered by locking-bolt torque. The force in the bone model at which pre-tension is lost increases as the locking-bolts are tightened to 14 Nm torque, but decreases if torque exceeds 14 Nm. Thus, 14 Nm is the optimal locking-bolt torque in frame. The relationship between pre-tension versus load for different locking-bolt torques arises because at low and high clamping torques poor wire holding and plastic deformation respectively occur. Wire damage was seen under light and electron microscopy. Clinically, over or under-tightening locking-bolts will cause loss of pre-tension, reduction in frame stiffness and excessive movement at the fracture site, which may be associated with delayed union.

Torque Splitting by a Concentric Face Gear Transmission

NASA Technical Reports Server (NTRS)

Filler, Robert R.; Heath, Gregory F.; Slaughter, Stephen C.; Lewicki, David G.

2002-01-01

Tests of a 167 Kilowatt (224 Horsepower) split torque face gearbox were performed by the Boeing Company in Mesa, Arizona, while working under a Defense Advanced Research Projects Agency (DARPA) Technology Reinvestment Program (TRP). This paper provides a summary of these cooperative tests, which were jointly funded by Boeing and DARPA. Design, manufacture and testing of the scaled-power TRP proof-of-concept (POC) split torque gearbox followed preliminary evaluations of the concept performed early in the program. The split torque tests were run using 200 N-m (1767 in-lbs) torque input to each side of the transmission. During tests, two input pinions were slow rolled while in mesh with the two face gears. Two idler gears were also used in the configuration to recombine torque near the output. Resistance was applied at the output face gear to create the required loading conditions in the gear teeth. A system of weights, pulleys and cables were used in the test rig to provide both the input and output loading. Strain gages applied in the tooth root fillets provided strain indication used to determine torque splitting conditions at the input pinions. The final two pinion-two idler tests indicated 52% to 48% average torque split capabilities for the two pinions. During the same tests, a 57% to 43% average distribution of the torque being recombined to the upper face gear from the lower face gear was measured between the two idlers. The POC split torque tests demonstrated that face gears can be applied effectively in split torque rotorcraft transmissions, yielding good potential for significant weight, cost and reliability improvements over existing equipment using spiral bevel gearing.

Torque measurement at the single-molecule level.

PubMed

Forth, Scott; Sheinin, Maxim Y; Inman, James; Wang, Michelle D

2013-01-01

Methods for exerting and measuring forces on single molecules have revolutionized the study of the physics of biology. However, it is often the case that biological processes involve rotation or torque generation, and these parameters have been more difficult to access experimentally. Recent advances in the single-molecule field have led to the development of techniques that add the capability of torque measurement. By combining force, displacement, torque, and rotational data, a more comprehensive description of the mechanics of a biomolecule can be achieved. In this review, we highlight a number of biological processes for which torque plays a key mechanical role. We describe the various techniques that have been developed to directly probe the torque experienced by a single molecule, and detail a variety of measurements made to date using these new technologies. We conclude by discussing a number of open questions and propose systems of study that would be well suited for analysis with torsional measurement techniques.

Surgeon-tool force/torque signatures--evaluation of surgical skills in minimally invasive surgery.

PubMed

Rosen, J; MacFarlane, M; Richards, C; Hannaford, B; Sinanan, M

1999-01-01

The best method of training for laparoscopic surgical skills is controversial. Some advocate observation in the operating room, while others promote animal and simulated models or a combination of surgical related tasks. The mode of proficiency evaluation common to all of these methods has been subjective evaluation by a skilled surgeon. In order to define an objective means of evaluating performance, an instrumented laparoscopic grasper was developed measuring the force/torque at the surgeon hand/tool interface. The measured database demonstrated substantial differences between experienced and novice surgeon groups. Analyzing forces and torques combined with the state transition during surgical procedures allows an objective measurement of skill in MIS. Teaching the novice surgeon to limit excessive loads and improve movement efficiency during surgical procedures can potentially result in less injury to soft tissues and less wasted time during laparoscopic surgery. Moreover the force/torque database measured in this study may be used for developing realistic virtual reality simulators and optimization of medical robots performance.

Deformation of metal brackets: a comparative study.

PubMed

Flores, D A; Choi, L K; Caruso, J M; Tomlinson, J L; Scott, G E; Jeiroudi, M T

1994-01-01

The purpose of this study was to determine the effect of material and design on the force and stress required to permanently deform metal brackets. Fourteen types of metal brackets were categorized according to raw material composition, slot torque degree, and wing type. Five types of raw materials, three types of slot torque degree, and four types of wing design were tested using an archwire torque test developed by Flores. An analysis of variance (ANOVA) and t-test showed that all three categories had a significant effect on the force and stress needed to permanently deform metal brackets. Of the three, raw material had the greatest effect on the amount of force. Results showed that 17-4PH and 303S had higher yield strengths and regular twin brackets had higher resistance to deformation. Also, as slot torque degree increased, brackets deformed with less force. Result confirmed that brackets requiring the greatest stress to permanently deform were made of steel with the greatest hardness.

Rolling Moments Due to Rolling and Yaw for Four Wing Models in Rotation

NASA Technical Reports Server (NTRS)

Knight, Montgomery; Wenzinger, Carl J

1932-01-01

This report presents the results of a series of autorotation and torque tests on four different rotating wing systems at various rates of roll and at several angles of yaw. The investigation covered an angle of attack range up to 90 degrees and angles of yaw of 0 degree, 5 degrees, 10 degrees, and 20 degrees. The tests were made in a 5-foot, closed-throat atmospheric wind tunnel. The object of the tests was primarily to determine the effects of various angles of yaw on the rolling moments of the rotating wings up to large angles of attack. It was found that at angles of attack above that of maximum lift the rolling moments on the wings due to yaw (or side slip) from 5 degrees to 20 degrees were roughly of the same magnitude as those due to rolling. There was a wide variation in magnitude of the rolling moment due to yaw angle. The rates and ranges of stable autorotation for the monoplane models were considerably increased by yaw, whereas for an unstaggered biplane they were little affected. The immediate cause of the rolling moment due to yaw is apparently the building up of large loads on the forward wing tip and the reduction of loads on the rearward wing tip.

Four-dimensional analysis by high-speed holographic imaging reveals a chiral memory of sperm flagella.

PubMed

Muschol, Michael; Wenders, Caroline; Wennemuth, Gunther

2018-01-01

Here high-speed Digital Holographic Microscopy (DHM) records sperm flagellar waveforms and swimming paths in 4 dimensions (X, Z, and t). We find flagellar excursions into the Z-plane nearly as large as the envelope of the flagellar waveform projected onto the XY-plane. These Z-plane excursions travel as waves down the flagellum each beat cycle. DHM also tracks the heads of free-swimming sperm and the dynamics and chirality of rolling of sperm around their long axis. We find that mouse sperm roll CW at the maximum positive Z-plane excursion of the head, then roll CCW at the subsequent maximum negative Z-plane excursion. This alternating chirality of rolling indicates sperm have a chiral memory. Procrustes alignments of path trajectories for sequences of roll-counterroll cycles show that path chirality is always CW for the cells analyzed in this study. Human and bull sperm lack distinguishable left and right surfaces, but DHM still indicates coordination of Z-plane excursions and rolling events. We propose that sperm have a chiral memory that resides in a hypothetical elastic linkage within the flagellar machinery, which stores some of the torque required for a CW or CCW roll to reuse in the following counter-roll. Separate mechanisms control path chirality.

Decoupling analysis for a powertrain mounting system with a combination of hydraulic mounts

NASA Astrophysics Data System (ADS)

Hu, Jinfang; Chen, Wuwei; Huang, He

2013-07-01

The existing torque roll axis(TRA) decoupling theories for a powertrain mounting system assume that the stiffness and viscous damping properties are constant. However, real-life mounts exhibit considerable spectrally varying stiffness and damping characteristics, and the influence of the spectrally-varying properties of the hydraulic mounts on the powertrain system cannot be ignored. To overcome the deficiency, an analytical quasi-linear model of the hydraulic mount and the coupled properties of the powertrain and hydraulic mounts system are formulated. The influence of the hydraulic mounts on the TRA decoupling of a powertrain system is analytically examined in terms of eigensolutions, frequency, and impulse responses, and then a new analytical axiom is proposed based on the TRA decoupling indices. With the experimental setup of a fixed decoupler hydraulic mount in the context of non-resonant dynamic stiffness testing procedure, the quasi-linear model of the hydraulic mount is verified by comparing the predictions with the measurement. And the quasi-linear formulation of the coupled system is also verified by comparing the frequency responses with the numerical results obtained by the direct inversion method. Finally, the mounting system with a combination of hydraulic mounts is redesigned in terms of the stiffness, damping and mount locations by satisfying the new axiom. The frequency and time domain results of the redesigned system demonstrate that the torque roll axis of the redesigned powertrain mounting system is indeed decoupled in the presence of hydraulic mounts (given oscillating torque or impulsive torque excitation). The proposed research provides an important basis and method for the research on a powertrain system with spectrally-varying mount properties, especially for the TRA decoupling.

Calculation of Resistive Loads for Elastic Resistive Exercises.

PubMed

Picha, Kelsey; Uhl, Tim

2018-03-14

What is the correct resistive load to start resistive training with elastic resistance to gain strength? This question is typically answered by the clinician's best estimate and patient's level of discomfort without objective evidence. To determine the average level of resistance to initiate a strengthening routine with elastic resistance following isometric strength testing. Cohort. Clinical. 34 subjects (31 ± 13 y, 73 ± 17 kg, 170 ± 12 cm). The force produced was measured in Newtons (N) with an isometric dynamometer. The force distance was the distance from center of joint to location of force applied was measured in meters to calculate torque that was called "Test Torque" for the purposes of this report. This torque data was converted to "Exercise Load" in pounds based on the location where the resistance was applied, specifically the distance away from the center of rotation of the exercising limb. The average amount of exercise load as percentage of initial Test Torque for each individual for each exercise was recorded to determine what the average level of resistance that could be used for elastic resistance strengthening program. The percentage of initial test torque calculated for the exercise was recorded for each exercise and torque produced was normalized to body weight. The average percentage of maximal isometric force that was used to initiate exercises was 30 ± 7% of test torque. This provides clinicians with an objective target load to start elastic resistance training. Individual variations will occur but utilization of a load cell during elastic resistance provides objective documentation of exercise progression.

Surface stress mediated image force and torque on an edge dislocation

NASA Astrophysics Data System (ADS)

Raghavendra, R. M.; Divya, Iyer, Ganesh; Kumar, Arun; Subramaniam, Anandh

2018-07-01

The proximity of interfaces gives prominence to image forces experienced by dislocations. The presence of surface stress alters the traction-free boundary conditions existing on free-surfaces and hence is expected to alter the magnitude of the image force. In the current work, using a combined simulation of surface stress and an edge dislocation in a semi-infinite body, we evaluate the configurational effects on the system. We demonstrate that if the extra half-plane of the edge dislocation is parallel to the surface, the image force (glide) is not altered due to surface stress; however, the dislocation experiences a torque. The surface stress breaks the 'climb image force' symmetry, thus leading to non-equivalence between positive and negative climb. We discover an equilibrium position for the edge dislocation in the positive 'climb geometry', arising due to a competition between the interaction of the dislocation stress fields with the surface stress and the image dislocation. Torque in the climb configuration is not affected by surface stress (remains zero). Surface stress is computed using a recently developed two-scale model based on Shuttleworth's idea and image forces using a finite element model developed earlier. The effect of surface stress on the image force and torque experienced by the dislocation monopole is analysed using illustrative 3D models.

Cogging Torque Estimation of Permanent Magnet Motors Resulting from Magnetic Anisotropy of Non-oriented Electrical Steel Sheets

NASA Astrophysics Data System (ADS)

Daikoku, Akihiro; Yamaguchi, Shinichi; Toide, Yukari; Fujiwara, Koji; Takahashi, Norio

This paper examines the cogging torque of permanent magnet motors resulting from the magnetic anisotropy of non-oriented steel sheets used for magnetic core. The cogging torque due to the magnetic anisotropy is calculated by FEM using two modeling methods; one is the newly developed method which takes account of the two-dimensional magnetic properties in arbitrary directions, and the other is the conventional method which uses only two magnetization curves both in rolling and transverse directions. In the proposed method, the measured magnetic properties are treated in two different ways; in the first way the data are used directly, and in the second way the data are interpolated using Bèzier surface. As a result, all of three models show the cogging torque component resulting from the magnetic anisotropy, that has less pulsation numbers per rotation than that of isotropic model. The difference of the cogging torque amplitude between the three models is small in the region of low magnetic flux density, however, it gradually becomes large along with the increase in magnetic flux density. The measured results of cogging torque is proximate to the results calculated by two-dimensional magnetic property method using the magnetic property data directly. The error is approximately 4% at the point where the cogging torque component resulting from the magnetic anisotropy is maximum.

Six component robotic force-torque sensor

NASA Technical Reports Server (NTRS)

Grahn, Allen R.; Hutchings, Brad L.; Johnston, David R.; Parsons, David C.; Wyatt, Roland F.

1987-01-01

The results of a two-phase contract studying the feasibility of a miniaturized six component force-torque sensor and development of a working laboratory system were described. The principle of operation is based upon using ultrasonic pulse-echo ranging to determine the position of ultrasonic reflectors attached to a metal or ceramic cover plate. Because of the small size of the sensor, this technology may have application in robotics, to sense forces and torques at the finger tip of a robotic end effector. Descriptions are included of laboratory experiments evaluating materials and techniques for sensor fabrication and of the development of support electronics for data acquisition, computer interface, and operator display.

Pore-scale simulations to determine the applied hydrodynamic torque and colloid immobilization

USDA-ARS?s Scientific Manuscript database

The importance of adhesive and diffusion forces on colloid retention is well established, and theory has been developed in the literature to predict these factors. Conversely, the role of hydrodynamic forces and torques on colloid retention has received considerably less attention. Recent research ...

Large Diameter Shuttle Launched-AEM (LDSL-AEM) study

NASA Technical Reports Server (NTRS)

1976-01-01

A technical description of a Large Diameter Shuttle Launched-AEM (LDSL-AEM), an AEM base module adapted to carry 5 ft diameter payloads in the shuttle with propulsion for carrying payloads to higher altitude orbits from a 150 NM shuttle orbit, is described. The AEM is designed for launch on the scout launch vehicle. Onboard equipment provides capability to despin, acquire the earth, and control the vehicle in an earth pointing mode using reaction wheels for torque with magnets for all attitude acquisition, wheel desaturation, and nutation damping. Earth sensors in the wheels provide pitch and roll attitude. This system provides autonomous control capability to 1 degree in pitch and roll and 2 degrees in yaw. The attitude can be determined to .5 degrees in pitch and roll and 2 degrees in yaw.

How joint torques affect hamstring injury risk in sprinting swing-stance transition.

PubMed

Sun, Yuliang; Wei, Shutao; Zhong, Yunjian; Fu, Weijie; Li, Li; Liu, Yu

2015-02-01

The potential mechanisms of hamstring strain injuries in athletes are not well understood. The study, therefore, was aimed at understanding hamstring mechanics by studying loading conditions during maximum-effort overground sprinting. Three-dimensional kinematics and ground reaction force data were collected from eight elite male sprinters sprinting at their maximum effort. Maximal isometric torques of the hip and knee were also collected. Data from the sprinting gait cycle were analyzed via an intersegmental dynamics approach, and the different joint torque components were calculated. During the initial stance phase, the ground reaction force passed anteriorly to the knee and hip, producing an extension torque at the knee and a flexion torque at the hip joint. Thus, the active muscle torque functioned to produce flexion torque at the knee and extension torque at the hip. The maximal muscle torque at the knee joint was 1.4 times the maximal isometric knee flexion torque. During the late swing phase, the muscle torque counterbalanced the motion-dependent torque and acted to flex the knee joint and extend the hip joint. The loading conditions on the hamstring muscles were similar to those of the initial stance phase. During both the initial stance and late swing phases, the large passive torques at both the knee and hip joints acted to lengthen the hamstring muscles. The active muscle torques generated mainly by the hamstrings functioned to counteract those passive effects. As a result, during sprinting or high-speed locomotion, the hamstring muscles may be more susceptible to high risk of strain injury during these two phases.

How Joint Torques Affect Hamstring Injury Risk in Sprinting Swing–Stance Transition

PubMed Central

SUN, YULIANG; WEI, SHUTAO; ZHONG, YUNJIAN; FU, WEIJIE; LI, LI; LIU, YU

2015-01-01

ABSTRACT Purpose The potential mechanisms of hamstring strain injuries in athletes are not well understood. The study, therefore, was aimed at understanding hamstring mechanics by studying loading conditions during maximum-effort overground sprinting. Methods Three-dimensional kinematics and ground reaction force data were collected from eight elite male sprinters sprinting at their maximum effort. Maximal isometric torques of the hip and knee were also collected. Data from the sprinting gait cycle were analyzed via an intersegmental dynamics approach, and the different joint torque components were calculated. Results During the initial stance phase, the ground reaction force passed anteriorly to the knee and hip, producing an extension torque at the knee and a flexion torque at the hip joint. Thus, the active muscle torque functioned to produce flexion torque at the knee and extension torque at the hip. The maximal muscle torque at the knee joint was 1.4 times the maximal isometric knee flexion torque. During the late swing phase, the muscle torque counterbalanced the motion-dependent torque and acted to flex the knee joint and extend the hip joint. The loading conditions on the hamstring muscles were similar to those of the initial stance phase. Conclusions During both the initial stance and late swing phases, the large passive torques at both the knee and hip joints acted to lengthen the hamstring muscles. The active muscle torques generated mainly by the hamstrings functioned to counteract those passive effects. As a result, during sprinting or high-speed locomotion, the hamstring muscles may be more susceptible to high risk of strain injury during these two phases. PMID:24911288

Controlled-force end seal arrangement for an air press of a papermaking machine

DOEpatents

Beck, David A.

2003-07-08

An air press for pressing a fiber web includes a plurality of rolls and a pair of end seal arrangements. Of the plurality of rolls, each pair of adjacent rolls forms a nip therebetween. Further, each roll has a pair of roll ends, the plurality of rolls together forming two sets of roll ends. Each end seal arrangement coacts with one set of roll ends, the plurality of rolls and the pair of end seal arrangements together defining an air press chamber having an air chamber pressure. Each end seal arrangement is composed of at least one roll seal, including a first roll seal, and an adjustable bias mechanism. Each roll seal forms a seal with at least one roll end, and one side of the first roll seal being exposed to the air chamber pressure. The adjustable bias mechanism is configured for controlling a position of each roll seal relative to a respective at least one roll end and for adjusting a seal force between the roll seal and the respective at least one roll end.

Testing of Face-milled Spiral Bevel Gears at High-speed and Load

NASA Technical Reports Server (NTRS)

Handschuh, Robert F.

2001-01-01

Spiral bevel gears are an important drive system components of rotorcraft (helicopters) currently in use. In this application the spiral bevel gears are required to transmit very high torque at high rotational speed. Available experimental data on the operational characteristics for thermal and structural behavior is relatively small in comparison to that found for parallel axis gears. An ongoing test program has been in place at NASA Glenn Research Center over the last ten years to investigate their operational behavior at operating conditions found in aerospace applications. This paper will summarize the results of the tests conducted on face-milled spiral bevel gears. The data from the pinion member (temperature and stress) were taken at conditions from slow-roll to 14400 rpm and up to 537 kW (720 hp). The results have shown that operating temperature is affected by the location of the lubricating jet with respect to the point it is injected and the operating conditions that are imposed. Also the stress measured from slow-roll to very high rotational speed, at various torque levels, indicated little dynamic affect over the rotational speeds tested.

Eccentric knee flexor torque following anterior cruciate ligament surgery.

PubMed

Osternig, L R; James, C R; Bercades, D T

1996-10-01

The purposes of this study were to compare eccentric knee flexor torque and muscle activation in the limbs of normal (NOR) subjects and in subjects who had undergone unilateral ACI, autograft surgical reconstruction (INJ) and to assess the effect of movement speed on EMG/ torque ratios and eccentric-concentric actions. Fourteen subjects (7 NOR and 7 INJ) were tested for knee eccentric flexor torque and EMG activity at four isokinetic speeds (15 degrees, 30 degrees, 45 degrees and 60 degrees.s-1). Results revealed that post-surgical limbs (ACL) produced significantly less (P < 0.05) eccentric torque and flexor EMG activity at 60 degrees.s-1 than uninjured (UNI) contralateral limbs. Eccentric torque rose significantly as speed increased from 45 degrees to 60 degrees.s-1 for surgical group uninjured limbs and NOR group left and right limbs. Eccentric flexor torque increased with speed for both groups and approximated equality with concentric extensor torque at 60 degrees.s-1 for INJ group ACL and UNI limbs. Concentric flexor muscle EMG/torque ratios were 30-191% greater than eccentric muscle actions across groups and speeds. The results suggest that ACL dysfunction may result in reduced eccentric flexor torque at rapid movement speeds, that eccentric flexor torque increases with movement speed and may have the capacity to counter forceful extensor concentric torque, and that eccentric muscle actions produce less muscle activation per unit force than concentric actions which may reflect reduced energy cost.

Predictive momentum management for the Space Station

NASA Technical Reports Server (NTRS)

Hatis, P. D.

1986-01-01

Space station control moment gyro momentum management is addressed by posing a deterministic optimization problem with a performance index that includes station external torque loading, gyro control torque demand, and excursions from desired reference attitudes. It is shown that a simple analytic desired attitude solution exists for all axes with pitch prescription decoupled, but roll and yaw coupled. Continuous gyro desaturation is shown to fit neatly into the scheme. Example results for pitch axis control of the NASA power tower Space Station are shown based on predictive attitude prescription. Control effector loading is shown to be reduced by this method when compared to more conventional momentum management techniques.

Experimental investigation of the cornering of a C40 x 14-21 cantilever aircraft tire

NASA Technical Reports Server (NTRS)

Dreher, R. C.; Tanner, J. A.

1973-01-01

An experimental investigation was conducted at the Langley aircraft landing loads and traction facility to define the cornering characteristics of a size C40 x14-21 aircraft tire of cantilever design. These characteristics, which include the cornering-force and drag-force friction coefficients and self-alining torque, were obtained for the tire operating on dry, damp, and flooded runway surfaces over a range of yaw angles from 0 deg to 20 deg and at ground speeds of 5 to 100 knots, both with and without braking. The results of this investigation show that the cornering-force and drag-force friction coefficients and self-alining torque were influenced by the yaw angle, ground speed, brake torque, surface wetness, and the locked-wheel condition.

An Approach to Sensorless Detection of Human Input Torque and Its Application to Power Assist Motion in Electric Wheelchair

NASA Astrophysics Data System (ADS)

Kaida, Yukiko; Murakami, Toshiyuki

A wheelchair is an important apparatus of mobility for people with disability. Power-assist motion in an electric wheelchair is to expand the operator's field of activities. This paper describes force sensorless detection of human input torque. Reaction torque estimation observer calculates the total disturbance torque first. Then, the human input torque is extracted from the estimated disturbance. In power-assist motion, assist torque is synthesized according to the product of assist gain and the average torque of the right and left input torque. Finally, the proposed method is verified through the experiments of power-assist motion.

The Functional Role of the Triceps Surae Muscle during Human Locomotion

PubMed Central

Honeine, Jean-Louis; Schieppati, Marco; Gagey, Olivier; Do, Manh-Cuong

2013-01-01

Aim Despite numerous studies addressing the issue, it remains unclear whether the triceps surae muscle group generates forward propulsive force during gait, commonly identified as ‘push-off’. In order to challenge the push-off postulate, one must probe the effect of varying the propulsive force while annulling the effect of the progression velocity. This can be obtained by adding a load to the subject while maintaining the same progression velocity. Methods Ten healthy subjects initiated gait in both unloaded and loaded conditions (about 30% of body weight attached at abdominal level), for two walking velocities, spontaneous and fast. Ground reaction force and EMG activity of soleus and gastrocnemius medialis and lateralis muscles of the stance leg were recorded. Centre of mass velocity and position, centre of pressure position, and disequilibrium torque were calculated. Results At spontaneous velocity, adding the load increased disequilibrium torque and propulsive force. However, load had no effect on the vertical braking force or amplitude of triceps activity. At fast progression velocity, disequilibrium torque, vertical braking force and triceps EMG increased with respect to spontaneous velocity. Still, adding the load did not further increase braking force or EMG. Conclusions Triceps surae is not responsible for the generation of propulsive force but is merely supporting the body during walking and restraining it from falling. By controlling the disequilibrium torque, however, triceps can affect the propulsive force through the exchange of potential into kinetic energy. PMID:23341916

Dynamics and control of instrumented harmonic drives

NASA Technical Reports Server (NTRS)

Kazerooni, H.; Ellis, S. R. (Principal Investigator)

1995-01-01

Since torque in harmonic drives is transmitted by a pure couple, harmonic drives do not generate radial forces and therefore can be instrumented with torque sensors without interference from radial forces. The installation of torque sensors on the stationary component of harmonic drives (the Flexipline cup in this research work) produce backdrivability needed for robotic and telerobotic compliant maneuvers. Backdrivability of a harmonic drive, when used as torque increaser, means that the output shaft can be rotated via finite amount of torque. A high ratio harmonic drive is non-backdrivable because its output shaft cannot be turned by applying a torque on it. This article first develops the dynamic behavior of a harmonic drive, in particular the non-backdrivability, in terms of a sensitivity transfer function. The instrumentation of the harmonic drive with torque sensor is then described. This leads to a description of the control architecture which allows modulation of the sensitivity transfer function within the limits established by the closed-loop stability. A set of experiments on an active hand controller, powered by a DC motor coupled to an instrumented harmonic drive, is given to exhibit this method's limitations.

The influence of different screw tightening forces on the vertical misfit of implant-supported frameworks.

PubMed

Vasconcellos, Diego Klee de; Bottino, Marco Antonio; Nishioka, Renato Sussumu; Valandro, Luiz Felipe; Costa, Elza Maria Valadares da

2005-06-01

The present in vitro study was designed to compare the differences in the vertical misfit of implant-supported frameworks using three different forces for tightening the bridge locking screws: fastening by hand until first resistance, and using torque drivers with 10 and 20Ncm. The investigation was conducted based on the results given by 9 six-unit nickel-chromium (2 abutments/ 4 pontics) screw-retained implant-supported frameworks. The structures were exposed to simulated porcelain firings. The marginal misfit measurements were made using a traveling measuring microscope at selected screw tightening forces: fastening by hand until first resistance, and using torque drivers with 10 and 20Ncm. The results were submitted to one-way ANOVA with repeated measures on one factor, and post hoc pairwise comparisons using Tukey test (5%). The mean marginal misfit of the frameworks, fastening the screws by hand until first resistance, was 41.56µm (SD±12.45µm). The use of torque driver devices caused a significant reduction in marginal opening (p<0.05). With the lowest torque available (10Ncm), the mean marginal discrepancy at the abutment-framework interface was reduced an average of 52% to a mean marginal opening of 19.71µm (SD±2.97µm). After the use of the 20Ncm torque driver, the mean marginal discrepancy of the frameworks was reduced an average of 69% to a mean marginal opening of 12.82µm (SD±4.0µm). Comparing the use of torque drivers with 10 and 20 Ncm torque, the means are not significantly different from one another. The seating force has an important effect on the vertical misfit measurements, once it may considerably narrow the vertical misfit gaps at the abutment-framework interface, thus leading to a misjudgment of the real marginal situation.

Development of a force-reflecting robotic platform for cardiac catheter navigation.

PubMed

Park, Jun Woo; Choi, Jaesoon; Pak, Hui-Nam; Song, Seung Joon; Lee, Jung Chan; Park, Yongdoo; Shin, Seung Min; Sun, Kyung

2010-11-01

Electrophysiological catheters are used for both diagnostics and clinical intervention. To facilitate more accurate and precise catheter navigation, robotic cardiac catheter navigation systems have been developed and commercialized. The authors have developed a novel force-reflecting robotic catheter navigation system. The system is a network-based master-slave configuration having a 3-degree of freedom robotic manipulator for operation with a conventional cardiac ablation catheter. The master manipulator implements a haptic user interface device with force feedback using a force or torque signal either measured with a sensor or estimated from the motor current signal in the slave manipulator. The slave manipulator is a robotic motion control platform on which the cardiac ablation catheter is mounted. The catheter motions-forward and backward movements, rolling, and catheter tip bending-are controlled by electromechanical actuators located in the slave manipulator. The control software runs on a real-time operating system-based workstation and implements the master/slave motion synchronization control of the robot system. The master/slave motion synchronization response was assessed with step, sinusoidal, and arbitrarily varying motion commands, and showed satisfactory performance with insignificant steady-state motion error. The current system successfully implemented the motion control function and will undergo safety and performance evaluation by means of animal experiments. Further studies on the force feedback control algorithm and on an active motion catheter with an embedded actuation mechanism are underway. © 2010, Copyright the Authors. Artificial Organs © 2010, International Center for Artificial Organs and Transplantation and Wiley Periodicals, Inc.

3D force/torque characterization of emergency cricothyroidotomy procedure using an instrumented scalpel.

PubMed

Ryason, Adam; Sankaranarayanan, Ganesh; Butler, Kathryn L; DeMoya, Marc; De, Suvranu

2016-08-01

Emergency Cricothyroidotomy (CCT) is a surgical procedure performed to secure a patient's airway. This high-stakes, but seldom-performed procedure is an ideal candidate for a virtual reality simulator to enhance physician training. For the first time, this study characterizes the force/torque characteristics of the cricothyroidotomy procedure, to guide development of a virtual reality CCT simulator for use in medical training. We analyze the upper force and torque thresholds experienced at the human-scalpel interface. We then group individual surgical cuts based on style of cut and cut medium and perform a regression analysis to create two models that allow us to predict the style of cut performed and the cut medium.

A hydrodynamically active flipper-stroke in humpback whales.

PubMed

Segre, Paolo S; Seakamela, S Mduduzi; Meÿer, Michael A; Findlay, Ken P; Goldbogen, Jeremy A

2017-07-10

A central paradigm of aquatic locomotion is that cetaceans use fluke strokes to power their swimming while relying on lift and torque generated by the flippers to perform maneuvers such as rolls, pitch changes and turns [1]. Compared to other cetaceans, humpback whales (Megaptera novaeangliae) have disproportionately large flippers with added structural features to aid in hydrodynamic performance [2,3]. Humpbacks use acrobatic lunging maneuvers to attack dense aggregations of krill or small fish, and their large flippers are thought to increase their maneuverability and thus their ability to capture prey. Immediately before opening their mouths, humpbacks will often rapidly move their flippers, and it has been hypothesized that this movement is used to corral prey [4,5] or to generate an upward pitching moment to counteract the torque caused by rapid water engulfment [6]. Here, we demonstrate an additional function for the rapid flipper movement during lunge feeding: the flippers are flapped using a complex, hydrodynamically active stroke to generate lift and increase propulsive thrust. We estimate that humpback flipper-strokes are capable of producing large forward oriented forces, which may be used to enhance lunge feeding performance. This behavior is the first observation of a lift-generating flipper-stroke for propulsion cetaceans and provides an additional function for the uniquely shaped humpback whale flipper. Copyright © 2017 Elsevier Ltd. All rights reserved.

Measurement of the force and torque produced in the calcium response of reactivated rat sperm flagella.

PubMed

Moritz, M J; Schmitz, K A; Lindemann, C B

2001-05-01

Rat sperm that are demembranated with Triton X-100 and reactivated with Mg-ATP show a strong mechanical response to the presence of free calcium ion. At pCa < 4, the midpiece region of the flagellum develops a strong and sustained curvature that gives the cell the overall appearance of a fishhook [Lindemann and Goltz, 1988: Cell Motil. Cytoskeleton 10:420-431]. In the present study, the force and torque that maintain the calcium-induced hook have been examined quantitatively. In addition, full-length and shortened flagella were manipulated to evaluate the plasticity of the hooks and determined the critical length necessary for maintaining the curvature. The hooks were found to be highly resilient, returning to their original configuration (>95%) after being straightened and released. The results from manipulating the shortened flagella suggest that the force holding the hook in the curved configuration is generated in the basal 60 microm of the flagellum. The force required to straighten the calcium-induced hooks was measured with force-calibrated glass microprobes, and the bending torque was calculated from the measured force. The force and torque required to straighten the flagellum were found to be proportional to the change in curvature of the hooked region of the flagellum, suggesting an elastic-like behavior. The average torque to open the hooks to a straight position was 2.6 (+/-1.4) x 10(-7) dyne x cm (2.6 x 10(-14) N x m) and the apparent stiffness was 4.3 (+/-1.3) x 10(-10) dyne x cm(2) (4.3 x 10(-19) N x m(2)). The stiffness of the hook was determined to be approximately one quarter the rigor stiffness of a rat sperm flagellum measured under comparable conditions.

Robotic cadaver testing of a new total ankle prosthesis model (German Ankle System).

PubMed

Richter, Martinus; Zech, Stefan; Westphal, Ralf; Klimesch, Yvone; Gosling, Thomas

2007-12-01

An investigation was carried out into possible increased forces, torques, and altered motions during load-bearing ankle motion after implantation of two different total ankle prostheses. We hypothesized that the parameters investigated would not differ in relation to the two implants compared. We included two different ankle prostheses (Hintegra, Newdeal, Vienne, France; German Ankle System, R-Innovation, Coburg, Germany). The prostheses were implanted in seven paired cadaver specimens. The specimens were mounted on an industrial robot that enables complex motion under predefined conditions (RX 90, Stäubli, Bayreuth, Germany). The robot detected the load-bearing (30 kg) motion of the 100(th) cycle of the specimens without prostheses as the baseline for the later testing, and mimicked that exact motion during 100 cycles after the prostheses were implanted. The resulting forces, torques, and bone motions were recorded and the differences between the prostheses compared. The Hintegra and German Ankle System, significantly increased the forces and torques in relation to the specimen without a prosthesis with one exception (one-sample-t-test, each p < or = 0.01; exception, parameter lateral force measured with the German Ankle System, p = 0.34). The force, torque, and motion differences between the specimens before and after implantation of the prostheses were lower with the German Ankle System than with the Hintegra (unpaired t-test, each p < or = 0.05). The German Ankle System prosthesis had less of an effect on resulting forces and torques during partial weightbearing passive ankle motion than the Hintegra prosthesis. This might improve function and minimize loosening during the clinical use.

Torque Measurement at the Single Molecule Level

PubMed Central

Forth, Scott; Sheinin, Maxim Y.; Inman, James; Wang, Michelle D.

2017-01-01

Methods for exerting and measuring forces on single molecules have revolutionized the study of the physics of biology. However, it is often the case that biological processes involve rotation or torque generation, and these parameters have been more difficult to access experimentally. Recent advances in the single molecule field have led to the development of techniques which add the capability of torque measurement. By combining force, displacement, torque, and rotational data, a more comprehensive description of the mechanics of a biomolecule can be achieved. In this review, we highlight a number of biological processes for which torque plays a key mechanical role. We describe the various techniques that have been developed to directly probe the torque experienced by a single molecule, and detail a variety of measurements made to date using these new technologies. We conclude by discussing a number of open questions and propose systems of study which would be well suited for analysis with torsional measurement techniques. PMID:23541162

Mathematical models for principles of gyroscope theory

NASA Astrophysics Data System (ADS)

Usubamatov, Ryspek

2017-01-01

Gyroscope devices are primary units for navigation and control systems that have wide application in engineering. The main property of the gyroscope device is maintaining the axis of a spinning rotor. This gyroscope peculiarity is represented in terms of gyroscope effects in which known mathematical models have been formulated on the law of kinetic energy conservation and the change in the angular momentum. The gyroscope theory is represented by numerous publications, which mathematical models do not match the actual torques and motions in these devices.. The nature of gyroscope effects is more complex than represented in known publications. Recent investigations in this area have demonstrated that on a gyroscope can act until eleven internal torques simultaneously and interdependently around two axes. These gyroscope torques are generated by spinning rotor's mass-elements and by the gyroscope center-mass based on action of several inertial forces. The change in the angular momentum does not play first role for gyroscope motions. The external load generates several internal torques which directions may be distinguished. This situation leads changing of the angular velocities of gyroscope motions around two axes. Formulated mathematical models of gyroscope internal torques are representing the fundamental principle of gyroscope theory. In detail, the gyroscope is experienced the resistance torque generated by the centrifugal and Coriolis forces of the spinning rotor and the precession torque generated by the common inertial forces and the change in the angular momentum. The new mathematical models for the torques and motions of the gyroscope confirmed for most unsolvable problems. The mathematical models practically tested and the results are validated the theoretical approach.

Spin force and torque in non-relativistic Dirac oscillator on a sphere

NASA Astrophysics Data System (ADS)

Shikakhwa, M. S.

2018-03-01

The spin force operator on a non-relativistic Dirac oscillator (in the non-relativistic limit the Dirac oscillator is a spin one-half 3D harmonic oscillator with strong spin-orbit interaction) is derived using the Heisenberg equations of motion and is seen to be formally similar to the force by the electromagnetic field on a moving charged particle. When confined to a sphere of radius R, it is shown that the Hamiltonian of this non-relativistic oscillator can be expressed as a mere kinetic energy operator with an anomalous part. As a result, the power by the spin force and torque operators in this case are seen to vanish. The spin force operator on the sphere is calculated explicitly and its torque is shown to be equal to the rate of change of the kinetic orbital angular momentum operator, again with an anomalous part. This, along with the conservation of the total angular momentum, suggests that the spin force exerts a spin-dependent torque on the kinetic orbital angular momentum operator in order to conserve total angular momentum. The presence of an anomalous spin part in the kinetic orbital angular momentum operator gives rise to an oscillatory behavior similar to the Zitterbewegung. It is suggested that the underlying physics that gives rise to the spin force and the Zitterbewegung is one and the same in NRDO and in systems that manifest spin Hall effect.

Hybrid position/force control of multi-arm cooperating robots

NASA Technical Reports Server (NTRS)

Hayati, Samad

1986-01-01

This paper extends the theory of hybrid position/force control to the case of multi-arm cooperating robots. Cooperation between n robot arms is achieved by controlling each arm such that the burden of actuation is shared between the arms in a nonconflicting way as they control the position of and force on a designated point on an object. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by n robot end-effectors. Natural and artificial position and force constraints are defined for a point on the object and two selection matrices are obtained to control the arms. The position control loops are designed based on each manipulator's Cartesian space dynamic equations. In the position control subspace, a feature is provided which allows the robot arms to exert additional forces/torques to achieve compression, tension, or torsion in the object without affecting the execution of the motion trajectories. In the force control subspace, a method is introduced to minimize the total force/torque magnitude square while realizing the net desired force/torque on the environment.

Actuation crosstalk in free-falling systems: Torsion pendulum results for the engineering model of the LISA pathfinder gravitational reference sensor

NASA Astrophysics Data System (ADS)

Bassan, M.; Cavalleri, A.; De Laurentis, M.; De Marchi, F.; De Rosa, R.; Di Fiore, L.; Dolesi, R.; Finetti, N.; Garufi, F.; Grado, A.; Hueller, M.; Marconi, L.; Milano, L.; Minenkov, Y.; Pucacco, G.; Stanga, R.; Vetrugno, D.; Visco, M.; Vitale, S.; Weber, W. J.

2018-01-01

In this paper we report on measurements on actuation crosstalk, relevant to the gravitational reference sensors for LISA Pathfinder and LISA. In these sensors, a Test Mass (TM) falls freely within a system of electrodes used for readout and control. These measurements were carried out on ground with a double torsion pendulum that allowed us to estimate both the torque injected into the sensor when a control force is applied and, conversely, the force leaking into the translational degree of freedom due to the applied torque.The values measured on our apparatus (the engineering model of the LISA Pathfinder sensor) agree to within 0.2% (over a maximum measured crosstalk of 1%) with predictions of a mathematical model when measuring force to torque crosstalk, while it is somewhat larger than expected (up to 3.5%) when measuring torque to force crosstalk. However, the values in the relevant range, i.e. when the TM is well centered ( ± 10 μm) in the sensor, remain smaller than 0.2%, satisfying the LISA Pathfinder requirements.

Solar Sail Attitude Control Performance Comparison

NASA Technical Reports Server (NTRS)

Bladt, Jeff J.; Lawrence, Dale A.

2005-01-01

Performance of two solar sail attitude control implementations is evaluated. One implementation employs four articulated reflective vanes located at the periphery of the sail assembly to generate control torque about all three axes. A second attitude control configuration uses mass on a gimbaled boom to alter the center-of-mass location relative to the center-of-pressure producing roll and pitch torque along with a pair of articulated control vanes for yaw control. Command generation algorithms employ linearized dynamics with a feedback inversion loop to map desired vehicle attitude control torque into vane and/or gimbal articulation angle commands. We investigate the impact on actuator deflection angle behavior due to variations in how the Jacobian matrix is incorporated into the feedback inversion loop. Additionally, we compare how well each implementation tracks a commanded thrust profile, which has been generated to follow an orbit trajectory from the sun-earth L1 point to a sub-L1 station.

Correlation between the knee adduction torque and medial contact force for a variety of gait patterns.

PubMed

Zhao, Dong; Banks, Scott A; Mitchell, Kim H; D'Lima, Darryl D; Colwell, Clifford W; Fregly, Benjamin J

2007-06-01

The external knee adduction torque has been proposed as a surrogate measure for medial compartment load during gait. However, a direct link between these two quantities has not been demonstrated using in vivo measurement of medial compartment load. This study uses in vivo data collected from a single subject with an instrumented knee implant to evaluate this link. The subject performed five different overground gait motions (normal, fast, slow, wide, and toe-out) with simultaneous collection of instrumented implant, video motion, and ground reaction data. For each trial, the knee adduction torque was measured externally while the total axial force applied to the tibial insert was measured internally. Based on data collected from the same subject performing treadmill gait under fluoroscopic motion analysis, a regression equation was developed to calculate medial contact force from the implant load cell measurements. Correlation analyses were performed for the stance phase and entire gait cycle to quantify the relationship between the knee adduction torque and both the medial contact force and the medial to total contact force ratio. When the entire gait cycle was analyzed, R(2) for medial contact force was 0.77 when all gait trials were analyzed together and between 0.69 and 0.93 when each gait trial was analyzed separately (p < 0.001 in all cases). For medial to total force ratio, R(2) was 0.69 for all trials together and between 0.54 and 0.90 for each trial separately (p < 0.001 in all cases). When only the stance phase was analyzed, R(2) values were slightly lower. These results support the hypothesis that the knee adduction torque is highly correlated with medial compartment contact force and medial to total force ratio during gait. (c) 2007 Orthopaedic Research Society. Published by Wiley Periodicals, Inc.

Conical Euler analysis and active roll suppression for unsteady vortical flows about rolling delta wings

NASA Technical Reports Server (NTRS)

Lee-Rausch, Elizabeth M.; Batina, John T.

1993-01-01

A conical Euler code was developed to study unsteady vortex-dominated flows about rolling, highly swept delta wings undergoing either forced motions or free-to-roll motions that include active roll suppression. The flow solver of the code involves a multistage, Runge-Kutta time-stepping scheme that uses a cell-centered, finite-volume, spatial discretization of the Euler equations on an unstructured grid of triangles. The code allows for the additional analysis of the free to-roll case by simultaneously integrating in time the rigid-body equation of motion with the governing flow equations. Results are presented for a delta wing with a 75 deg swept, sharp leading edge at a free-stream Mach number of 1.2 and at 10 deg, 20 deg, and 30 deg angle of attack alpha. At the lower angles of attack (10 and 20 deg), forced-harmonic analyses indicate that the rolling-moment coefficients provide a positive damping, which is verified by free-to-roll calculations. In contrast, at the higher angle of attack (30 deg), a forced-harmonic analysis indicates that the rolling-moment coefficient provides negative damping at the small roll amplitudes. A free-to-roll calculation for this case produces an initially divergent response, but as the amplitude of motion grows with time, the response transitions to a wing-rock type of limit cycle oscillation, which is characteristic of highly swept delta wings. This limit cycle oscillation may be actively suppressed through the use of a rate-feedback control law and antisymmetrically deflected leading-edge flaps. Descriptions of the conical Euler flow solver and the free-to roll analysis are included in this report. Results are presented that demonstrate how the systematic analysis of the forced response of the delta wing can be used to predict the stable, neutrally stable, and unstable free response of the delta wing. These results also give insight into the flow physics associated with unsteady vortical flows about delta wings undergoing forced motions and free-to-roll motions, including the active suppression of the wing-rock type phenomenon. The conical Euler methodology developed is directly extend able to three-dimensional calculations.

Tool for Coupling a Torque Wrench to a Round Cable Connector

NASA Technical Reports Server (NTRS)

Hacker, Scott C.; Dean, Richard J.; Burge, Scott W.

2006-01-01

A tool makes it possible to couple a torque wrench to an externally knurled, internally threaded, round cable connector. The purpose served by the tool is to facilitate the tightening of multiple such connectors (or the repeated tightening of the same connector) to repeatable torques. The design of a prior cable-connector/ torque-wrench coupling tool provided for application of the torque-wrench jaws to a location laterally offset from the axis of rotation of the cable connector, making it necessary to correct the torque reading for the offset. Unlike the design of the prior tool, the design of the present tool provides for application of the torque-wrench jaws to a location on the axis of rotation, obviating correction of the torque reading for offset. The present tool (see figure) consists of a split collet containing a slot that provides clearance for inserting and bending the cable, a collet-locking sleeve, a collet-locking nut, and a torque-wrench adaptor that is press-fit onto the collet. Once the collet is positioned on the cable connector, the collet-locking nut is turned to force the collet-locking sleeve over the collet, compressing the collet through engagement of tapered surfaces on the outside of the collet and the inside of the locking sleeve. Because the collet is split and therefore somewhat flexible, this compression forces the collet inward to grip the connector securely. The torque wrench is then applied to the torque-wrench adaptor in the usual manner for torquing a nut or a bolt.

Torque-Limiting Infinitely-Variable CAM Release Mechanism for a Rotatable Joint

NASA Technical Reports Server (NTRS)

Moetteli, John B. (Inventor)

1997-01-01

The invention relates to a mechanism for permitting convenient manual or servo-powered control of a boom assembly, which is rotatably positionable about yaw and pitch axes by means of releasably locking, yaw and pitch torque-limiting mechanisms, each of which may be locked, unlocked, and positioned by respective yaw and pitch levers. The boom may be longitudinally projected and withdrawn by rotating a boom extension/retraction crank. Torque limiting is provided by spring loaded clutch mechanisms, whereby positioning forces applied to the handles are effective to move the boom unless overcome by greater opposing forces, sufficient to overcome the torque applied by the torque limiting clutch mechanisms. In operation, a structure positionable by the invention (e.g., and end-effector or robot arm) may be rotatably moved about yaw and pitch axes by moving a selected one of the three levers.

Knudsen torque: A rotational mechanism driven by thermal force

NASA Astrophysics Data System (ADS)

Li, Qi; Liang, Tengfei; Ye, Wenjing

2014-09-01

Thermally induced mechanical loading has been shown to have significant effects on micro- and nano-objects immersed in a gas with a nonuniform temperature field. While the majority of existing studies and related applications focus on forces, we investigate the torque, and thus the rotational motion, produced by such a mechanism. Our study has found that a torque can be induced if the configuration of the system is asymmetric. In addition, both the magnitude and the direction of the torque depend highly on the system configuration, indicating the possibility of manipulating the rotational motion via geometrical design. Based on this feature, two types of rotational micromotor that are of practical importance, namely pendulum motor and unidirectional motor, are designed. The magnitude of the torque at Kn =0.5 can reach to around 2nN×μm for a rectangular microbeam with a length of 100μm.

Rolling friction and energy dissipation in a spinning disc

PubMed Central

Ma, Daolin; Liu, Caishan; Zhao, Zhen; Zhang, Hongjian

2014-01-01

This paper presents the results of both experimental and theoretical investigations for the dynamics of a steel disc spinning on a horizontal rough surface. With a pair of high-speed cameras, a stereoscopic vision method is adopted to perform omnidirectional measurements for the temporal evolution of the disc's motion. The experiment data allow us to detail the dynamics of the disc, and consequently to quantify its energy. From our experimental observations, it is confirmed that rolling friction is a primary factor responsible for the dissipation of the energy. Furthermore, a mathematical model, in which the rolling friction is characterized by a resistance torque proportional to the square of precession rate, is also proposed. By employing the model, we perform qualitative analysis and numerical simulations. Both of them provide results that precisely agree with our experimental findings. PMID:25197246

Torque limited drive for manual valves

DOEpatents

Elliott, Philip G.; Underwood, Daniel E.

1989-01-01

The present invention is directed to a torque-limiting handwheel device for preventing manual valves from being damaged due to the application of excessive torque during the opening or closing operation of the valves. Torque can only be applied when ridges in the handwheel assembly engage in channels machined in the face of the baseplate. The amount of torque required for disengagement of the ridges from the channels is determined by the force exerted by various Bellville springs and the inclination of the side faces of the channels.

Torque limited drive for manual valves

DOEpatents

Elliott, Philip G.; Underwood, Daniel E.

1989-06-06

The present invention is directed to a torque-limiting handwheel device for preventing manual valves from being damaged due to the application of excessive torque during the opening or closing operation of the valves. Torque can only be applied when ridges in the handwheel assembly engage in channels machined in the face of the baseplate. The amount of torque required for disengagement of the ridges from the channels is determined by the force exerted by various Bellville springs and the inclination of the side faces of the channels.

Mechanical Rectification of Oscillatory Motion for High Torque Microactuators

NASA Astrophysics Data System (ADS)

You, Liang; Tabib-Azar, Massood

2004-03-01

High-torque and scalable rotational micromotors were designed, microfabricated using a 3 mask LPCVD polysilicon process, and characterized. Oscillatory motions generated by comb-drive actuators were rectified by a rotor with fins. The actuator periodically deforms the fins generating forces with tangential and normal components in the rotor. Tangential forces generate rotation. In comparison to the electrostatic side-drive micromotor (torque pN-m), the measured torques for these micromotors were much larger and reached 4.5 µN-m at 200Vpp applied to the comb-drive at 1 KHz. Both the comb-drive and the finned rotor are second-order resonant structures that, when coupled, result in interesting dynamic that manifests itself as different excitation (forward, reverse, stepping, and chaotic) modes of the rotor.

Effect of Real-Time Feedback on Screw Placement Into Synthetic Cancellous Bone.

PubMed

Gustafson, Peter A; Geeslin, Andrew G; Prior, David M; Chess, Joseph L

2016-08-01

The objective of this study is to evaluate whether real-time torque feedback may reduce the occurrence of stripping when inserting nonlocking screws through fracture plates into synthetic cancellous bone. Five attending orthopaedic surgeons and 5 senior level orthopaedic residents inserted 8 screws in each phase. In phase I, screws were inserted without feedback simulating conventional techniques. In phase II, screws were driven with visual torque feedback. In phase III, screws were again inserted with conventional techniques. Comparison of these 3 phases with respect to screw insertion torque, surgeon rank, and perception of stripping was used to establish the effects of feedback. Seventy-three of 239 screws resulted in stripping. During the first phase, no feedback was provided and the overall strip rate was 41.8%; this decreased to 15% with visual feedback (P < 0.001) and returned to 35% when repeated without feedback. With feedback, a lower average torque was applied over a narrower torque distribution. Residents stripped 40.8% of screws compared with 20.2% for attending surgeons. Surgeons were poor at perceiving whether they stripped. Prevention and identification of stripping is influenced by surgeon perception of tactile sensation. This is significantly improved with utilization of real-time visual feedback of a torque versus roll curve. This concept of real-time feedback seems beneficial toward performance in synthetic cancellous bone and may lead to improved fixation in cancellous bone in a surgical setting.

Solar and Heliospheric Observatory (SOHO) Flight Dynamics Simulations Using MATLAB (R)

NASA Technical Reports Server (NTRS)

Headrick, R. D.; Rowe, J. N.

1996-01-01

This paper describes a study to verify onboard attitude control laws in the coarse Sun-pointing (CSP) mode by simulation and to develop procedures for operational support for the Solar and Heliospheric Observatory (SOHO) mission. SOHO was launched on December 2, 1995, and the predictions of the simulation were verified with the flight data. This study used a commercial off the shelf product MATLAB(tm) to do the following: Develop procedures for computing the parasitic torques for orbital maneuvers; Simulate onboard attitude control of roll, pitch, and yaw during orbital maneuvers; Develop procedures for predicting firing time for both on- and off-modulated thrusters during orbital maneuvers; Investigate the use of feed forward or pre-bias torques to reduce the attitude handoff during orbit maneuvers - in particular, determine how to use the flight data to improve the feed forward torque estimates for use on future maneuvers. The study verified the stability of the attitude control during orbital maneuvers and the proposed use of feed forward torques to compensate for the attitude handoff. Comparison of the simulations with flight data showed: Parasitic torques provided a good estimate of the on- and off-modulation for attitude control; The feed forward torque compensation scheme worked well to reduce attitude handoff during the orbital maneuvers. The work has been extended to prototype calibration of thrusters from observed firing time and observed reaction wheel speed changes.

The use of multisensor data for robotic applications

NASA Technical Reports Server (NTRS)

Abidi, M. A.; Gonzalez, R. C.

1990-01-01

The feasibility of realistic autonomous space manipulation tasks using multisensory information is shown through two experiments involving a fluid interchange system and a module interchange system. In both cases, autonomous location of the mating element, autonomous location of the guiding light target, mating, and demating of the system were performed. Specifically, vision-driven techniques were implemented to determine the arbitrary two-dimensional position and orientation of the mating elements as well as the arbitrary three-dimensional position and orientation of the light targets. The robotic system was also equipped with a force/torque sensor that continuously monitored the six components of force and torque exerted on the end effector. Using vision, force, torque, proximity, and touch sensors, the two experiments were completed successfully and autonomously.

Rotational effect of buoyancy in frontcrawl: Does it really cause the legs to sink?

PubMed

Yanai, T

2001-02-01

The purposes of this study were to quantify the rotational effect of buoyant force (buoyant torque) during the performance of front crawl and to reexamine the mechanics of horizontal alignment of the swimmers. Three-dimensional videography was used to measure the position and orientation of the body segments of 11 competitive swimmers performing front crawl stroke at a sub-maximum sprinting speed. The dimensions of each body segment were defined mathematically to match the body segment parameters (mass, density, and centroid position) reported in the literature. The buoyant force and torque were computed for every video-field (60fields/s), assuming that the water surface followed a sine curve along the length of the swimmer. The average buoyant torque over the stroke cycle (mean=22Nm) was directed to raise the legs and lower the head, primarily because the recovery arm and a part of the head were lifted out of the water and the center of buoyancy shifted toward the feet. This finding contradicts the prevailing speculation that buoyancy only causes the legs to sink throughout the stroke cycle. On the basis of a theoretical analysis of the results, it is postulated that the buoyant torque, and perhaps the forces generated by kicks, function to counteract the torque generated by the hydrodynamic forces acting on the hands, so as to maintain the horizontal alignment of the body in front crawl.

Stress Induced in the Periodontal Ligament under Orthodontic Loading (Part I): A Finite Element Method Study Using Linear Analysis.

PubMed

Hemanth, M; Deoli, Shilpi; Raghuveer, H P; Rani, M S; Hegde, Chatura; Vedavathi, B

2015-08-01

Orthodontic tooth movement is a complex procedure that occurs due to various biomechanical changes in the periodontium. Optimal orthodontic forces yield maximum tooth movement whereas if the forces fall beyond the optimal threshold it can cause deleterious effects. Among various types of tooth movements intrusion and lingual root torque are associated with causing root resoprtion, especially with the incisors. Therefore in this study, the stress patterns in the periodontal ligament (PDL) were evaluated with intrusion and lingual root torque using finite element method (FEM). A three-dimensional (3D) FEM model of the maxillary incisors was generated using SOLIDWORKS modeling software. Stresses in the PDL were evaluated with intrusive and lingual root torque movements by a 3D FEM using ANSYS software using linear stress analysis. It was observed that with the application of intrusive load compressive stresses were distributed at the apex whereas tensile stress was seen at the cervical margin. With the application of lingual root torque maximum compressive stress was distributed at the apex and tensile stress was distributed throughout the PDL. For intrusive and lingual root torque movements stress values over the PDL was within the range of optimal stress value as proposed by Lee, with a given force system by Proffit as optimum forces for orthodontic tooth movement using linear properties.

Stress Induced in the Periodontal Ligament under Orthodontic Loading (Part I): A Finite Element Method Study Using Linear Analysis

PubMed Central

Hemanth, M; deoli, Shilpi; Raghuveer, H P; Rani, M S; Hegde, Chatura; Vedavathi, B

2015-01-01

Background: Orthodontic tooth movement is a complex procedure that occurs due to various biomechanical changes in the periodontium. Optimal orthodontic forces yield maximum tooth movement whereas if the forces fall beyond the optimal threshold it can cause deleterious effects. Among various types of tooth movements intrusion and lingual root torque are associated with causing root resoprtion, especially with the incisors. Therefore in this study, the stress patterns in the periodontal ligament (PDL) were evaluated with intrusion and lingual root torque using finite element method (FEM). Materials and Methods: A three-dimensional (3D) FEM model of the maxillary incisors was generated using SOLIDWORKS modeling software. Stresses in the PDL were evaluated with intrusive and lingual root torque movements by a 3D FEM using ANSYS software using linear stress analysis. Results: It was observed that with the application of intrusive load compressive stresses were distributed at the apex whereas tensile stress was seen at the cervical margin. With the application of lingual root torque maximum compressive stress was distributed at the apex and tensile stress was distributed throughout the PDL. Conclusion: For intrusive and lingual root torque movements stress values over the PDL was within the range of optimal stress value as proposed by Lee, with a given force system by Proffit as optimum forces for orthodontic tooth movement using linear properties. PMID:26464555

Effect of roll-compaction and milling conditions on granules and tablet properties.

PubMed

Perez-Gandarillas, Lucia; Perez-Gago, Ana; Mazor, Alon; Kleinebudde, Peter; Lecoq, Olivier; Michrafy, Abderrahim

2016-09-01

Dry granulation is an agglomeration process used to produce size-enlarged particles (granules), improving the handling properties of powders such as flowability. In this process, powders are compacted using a roll press to produce ribbons, which are milled in granules used further in the tableting process. The granule and tablet properties are influenced by the existence of different designs of the roll compactors, milling systems and the interaction between process parameters and raw material properties. The main objective of this work was to investigate how different roll-compaction conditions and milling process parameters impact on ribbons, granules and tablet properties, highlighting the role of the sealing system (cheek plates and rimmed roll). In this context, two common excipients differing in their mechanical behaviour (MCC and mannitol) are used. The study is based on the analysis of granule size distribution together with the characterization of loss of compactability during die compaction. Results show that the tensile strength of tablets is lower when using granules than when the raw materials are compressed. Moreover, the plastic material (MCC) is more sensitive than the brittle one (mannitol). Regarding the roll-force, it is observed that the higher the roll force, the lower the tensile strength of tablets from granulated material is. These findings are in agreement with the literature. The comparison of sealing systems shows that the rimmed-roll system leads to slightly stronger tablets than the use of cheek plates. In addition, the use of the rimmed-roll system reduces the amount of fines, in particular when high roll force is applied. Overall, it can be concluded that roll-compaction effect is predominant over the milling effect on the production of fines but less significant on the tablet properties. This study points out that the balance between a good flowability by reducing the amount of fines and appropriate tablet strength is achieved with rimmed-roll and the highest roll-force used. Copyright © 2016 Elsevier B.V. All rights reserved.

Hip joint kinetics in the table tennis topspin forehand: relationship to racket velocity.

PubMed

Iino, Yoichi

2018-04-01

The purpose of this study was to determine hip joint kinetics during a table tennis topspin forehand, and to investigate the relationship between the relevant kinematic and kinetic variables and the racket horizontal and vertical velocities at ball impact. Eighteen male advanced table tennis players hit cross-court topspin forehands against backspin balls. The hip joint torque and force components around the pelvis coordinate system were determined using inverse dynamics. Furthermore, the work done on the pelvis by these components was also determined. The peak pelvis axial rotation velocity and the work done by the playing side hip pelvis axial rotation torque were positively related to the racket horizontal velocity at impact. The sum of the work done on the pelvis by the backward tilt torques and the upward joint forces was positively related to the racket vertical velocity at impact. The results suggest that the playing side hip pelvis axial rotation torque exertion is important for acquiring a high racket horizontal velocity at impact. The pelvis backward tilt torques and upward joint forces at both hip joints collectively contribute to the generation of the racket vertical velocity, and the mechanism for acquiring the vertical velocity may vary among players.

Speed of the bacterial flagellar motor near zero load depends on the number of stator units.

PubMed

Nord, Ashley L; Sowa, Yoshiyuki; Steel, Bradley C; Lo, Chien-Jung; Berry, Richard M

2017-10-31

The bacterial flagellar motor (BFM) rotates hundreds of times per second to propel bacteria driven by an electrochemical ion gradient. The motor consists of a rotor 50 nm in diameter surrounded by up to 11 ion-conducting stator units, which exchange between motors and a membrane-bound pool. Measurements of the torque-speed relationship guide the development of models of the motor mechanism. In contrast to previous reports that speed near zero torque is independent of the number of stator units, we observe multiple speeds that we attribute to different numbers of units near zero torque in both Na + - and H + -driven motors. We measure the full torque-speed relationship of one and two H + units in Escherichia coli by selecting the number of H + units and controlling the number of Na + units in hybrid motors. These experiments confirm that speed near zero torque in H + -driven motors increases with the stator number. We also measured 75 torque-speed curves for Na + -driven chimeric motors at different ion-motive force and stator number. Torque and speed were proportional to ion-motive force and number of stator units at all loads, allowing all 77 measured torque-speed curves to be collapsed onto a single curve by simple rescaling. Published under the PNAS license.

Implant Insertion Torque: Its Role in Achieving Primary Stability of Restorable Dental Implants.

PubMed

Greenstein, Gary; Cavallaro, John

2017-02-01

A literature review was conducted to determine the role of insertion torque in attaining primary stability of dental implants. The review is comprised of articles that discussed the amount of torque needed to achieve primary implant stability in healed ridges and fresh extraction sockets prior to immediate implant loading. Studies were appraised that addressed the effects of minimum and maximum forces that can be used to successfully place implants. The minimum torque that can be employed to attain primary stability is undefined. Forces ≥30 Ncm are routinely used to place implants into healed ridges and fresh extraction sockets prior to immediate loading of implants. Increased insertion torque (≥50 Ncm) reduces micromotion and does not appear to damage bone. In general, the healing process after implant insertion provides a degree of biologic stability that is similar whether implants are placed with high or low initial insertion torque. Primary stability is desirable when placing implants, but the absence of micromotion is what facilitates predictable implant osseointegration. Increased insertion torque helps achieve primary stability by reducing implant micromotion. Furthermore, tactile information provided by the first surgical twist drill can aid in selecting the initial insertion torque to achieve predictable stability of inserted dental implants.

Experimental and theoretical study of friction torque from radial ball bearings

NASA Astrophysics Data System (ADS)

Geonea, Ionut; Dumitru, Nicolae; Dumitru, Ilie

2017-10-01

In this paper it is presented a numerical simulation and an experimental study of total friction torque from radial ball bearings. For this purpose it is conceived a virtual CAD model of the experimental test bench for bearing friction torque measurement. The virtual model it is used for numerical simulation in Adams software, that allows dynamic study of multi-body systems and in particularly with facility Adams Machinery of dynamic behavior of machine parts. It is manufactured an experimental prototype of the test bench for radial ball bearings friction torque measurement. In order to measure the friction torque of the tested bearings it is used an equal resistance elastic beam element, with strain gauge transducer to measure bending deformations. The actuation electric motor of the bench has the shaft mounted on two bearings and the motor housing is fixed to the free side of the elastic beam, which is bended by a force proportional with the total friction torque. The beam elastic element with strain gauge transducer is calibrated in order to measure the force occurred. Experimental determination of the friction torque is made for several progressive radial loads. It is established the correlation from the friction torque and bearing radial load. The bench allows testing of several types and dimensions of radial bearings, in order to establish the bearing durability and of total friction torque.

Comparative evaluation of insertion torque and mechanical stability for self-tapping and self-drilling orthodontic miniscrews - an in vitro study.

PubMed

Tepedino, Michele; Masedu, Francesco; Chimenti, Claudio

2017-05-30

The aim of the present study was to evaluate the relationship between insertion torque and stability of miniscrews in terms of resistance against dislocation, then comparing a self-tapping screw with a self-drilling one. Insertion torque was measured during placement of 30 self-drilling and 31 self-tapping stainless steel miniscrews (Leone SpA, Sesto Fiorentino, Italy) in synthetic bone blocks. Then, an increasing pulling force was applied at an angle of 90° and 45°, and the displacement of the miniscrews was recorded. The statistical analysis showed a statistically significant difference between the mean Maximum Insertion Torque (MIT) observed in the two groups and showed that force angulation and MIT have a statistically significant effect on miniscrews stability. For both the miniscrews, an angle of 90° between miniscrew and loading force is preferable in terms of stability. The tested self-drilling orthodontic miniscrews showed higher MIT and greater resistance against dislocation than the self-tapping ones.

Mechanical load on the low back and shoulders during pushing and pulling of two-wheeled waste containers compared with lifting and carrying of bags and bins.

PubMed

Schibye, B; Søgaard, K; Martinsen, D; Klausen, K

2001-08-01

Compare the mechanical load on the low back and shoulders during pushing and pulling a two-wheeled container with the load during lifting and carrying the same amount of waste. Only little is known about risk factors and mechanical loads during push/pull operations. A complete 2(3) factor push/pull experiment. A two-wheeled container with 25 or 50 kg was pushed in front of and pulled behind the body by seven waste collectors. Further, the same subjects lifted and carried a paper bag and a dustbin both loaded with 7 and 25 kg. All operations were video recorded and the push/pull force was measured by means of a three-dimensional force transducer. Peak Motus and Watbak software were used for digitising and calculation of torque at L4/L5 and the shoulder joints and compression and shear forces at L4/L5. During pushing and pulling the compression at L4/L5 is from 605 to 1445 N. The extension torque at L4/L5 produced by the push/pull force is counteracted by the forward leaning of the upper body. The shear force is below 202 N in all situations. The torque at the shoulders is between 1 and 38 Nm. In the present experiments the torques at the low back and the shoulders are low during pushing and pulling. No relation exists between the size of the external force and the torque at the low back and the shoulder. Pushing and pulling are common in many workplaces and have often replaced lifting and carrying situations. This has emphasised the need for more knowledge of the internal mechanical load on the body during these activities.

Hamstring Stiffness Returns More Rapidly After Static Stretching Than Range of Motion, Stretch Tolerance, and Isometric Peak Torque.

PubMed

Hatano, Genki; Suzuki, Shigeyuki; Matsuo, Shingo; Kataura, Satoshi; Yokoi, Kazuaki; Fukaya, Taizan; Fujiwara, Mitsuhiro; Asai, Yuji; Iwata, Masahiro

2017-12-18

Hamstring injuries are common, and lack of hamstring flexibility may predispose to injury. Static stretching increases range of motion (ROM) but also results in reduced muscle strength after stretching. The effects of stretching on the hamstring muscles and the duration of these effects remain unclear. To determine the effects of static stretching on the hamstrings and the duration of these effects. Randomized crossover study. University laboratory. Twenty-four healthy volunteers. We measured the torque-angle relationship (ROM, passive torque (PT) at the onset of pain, and passive stiffness) and isometric muscle force using an isokinetic dynamometer. After a 60-minute rest, the ROM of the dynamometer was set at maximum tolerable intensity; this position was maintained for 300 seconds while static passive torque (SPT) was measured continuously. We remeasured the torque-angle relationship and isometric muscle force after rest periods of 10, 20, and 30 minutes. Change in SPT during stretching; changes in ROM, PT at the onset of pain, passive stiffness, and isometric muscle force before stretching compared with 10, 20, and 30 minutes after stretching. SPT decreased significantly during stretching. Passive stiffness decreased significantly 10 and 20 minutes after stretching, but there was no significant pre- vs. post-stretching difference after 30 minutes. PT at the onset of pain and ROM increased significantly after stretching at all rest intervals, while isometric muscle force decreased significantly after all rest intervals. The effect of static stretching on passive stiffness of the hamstrings was not maintained as long as the changes in ROM, stretch tolerance, and isometric muscle force. Therefore, frequent stretching is necessary to improve the viscoelasticity of the muscle-tendon unit. Muscle force was decreased for 30 minutes after stretching; this should be considered prior to activities requiring maximal muscle strength.

Modeling control of eye orientation in three dimensions. I. Role of muscle pulleys in determining saccadic trajectory.

PubMed

Raphan, T

1998-05-01

This study evaluates the effects of muscle axis shifts on the performance of a vector velocity-position integrator in the CNS. Earlier models of the oculomotor plant assumed that the muscle axes remained fixed relative to the head as the eye rotated into secondary and tertiary eye positions. Under this assumption, the vector integrator model generates torsional transients as the eye moves from secondary to tertiary positions of fixation. The torsional transient represents an eye movement response to a spatial mismatch between the torque axes that remain fixed in the head and the displacement plane that changes by half the angle of the change in eye orientation. When muscle axis shifts were incorporated into the model, the torque axes were closer to the displacement plane at each eye orientation throughout the trajectory, and torsional transients were reduced dramatically. Their size and dynamics were close to reported data. It was also shown that when the muscle torque axes were rotated by 50% of the eye rotation, there was no torsional transient and Listing's law was perfectly obeyed. When muscle torque axes rotated >50%, torsional transients reversed direction compared with what occurred for muscle axis shifts of <50%. The model indicates that Listing's law is implemented by the oculomotor plant subject to a two-dimensional command signal that is confined to the pitch-yaw plane, having zero torsion. Saccades that bring the eye to orientations outside Listing's plane could easily be corrected by a roll pulse that resets the roll state of the velocity-position integrator to zero. This would be a simple implementation of the corrective controller suggested by Van Opstal and colleagues. The model further indicates that muscle axis shifts together with the torque orientation relationship for tissue surrounding the eye and Newton's laws of motion form a sufficient plant model to explain saccadic trajectories and periods of fixation when driven by a vector command confined to the pitch-yaw plane. This implies that the velocity-position integrator is probably realized as a subtractive feedback vector integrator and not as a quaternion-based integrator that implements kinematic transformations to orient the eye.

Quantitative assessment of the enamel machinability in tooth preparation with dental diamond burs.

PubMed

Song, Xiao-Fei; Jin, Chen-Xin; Yin, Ling

2015-01-01

Enamel cutting using dental handpieces is a critical process in tooth preparation for dental restorations and treatment but the machinability of enamel is poorly understood. This paper reports on the first quantitative assessment of the enamel machinability using computer-assisted numerical control, high-speed data acquisition, and force sensing systems. The enamel machinability in terms of cutting forces, force ratio, cutting torque, cutting speed and specific cutting energy were characterized in relation to enamel surface orientation, specific material removal rate and diamond bur grit size. The results show that enamel surface orientation, specific material removal rate and diamond bur grit size critically affected the enamel cutting capability. Cutting buccal/lingual surfaces resulted in significantly higher tangential and normal forces, torques and specific energy (p<0.05) but lower cutting speeds than occlusal surfaces (p<0.05). Increasing material removal rate for high cutting efficiencies using coarse burs yielded remarkable rises in cutting forces and torque (p<0.05) but significant reductions in cutting speed and specific cutting energy (p<0.05). In particular, great variations in cutting forces, torques and specific energy were observed at the specific material removal rate of 3mm(3)/min/mm using coarse burs, indicating the cutting limit. This work provides fundamental data and the scientific understanding of the enamel machinability for clinical dental practice. Copyright © 2014 Elsevier Ltd. All rights reserved.

Comparisons of physical experiment and discrete element simulations of sheared granular materials in an annular shear cell

USGS Publications Warehouse

Ji, S.; Hanes, D.M.; Shen, H.H.

2009-01-01

In this study, we report a direct comparison between a physical test and a computer simulation of rapidly sheared granular materials. An annular shear cell experiment was conducted. All parameters were kept the same between the physical and the computational systems to the extent possible. Artificially softened particles were used in the simulation to reduce the computational time to a manageable level. Sensitivity study on the particle stiffness ensured such artificial modification was acceptable. In the experiment, a range of normal stress was applied to a given amount of particles sheared in an annular trough with a range of controlled shear speed. Two types of particles, glass and Delrin, were used in the experiment. Qualitatively, the required torque to shear the materials under different rotational speed compared well with those in the physical experiments for both the glass and the Delrin particles. However, the quantitative discrepancies between the measured and simulated shear stresses were nearly a factor of two. Boundary conditions, particle size distribution, particle damping and friction, including a sliding and rolling, contact force model, were examined to determine their effects on the computational results. It was found that of the above, the rolling friction between particles had the most significant effect on the macro stress level. This study shows that discrete element simulation is a viable method for engineering design for granular material systems. Particle level information is needed to properly conduct these simulations. However, not all particle level information is equally important in the study regime. Rolling friction, which is not commonly considered in many discrete element models, appears to play an important role. ?? 2009 Elsevier Ltd.

Stress Induced in Periodontal Ligament under Orthodontic Loading (Part II): A Comparison of Linear Versus Non-Linear Fem Study.

PubMed

Hemanth, M; Deoli, Shilpi; Raghuveer, H P; Rani, M S; Hegde, Chatura; Vedavathi, B

2015-09-01

Simulation of periodontal ligament (PDL) using non-linear finite element method (FEM) analysis gives better insight into understanding of the biology of tooth movement. The stresses in the PDL were evaluated for intrusion and lingual root torque using non-linear properties. A three-dimensional (3D) FEM model of the maxillary incisors was generated using Solidworks modeling software. Stresses in the PDL were evaluated for intrusive and lingual root torque movements by 3D FEM using ANSYS software. These stresses were compared with linear and non-linear analyses. For intrusive and lingual root torque movements, distribution of stress over the PDL was within the range of optimal stress value as proposed by Lee, but was exceeding the force system given by Proffit as optimum forces for orthodontic tooth movement with linear properties. When same force load was applied in non-linear analysis, stresses were more compared to linear analysis and were beyond the optimal stress range as proposed by Lee for both intrusive and lingual root torque. To get the same stress as linear analysis, iterations were done using non-linear properties and the force level was reduced. This shows that the force level required for non-linear analysis is lesser than that of linear analysis.

Effect of geometry and operating conditions on spur gear system power loss

NASA Technical Reports Server (NTRS)

Anderson, N. E.; Loewenthal, S. H.

1980-01-01

The results of an analysis of the effects of spur gear size, pitch, width, and ratio on total mesh power loss for a wide range of speeds, torques, and oil viscosities are presented. The analysis uses simple algebraic expressions to determine gear sliding, rolling, and windage losses and also incorporates an approximate ball bearing power loss expression. The analysis shows good agreement with published data. Large diameter and fine pitched gears had higher peak efficiencies but low part load efficiency. Gear efficiencies were generally greater than 98 percent except at very low torque levels. Tare (no-load) losses are generally a significant percentage of the full load loss except at low speeds.

Effect of geometry and operating conditions on spur gear system power loss

NASA Technical Reports Server (NTRS)

Anderson, N. E.; Loewenthal, S. H.

1980-01-01

The results of an analysis of the effects of spur gear size, pitch, width and ratio on total mesh power loss for a wide range of speeds, torques and oil viscosities are presented. The analysis uses simple algebraic expressions to determine gear sliding, rolling and windage losses and also incorporates an approximate ball bearing power loss expression. The analysis shows good agreement with published data. Large diameter and fine-pitched gears had higher peak efficiencies but lower part-load efficiency. Gear efficiencies were generally greater than 98 percent except at very low torque levels. Tare (no-load) losses are generally a significant percentage of the full-load loss except at low speeds.

Pressurized fluid torque driver control and method

NASA Technical Reports Server (NTRS)

Cook, Joseph S., Jr. (Inventor)

1994-01-01

Methods and apparatus are provided for a torque driver including a displaceable gear to limit torque transfer to a fastener at a precisely controlled torque limit. A biasing assembly biases a first gear into engagement with a second gear for torque transfer between the first and second gear. The biasing assembly includes a pressurized cylinder controlled at a constant pressure that corresponds to a torque limit. A calibrated gage and valve is used to set the desired torque limit. One or more coiled output linkages connect the first gear with the fastener adaptor which may be a socket for a nut. A gear tooth profile provides a separation force that overcomes the bias to limit torque at the desired torque limit. Multiple fasteners may be rotated simultaneously to a desired torque limit if additional output spur gears are provided. The torque limit is adjustable and may be different for fasteners within the same fastener configuration.

Displaceable Gear Torque Controlled Driver

NASA Technical Reports Server (NTRS)

Cook, Joseph S., Jr. (Inventor)

1997-01-01

Methods and apparatus are provided for a torque driver including a displaceable gear to limit torque transfer to a fastener at a precisely controlled torque limit. A biasing assembly biases a first gear into engagement with a second gear for torque transfer between the first and second gear. The biasing assembly includes a pressurized cylinder controlled at a constant pressure that corresponds to a torque limit. A calibrated gage and valve is used to set the desired torque limit. One or more coiled output linkages connect the first gear with the fastener adaptor which may be a socket for a nut. A gear tooth profile provides a separation force that overcomes the bias to limit torque at the desired torque limit. Multiple fasteners may be rotated simultaneously to a desired torque limit if additional output spur gears are provided. The torque limit is adjustable and may be different for fasteners within the same fastener configuration.

The surprising rolling spool: librational motion and failure of the pure rolling condition

NASA Astrophysics Data System (ADS)

Onorato, P.; Malgieri, M.; Mascheretti, P.; De Ambrosis, A.

2015-05-01

In a previous work (Onorato P, Malgieri M, Mascheretti P and De Ambrosis A 2014 The surprising rolling spool: experiments and theory from mechanics to phase transitions Eur. J. Phys. 35 055011) an asymmetric rolling spool (ARS) was investigated as a simple model for a second-order phase transition. Here, we deepen the study of this system to address critical aspects related both to the characteristic of the oscillatory anharmonic motion and to the role of friction forces in determining it. The experimental data show that for largely asymmetric bodies the rolling condition is not reliably fulfilled because the intensity of the friction force goes below the needed value to ensure rolling without slipping.

Design of a 7-DOF slave robot integrated with a magneto-rheological haptic master

NASA Astrophysics Data System (ADS)

Hwang, Yong-Hoon; Cha, Seung-Woo; Kang, Seok-Rae; Choi, Seung-Bok

2017-04-01

In this study, a 7-DOF slave robot integrated with the haptic master is designed and its dynamic motion is controlled. The haptic master is made using a controllable magneto-rheological (MR) clutch and brake and it provides the surgeon with a sense of touch by using both kinetic and kinesthetic information. Due to the size constraint of the slave robot, a wire actuating is adopted to make the desired motion of the end-effector which has 3-DOF instead of a conventional direct-driven motor. Another motions of the link parts that have 4-DOF use direct-driven motor. In total system, for working as a haptic device, the haptic master need to receive the information of repulsive forces applied on the slave robot. Therefore, repulsive forces on the end-effector are sensed by using three uniaxial torque transducer inserted in the wire actuating system and another repulsive forces applied on link part are sensed by using 6-axis transducer that is able to sense forces and torques. Using another 6-axis transducer, verify the reliability of force information on final end of slave robot. Lastly, integrated with a MR haptic master, psycho-physical test is conducted by different operators who can feel the different repulsive force or torque generated from the haptic master which is equivalent to the force or torque occurred on the end-effector to demonstrate the effectiveness of the proposed system.

Data Driven, Force Based Interaction for Quadrotors

NASA Astrophysics Data System (ADS)

McKinnon, Christopher D.

Quadrotors are small and agile, and are becoming more capable for their compact size. They are expected perform a wide variety of tasks including inspection, physical interaction, and formation flight. In all of these tasks, the quadrotors can come into close proximity with infrastructure or other quadrotors, and may experience significant external forces and torques. Reacting properly in each case is essential to completing the task safely and effectively. In this thesis, we develop an algorithm, based on the Unscented Kalman Filter, to estimate such forces and torques without making assumptions about the source of the forces and torques. We then show in experiment how the proposed estimation algorithm can be used in conjunction with controls and machine learning to choose the appropriate actions in a wide variety of tasks including detecting downwash, tracking the wind induced by a fan, and detecting proximity to the wall.

Intramuscular pressure and electromyography as indexes of force during isokinetic exercise

NASA Technical Reports Server (NTRS)

Aratow, M.; Ballard, R. E.; Grenshaw, A. G.; Styf, J.; Watenpaugh, D. E.; Kahan, N. J.; Hargens, A. R.

1993-01-01

A direct method for measuring force production of specific muscles during dynamic exercise is presently unavailable. Previous studies indicate that both intramuscular pressure (IMP) and electromyography (EMG) correlate linearly with muscle contraction force during isometric exercise. The objective of this study was to compare IMP and EMG as linear assessors of muscle contraction force during dynamic exercise. IMP and surface EMG activity were recorded during concentric and eccentric isokinetic plantarflexion and dorsiflexion of the ankle joint from the tibialis anterior (TA) and soleus (SOL) muscles of nine male volunteers. Ankle torque was measured using a dynamometer, and IMP was measured via catheterization. IMP exhibited better linear correlation than EMG with ankle joint torque during concentric contractions of the SOL and the TA, as well as during eccentric contractions. IMP provides a better index of muscle contraction force than EMG during concentric and eccentric exercise through the entire range of torque. IMP reflects intrinsic mechanical properties of individual muscles, such as length-tension relationships, which EMG is unable to assess.

Operating force information on-line acquisition of a novel slave manipulator for vascular interventional surgery.

PubMed

Zhao, Yan; Guo, Shuxiang; Xiao, Nan; Wang, Yuxin; Li, Youxiang; Jiang, Yuhua

2018-04-02

Vascular interventional surgery has its advantages compared to traditional operation. Master-slave robotic technology can further improve the operation accuracy, efficiency and safety of this complicated and high risk surgery. However, on-line acquisition of operating force information of catheter and guidewire remains to be a significant obstacle on the path to enhancing robotic surgery safety. Thus, a novel slave manipulator is proposed in this paper to realize on-line sensing of guidewire torsional operating torque and axial operation force during robotic assisted operations. A strain sensor is specially designed to detect the small scale torsional operation torque with low rotational frequency. Additionally, the axial operating force is detected via a load cell, which is incorporated into a sliding mechanism to eliminate the influence of friction. For validation, calibration and performance evaluation experiments are conducted. The results indicate that the proposed operation torque and force detection device is effective. Thus, it can provide the foundation for enabling accurate haptic feedback to the surgeon to improve surgical safety.

40 CFR 91.306 - Dynamometer torque cell calibration.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 40 Protection of Environment 20 2014-07-01 2013-07-01 true Dynamometer torque cell calibration. 91....306 Dynamometer torque cell calibration. (a)(1) Any lever arm used to convert a weight or a force... with the adjusted or repaired system. (b) Option. A master load-cell or transfer standard may be used...

Improvement of the limit torque for the torque limiter with magnetic rheological fluid

NASA Astrophysics Data System (ADS)

Umehara, Noritsugu; Kita, Shizuo

Robots are coming to support and help our life. The robots that work together with human need to avoid sever hitting and holding that force is more than the adequate and comfortable range. In order to keep the force to the safe level in the robot arms, t he limit torque should be controlled on the basis of the case the robot used. Magnetic rheological fluids were tried to be used for the clutch that transmission torque can be controlled continuously because MR fluids can be controlled its viscosity by magnetic field. However those clutch devices were too heavy and large to use for the robot arms. Therefore we tried to increase the sensitivity of magnetic field to viscosity of MR fluids. By applying rough surface for the mating surface, sensitivity of the magnetic field to the shearing torque increase drastically in the case of co-axial torque meter. On the other hand, the changing of the size of the orifice is effective to increase the sensitivity of the magnetic field on the flow resistance in the case of the orifice type equipment.

Investigation of Motorcycle Steering Torque Components

NASA Astrophysics Data System (ADS)

Cossalter, V.; Lot, R.; Massaro, M.; Peretto, M.

2011-10-01

When driving along a circular path, the rider controls a motorcycle mainly by the steering torque. This work addresses an in-depth analysis of the steady state cornering and in particular the decomposition of the motorcycle steering torque in its main components, such as road-tyre forces, gyroscopic torques, centrifugal and gravity effects. A detailed and experimentally validated multibody model of the motorcycle is used herein to analyze the steering torque components at different speeds and lateral accelerations. First the road tests are compared with the numerical results for three different vehicles and then a numerical investigation is carried out to decompose the steering torque. Finally, the effect of longitudinal acceleration and deceleration on steering torque components is presented.

Abrasive rolling effects on material removal and surface finish in chemical mechanical polishing analyzed by molecular dynamics simulation

NASA Astrophysics Data System (ADS)

Si, Lina; Guo, Dan; Luo, Jianbin; Lu, Xinchun; Xie, Guoxin

2011-04-01

In an abrasive chemical mechanical polishing (CMP) process, materials were considered to be removed by abrasive sliding and rolling. Abrasive sliding has been investigated by many molecular dynamics (MD) studies; while abrasive rolling was usually considered to be negligible and therefore was rarely investigated. In this paper, an MD simulation was used to study the effects of abrasive rolling on material removal and surface finish in the CMP process. As the silica particle rolled across the silicon substrate, some atoms of the substrate were dragged out from their original positions and adhered to the silica particle, leaving some atomic vacancies on the substrate surface. Meanwhile, a high quality surface could be obtained. During the abrasive rolling process, the influencing factors of material removal, e.g., external down force and driving force, were also discussed. Finally, MD simulations were carried out to examine the effects of abrasive sliding on material removal under the same external down force as abrasive rolling. The results showed that the ability of abrasive rolling to remove material on the atomic scale was not notably inferior to that of abrasive sliding. Therefore, it can be proposed that both abrasive sliding and rolling play important roles in material removal in the abrasive CMP of the silicon substrate.

Investigation of interactions between limb-manipulator dynamics and effective vehicle roll control characteristics

NASA Technical Reports Server (NTRS)

Johnston, D. E.; Mcruer, D. T.

1986-01-01

A fixed-base simulation was performed to identify and quantify interactions between the pilot's hand/arm neuromuscular subsystem and such features of typical modern fighter aircraft roll rate command control system mechanization as: (1) force sensing side-stick type manipulator; (2) vehicle effective role time constant; and (3) flight control system effective time delay. The simulation results provide insight to high frequency pilot induced oscillations (PIO) (roll ratchet), low frequency PIO, and roll-to-right control and handling problems previously observed in experimental and production fly-by-wire control systems. The simulation configurations encompass and/or duplicate actual flight situations, reproduce control problems observed in flight, and validate the concept that the high frequency nuisance mode known as roll ratchet derives primarily from the pilot's neuromuscular subsystem. The simulations show that force-sensing side-stick manipulator force/displacement/command gradients, command prefilters, and flight control system time delays need to be carefully adjusted to minimize neuromuscular mode amplitude peaking (roll ratchet tendency) without restricting roll control bandwidth (with resulting sluggish or PIO prone control).

Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm.

PubMed

Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae; Kim, Tae Il; Yi, Byung Ju

2017-01-01

Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.

Static Prehension of a Horizontally Oriented Object in Three Dimensions

PubMed Central

Wu, Yen-Hsun; Zatsiorsky, Vladimir M.; Latash, Mark L.

2011-01-01

We studied static prehension of a horizontally oriented object. Specific hypotheses were explored addressing such issues as the sharing patterns of the total moment of force across the digits, presence of mechanically unnecessary digit forces, and trade-off between multi-digit synergies at the two levels of the assumed control hierarchy. Within the assumed hierarchy, at the upper level, the task is shared between the thumb and virtual finger (an imagined finger producing a wrench equal to the sum of the wrenches of individual fingers). At the lower level, action of the virtual finger is shared among the four actual fingers. The subjects held statically a horizontally oriented handle instrumented with six-component force/torque sensors with different loads and torques acting about the long axis of the handle. The thumb acted from above while the four fingers supported the weight of the object. When the external torque was zero, the thumb produced mechanically unnecessary force of about 2.8 N, which did not depend on the external load magnitude. When the external torque was not zero, tangential forces produced over 80% of the total moment of force. The normal forces by the middle and ring fingers produced consistent moments against the external torque, while the normal forces of the index and little fingers did not. Force and moment variables at both hierarchical levels were stabilized by co-varied across trials adjustments of forces/moments produced by individual digits with the exception of the normal force analyzed at the lower level of the hierarchy. There was a trade-off between synergy indices computed at the two levels of the hierarchy for the three components of the total force vector, but not for the moment of force components. Overall, the results have shown that task mechanics are only one factor that defines forces produced by individual digits. Other factors, such as loading sensory receptors may lead to mechanically unnecessary forces. There seems to be no single rule (for example, ensuring similar safety margin values) that would describe sharing of the normal and tangential forces and be valid across tasks. Fingers that are traditionally viewed as less accurate (e.g., the ring finger) may perform more consistently in certain tasks. The observations of the trade-off between the synergy indices computed at two levels for the force variables but not for the moment of force variables suggest that the degree of redundancy (the number of excessive elemental variables) at the higher level is an important factor. PMID:22071684

Electronic measurement of variable torques in precision work technology

NASA Technical Reports Server (NTRS)

Maehr, M.

1978-01-01

Approaches for the determination of torques on the basis of length measurements are discussed. Attention is given to torque determinations in which the deformation of a shaft is measured, an electric measurement of the torsion angle, and an approach proposed by Buschmann (1970). Methods for a torque determination conducted with the aid of force measurements make use of piezoelectric approaches. The components used by these methods include a quartz crystal and a charge amplifier.

On the Influence of Surface Heterogeneities onto Roll Convection

NASA Astrophysics Data System (ADS)

Gryschka, M.; Drüe, C.; Raasch, S.; Etling, D.

2009-04-01

Roll convection is a common phenomenon in atmospheric convective boundary layers (CBL) with background wind. Roll convection is observed both over land and over sea for different synoptic situations. There is still some debate about the different types of roll convection and their causes or rather the necessary conditions for their appearance. The stability parameter ζ = -zi•L (zi: boundary layer height, L: Monin-Obukhov stability length) is widely used as a predictor for roll convection, since numerous studies suggest that convective rolls only appear when 0 < ζ < 20. In other words, roll development becomes unlikely for strong surface heating and weak vertical wind shear. In contrast to those studies the presence of roll convection in almost any polar cold air outbreak (as can be seen in numerous satellite images as cloud streets) reveals that even for large ζ roll convection can develop. Some studies report roll convection in cold air outbreaks for ζ = 250. Our large eddy simulations (LES) on roll convection suggests that the contrasting results concerning the dependency of roll convection on ζ are due to two different types of roll convection: One type which develops purely by self organization if ζ < 20 ("free rolls") and another type which is triggered by heterogeneities in surface temperature and develops also for large ζ ("forced rolls"). We think that most of the cloud streets observed in polar cold air outbreaks over open water are due to rolls of forced type which are tied to upstream located heterogeneities in the sea-ice distribution. The results of this study suggests that the omission of surface inhomogeneities in previous LES is the reason for the absence of rolls in all LES with strong surface heating and weak vertical wind shear so far. In this contribution we will present a large eddy simulation which successfully represents forced rolls under such conditions.

Mathematical-Artificial Neural Network Hybrid Model to Predict Roll Force during Hot Rolling of Steel

NASA Astrophysics Data System (ADS)

Rath, S.; Sengupta, P. P.; Singh, A. P.; Marik, A. K.; Talukdar, P.

2013-07-01

Accurate prediction of roll force during hot strip rolling is essential for model based operation of hot strip mills. Traditionally, mathematical models based on theory of plastic deformation have been used for prediction of roll force. In the last decade, data driven models like artificial neural network have been tried for prediction of roll force. Pure mathematical models have accuracy limitations whereas data driven models have difficulty in convergence when applied to industrial conditions. Hybrid models by integrating the traditional mathematical formulations and data driven methods are being developed in different parts of world. This paper discusses the methodology of development of an innovative hybrid mathematical-artificial neural network model. In mathematical model, the most important factor influencing accuracy is flow stress of steel. Coefficients of standard flow stress equation, calculated by parameter estimation technique, have been used in the model. The hybrid model has been trained and validated with input and output data collected from finishing stands of Hot Strip Mill, Bokaro Steel Plant, India. It has been found that the model accuracy has been improved with use of hybrid model, over the traditional mathematical model.

Testing of FTS fingers and interface using a passive compliant robot manipulator. [flight telerobot servicer

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.

1992-01-01

This report deals with testing of a pair of robot fingers designed for the Flight Telerobotic Servicer (FTS) to grasp a cylinder type of Orbital Replaceable Unit (ORU) interface. The report first describes the objectives of the study and then the testbed consisting of a Stewart Platform-based manipulator equipped with a passive compliant platform which also serves as a force/torque sensor. Kinematic analysis is then performed to provide a closed-form solution for the force inverse kinematics and iterative solution for the force forward kinematics using the Newton's Raphson Method. Mathematical expressions are then derived to compute force/torques applied to the FTS fingers during the mating/demating with the interface. The report then presents the three parts of the experimental study on the feasibility and characteristics of the fingers. The first part obtains data of forces applied by the fingers to the interface under various misalignments, the second part determines the maximum allowable capture angles for mating, and the third part processes and interprets the obtained force/torque data.

A study of the dynamic tire properties over a range of tire constructions

NASA Technical Reports Server (NTRS)

Nybakken, G. H.; Dodge, R. N.; Clark, S. K.

1973-01-01

The dynamic properties of four model aircraft tires of various construction were evaluated experimentally and compared with available theory. The experimental investigation consisted of measuring the cornering force and the self-aligning torque developed by the tires undergoing sinusoidal steering inputs while operating on a small scale, road-wheel tire testing apparatus. The force and moment data from the different tires are compared with both finite- and point-contact patch string theory predictions. In general, agreement between finite contact patch theory and experimental observation is good. A modified string theory is also presented in which coefficients for cornering force and self-aligning torque are determined separately. This theory improves the correspondence between the experimental and analytical data, particularly on tires with relatively high self-aligning torques.

Torque Control of Underactuated Tendon-driven Robotic Fingers

NASA Technical Reports Server (NTRS)

Ihrke, Chris A. (Inventor); Wampler, Charles W. (Inventor); Abdallah, Muhammad E. (Inventor); Reiland, Matthew J. (Inventor); Diftler, Myron A. (Inventor); Bridgwater, Lyndon (Inventor); Platt, Robert (Inventor)

2013-01-01

A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.

14 CFR 25.147 - Directional and lateral control.

Code of Federal Regulations, 2011 CFR

2011-01-01

... one engine inoperative, to provide a roll rate necessary for safety without excessive control forces... peak roll rate necessary for safety, without excessive control forces or travel. [Doc. No. 5066, 29 FR... force is 150 pounds need not be exceeded), and with— (1) The critical engine inoperative and its...

14 CFR 25.147 - Directional and lateral control.

Code of Federal Regulations, 2014 CFR

2014-01-01

... one engine inoperative, to provide a roll rate necessary for safety without excessive control forces... peak roll rate necessary for safety, without excessive control forces or travel. [Doc. No. 5066, 29 FR... force is 150 pounds need not be exceeded), and with— (1) The critical engine inoperative and its...

14 CFR 25.147 - Directional and lateral control.

Code of Federal Regulations, 2012 CFR

2012-01-01

... one engine inoperative, to provide a roll rate necessary for safety without excessive control forces... peak roll rate necessary for safety, without excessive control forces or travel. [Doc. No. 5066, 29 FR... force is 150 pounds need not be exceeded), and with— (1) The critical engine inoperative and its...

14 CFR 25.147 - Directional and lateral control.

Code of Federal Regulations, 2013 CFR

2013-01-01

... one engine inoperative, to provide a roll rate necessary for safety without excessive control forces... peak roll rate necessary for safety, without excessive control forces or travel. [Doc. No. 5066, 29 FR... force is 150 pounds need not be exceeded), and with— (1) The critical engine inoperative and its...

14 CFR 25.147 - Directional and lateral control.

Code of Federal Regulations, 2010 CFR

2010-01-01

... one engine inoperative, to provide a roll rate necessary for safety without excessive control forces... peak roll rate necessary for safety, without excessive control forces or travel. [Doc. No. 5066, 29 FR... force is 150 pounds need not be exceeded), and with— (1) The critical engine inoperative and its...

Use of spring-roll EAP actuator applied as end-effector of a hyper-redundant robot

NASA Astrophysics Data System (ADS)

Errico, Gianmarco; Fava, Victor; Resta, Ferruccio; Ripamonti, Francesco

2015-04-01

This paper presents a hyper-redundant continuous robot used to perform work in places which humans can not reach. This type of robot is generally a bio-inspired solution, it is composed by a lot of flexible segments driven by multiple actuators and its dynamics is described by a lot degrees of freedom. In this paper a model composed of some rigid links connected to each other by revolution joint is presented. In each link a torsional spring is added in order to simulate the resistant torque between the links and the interactions among the cables and the robot during the relative rotation. Moreover a type of EAP actuator, called spring roll, is used as the end-effector of the robot. Through a suitable sensor, such as a camera, the spring roll allows to track a target and it closes the control loop on the robot to follow it.

Influence of roll levelling on material properties and postforming springback

NASA Astrophysics Data System (ADS)

Galdos, Lander; Mendiguren, Joseba; de Argandoña, Eneko Saenz; Otegi, Nagore; Silvestre, Elena

2018-05-01

Roll levelling is commonly used in cut to length and blanking lines to flatten initial coils and produce residual stress free precuts. Roll straightener is also used to remove coil-set when progressive dies are used and the starting raw material is a coil. Industrial evidences have proved that roll leveler or straightener tuning is crucial to get a robust process and to obtain repetitive springback values after stamping. This is more relevant when using Advanced High Strength Steels and aluminum coils. However, the mechanisms affecting this material behavior are unknown and how the levelling technology affects the material properties has not been yet reported. In this paper, the influence the roll levelling process has on the final properties of a 6xxx aluminum alloy is studied. For that, as received coils have been relevelled using two different leveler set-ups and tensile tests have been performed using both initial and final material states. Aiming to quantify the effect of the material hardening on a real forming process, a new tangential bending prototype has been developed. As received and levelled precuts have been bent and the forming torques and the postforming angles have been compared.

Correlation of Shoulder and Elbow Kinetics With Ball Velocity in Collegiate Baseball Pitchers.

PubMed

Post, Eric G; Laudner, Kevin G; McLoda, Todd A; Wong, Regan; Meister, Keith

2015-06-01

Throwing a baseball is a dynamic and violent act that places large magnitudes of stress on the shoulder and elbow. Specific injuries at the elbow and glenohumeral joints have been linked to several kinetic variables throughout the throwing motion. However, very little research has directly examined the relationship between these kinetic variables and ball velocity. To examine the correlation of peak ball velocity with elbow-valgus torque, shoulder external-rotation torque, and shoulder-distraction force in a group of collegiate baseball pitchers. Cross-sectional study. Motion-analysis laboratory. Sixty-seven asymptomatic National Collegiate Athletic Association Division I baseball pitchers (age = 19.5 ± 1.2 years, height = 186.2 ± 5.7 cm, mass = 86.7 ± 7.0 kg; 48 right handed, 19 left handed). We measured peak ball velocity using a radar gun and shoulder and elbow kinetics of the throwing arm using 8 electronically synchronized, high-speed digital cameras. We placed 26 reflective markers on anatomical landmarks of each participant to track 3-dimensional coordinate data. The average data from the 3 highest-velocity fastballs thrown for strikes were used for data analysis. We calculated a Pearson correlation coefficient to determine the associations between ball velocity and peak elbow-valgus torque, shoulder-distraction force, and shoulder external-rotation torque (P < .05). A weak positive correlation was found between ball velocity and shoulder-distraction force (r = 0.257; 95% confidence interval [CI] = 0.02, 0.47; r(2) = 0.066; P = .018). However, no significant correlations were noted between ball velocity and elbow-valgus torque (r = 0.199; 95% CI = -0.043, 0.419; r(2) = 0.040; P = .053) or shoulder external-rotation torque (r = 0.097; 95% CI = -0.147, 0.329; r(2) = 0.009; P = .217). Although a weak positive correlation was present between ball velocity and shoulder-distraction force, no significant association was seen between ball velocity and elbow-valgus torque or shoulder external-rotation torque. Therefore, other factors, such as improper pitching mechanics, may contribute more to increases in joint kinetics than peak ball velocity.

Correlation of Shoulder and Elbow Kinetics With Ball Velocity in Collegiate Baseball Pitchers

PubMed Central

Post, Eric G.; Laudner, Kevin G.; McLoda, Todd A.; Wong, Regan; Meister, Keith

2015-01-01

Context Throwing a baseball is a dynamic and violent act that places large magnitudes of stress on the shoulder and elbow. Specific injuries at the elbow and glenohumeral joints have been linked to several kinetic variables throughout the throwing motion. However, very little research has directly examined the relationship between these kinetic variables and ball velocity. Objective To examine the correlation of peak ball velocity with elbow-valgus torque, shoulder external-rotation torque, and shoulder-distraction force in a group of collegiate baseball pitchers. Design Cross-sectional study. Setting Motion-analysis laboratory. Patients or Other Participants Sixty-seven asymptomatic National Collegiate Athletic Association Division I baseball pitchers (age = 19.5 ± 1.2 years, height = 186.2 ± 5.7 cm, mass = 86.7 ± 7.0 kg; 48 right handed, 19 left handed). Main Outcome Measure(s) We measured peak ball velocity using a radar gun and shoulder and elbow kinetics of the throwing arm using 8 electronically synchronized, high-speed digital cameras. We placed 26 reflective markers on anatomical landmarks of each participant to track 3-dimensional coordinate data. The average data from the 3 highest-velocity fastballs thrown for strikes were used for data analysis. We calculated a Pearson correlation coefficient to determine the associations between ball velocity and peak elbow-valgus torque, shoulder-distraction force, and shoulder external-rotation torque (P < .05). Results A weak positive correlation was found between ball velocity and shoulder-distraction force (r = 0.257; 95% confidence interval [CI] = 0.02, 0.47; r2 = 0.066; P = .018). However, no significant correlations were noted between ball velocity and elbow-valgus torque (r = 0.199; 95% CI = −0.043, 0.419; r2 = 0.040; P = .053) or shoulder external-rotation torque (r = 0.097; 95% CI = −0.147, 0.329; r2 = 0.009; P = .217). Conclusions Although a weak positive correlation was present between ball velocity and shoulder-distraction force, no significant association was seen between ball velocity and elbow-valgus torque or shoulder external-rotation torque. Therefore, other factors, such as improper pitching mechanics, may contribute more to increases in joint kinetics than peak ball velocity. PMID:25756790

Supervisory control of drilling of composite materials

NASA Astrophysics Data System (ADS)

Ozaki, Motoyoshi

Composite materials have attractive features, such as high ratios of strength-to-weight and stiffness-to-weight. However, they are easily damaged when they are machined. A typical damage is delamination, which can occur when fiber reinforced composite laminates are drilled. The objective of this research is to study the drilling processes of carbon fiber reinforced laminates, and to develop and test a supervisory control strategy for their delamination-free drilling. Characterization of thrust force and torque is achieved through constant feedrate drilling experiments. The average values of thrust force and torque during the full engagement of the drill are utilized to obtain the Shaw's equations' parameters. The thrust force profile just before exit is given special attention. The Hocheng-Dharan equations, which give conservative values of delamination at the entrance and at the exit, are modified to express the influence of one lamina thickness explicitly. They are utilized not only for the characterization of thrust force but also for the determination of the thrust force reference for force control. In the design of the controllers of thrust force and torque, both thrust force and torque are assumed to be proportional to FPHR (Feed Per Half Revolution). A discrete-time dynamic model is established for the case when the time interval for a half revolution of the drill is divided by the sampling time, and the model is extended to the case of general spindle speeds. PI controllers are designed for the dynamic models of thrust force and torque. Root-locus techniques are used in the analysis. The phases of the drilling process are introduced and the control strategy at each phase is explained. The supervisory controller chooses not only the best control strategy for each phase, but also the reference value and the controller gain that are suitable at each drill position. Drilling experiments are conducted to show the usefulness of the concepts introduced in this dissertation, and to give an example of installing the control parameters, which were derived from data obtained in this research, on the supervisory controller. Efficient Delamination-free drilling is given special emphasis in the experiments.

Modelling the maximum voluntary joint torque/angular velocity relationship in human movement.

PubMed

Yeadon, Maurice R; King, Mark A; Wilson, Cassie

2006-01-01

The force exerted by a muscle is a function of the activation level and the maximum (tetanic) muscle force. In "maximum" voluntary knee extensions muscle activation is lower for eccentric muscle velocities than for concentric velocities. The aim of this study was to model this "differential activation" in order to calculate the maximum voluntary knee extensor torque as a function of knee angular velocity. Torque data were collected on two subjects during maximal eccentric-concentric knee extensions using an isovelocity dynamometer with crank angular velocities ranging from 50 to 450 degrees s(-1). The theoretical tetanic torque/angular velocity relationship was modelled using a four parameter function comprising two rectangular hyperbolas while the activation/angular velocity relationship was modelled using a three parameter function that rose from submaximal activation for eccentric velocities to full activation for high concentric velocities. The product of these two functions gave a seven parameter function which was fitted to the joint torque/angular velocity data, giving unbiased root mean square differences of 1.9% and 3.3% of the maximum torques achieved. Differential activation accounts for the non-hyperbolic behaviour of the torque/angular velocity data for low concentric velocities. The maximum voluntary knee extensor torque that can be exerted may be modelled accurately as the product of functions defining the maximum torque and the maximum voluntary activation level. Failure to include differential activation considerations when modelling maximal movements will lead to errors in the estimation of joint torque in the eccentric phase and low velocity concentric phase.

Rolling Tobacco in Banana Leaves, Newspaper, or Copybook Paper Associated With Significant Reduction in Lung Function in Vanuatu.

PubMed

Weitz, Charles A; Olszowy, Kathryn M; Dancause, Kelsey N; Sun, Cheng; Pomer, Alysa; Silverman, Howard; Lee, G; Tarivonda, Len; Chan, Chim W; Kaneko, Akira; Lum, J K; Garruto, Ralph M

2017-04-01

In addition to the widespread availability of packaged cigarettes, the inhabitants of island nations of the Southwest Pacific frequently smoke commercially available loose tobacco using manufactured rolling papers, as well as locally grown tobacco rolled in manufactured rolling paper or wrapped in leaves, copybook paper, and newspaper. In this study, Vanuatu men who smoked local tobacco rolled in leaves, copybook paper, or newspaper showed significantly lower forced vital capacity (FVC), forced expiratory volume in 1 second (FEV 1 ), and FEV 1 /FVC ratios than men who smoked packaged cigarettes, store-bought tobacco rolled in manufactured rolling paper, or who smoked locally grown tobacco rolled in manufactured rolling papers. The addition of toxins from these unusual tobacco-wrapping media produces lung function deficits similar to the pattern noted among tobacco smokers who also inhale smoke from burning biomass. Thus, public health initiatives should consider including strategies addressing the use of wrapping media among smokers in South Pacific island societies.

Motion and force control of multiple robotic manipulators

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz-Delgado, Kenneth

1992-01-01

This paper addresses the motion and force control problem of multiple robot arms manipulating a cooperatively held object. A general control paradigm is introduced which decouples the motion and force control problems. For motion control, different control strategies are constructed based on the variables used as the control input in the controller design. There are three natural choices; acceleration of a generalized coordinate, arm tip force vectors, and the joint torques. The first two choices require full model information but produce simple models for the control design problem. The last choice results in a class of relatively model independent control laws by exploiting the Hamiltonian structure of the open loop system. The motion control only determines the joint torque to within a manifold, due to the multiple-arm kinematic constraint. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, an optimization can be performed to best allocate the desired and effector control force to the joint actuators. The other possibility is to control the internal force about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

Modelling and model predictive control for a bicycle-rider system

NASA Astrophysics Data System (ADS)

Chu, T. D.; Chen, C. K.

2018-01-01

This study proposes a bicycle-rider control model based on model predictive control (MPC). First, a bicycle-rider model with leaning motion of the rider's upper body is developed. The initial simulation data of the bicycle rider are then used to identify the linear model of the system in state-space form for MPC design. Control characteristics of the proposed controller are assessed by simulating the roll-angle tracking control. In this riding task, the MPC uses steering and leaning torques as the control inputs to control the bicycle along a reference roll angle. The simulation results in different cases have demonstrated the applicability and performance of the MPC for bicycle-rider modelling.

Self-propelled Brownian spinning top: dynamics of a biaxial swimmer at low Reynolds numbers.

PubMed

Wittkowski, Raphael; Löwen, Hartmut

2012-02-01

Recently the Brownian dynamics of self-propelled (active) rodlike particles was explored to model the motion of colloidal microswimmers, catalytically driven nanorods, and bacteria. Here we generalize this description to biaxial particles with arbitrary shape and derive the corresponding Langevin equation for a self-propelled Brownian spinning top. The biaxial swimmer is exposed to a hydrodynamic Stokes friction force at low Reynolds numbers, to fluctuating random forces and torques as well as to an external and an internal (effective) force and torque. The latter quantities control its self-propulsion. Due to biaxiality and hydrodynamic translational-rotational coupling, the Langevin equation can only be solved numerically. In the special case of an orthotropic particle in the absence of external forces and torques, the noise-free (zero-temperature) trajectory is analytically found to be a circular helix. This trajectory is confirmed numerically to be more complex in the general case of an arbitrarily shaped particle under the influence of arbitrary forces and torques involving a transient irregular motion before ending up in a simple periodic motion. By contrast, if the external force vanishes, no transient regime is found, and the particle moves on a superhelical trajectory. For orthotropic particles, the noise-averaged trajectory is a generalized concho-spiral. We furthermore study the reduction of the model to two spatial dimensions and classify the noise-free trajectories completely finding circles, straight lines with and without transients, as well as cycloids and arbitrary periodic trajectories. © 2012 American Physical Society

Tightening force and torque of nonlocking screws in a reverse shoulder prosthesis.

PubMed

Terrier, A; Kochbeck, S H; Merlini, F; Gortchacow, M; Pioletti, D P; Farron, A

2010-07-01

Reversed shoulder arthroplasty is an accepted treatment for glenohumeral arthritis associated to rotator cuff deficiency. For most reversed shoulder prostheses, the baseplate of the glenoid component is uncemented and its primary stability is provided by a central peg and peripheral screws. Because of the importance of the primary stability for a good osteo-integration of the baseplate, the optimal fixation of the screws is crucial. In particular, the amplitude of the tightening force of the nonlocking screws is clearly associated to this stability. Since this force is unknown, it is currently not accounted for in experimental or numerical analyses. Thus, the primary goal of this work is to measure this tightening force experimentally. In addition, the tightening torque was also measured, to estimate an optimal surgical value. An experimental setup with an instrumented baseplate was developed to measure simultaneously the tightening force, tightening torque and screwing angle, of the nonlocking screws of the Aquealis reversed prosthesis. In addition, the amount of bone volume around each screw was measured with a micro-CT. Measurements were performed on 6 human cadaveric scapulae. A statistically correlated relationship (p<0.05, R=0.83) was obtained between the maximal tightening force and the bone volume. The relationship between the tightening torque and the bone volume was not statistically significant. The experimental relationship presented in this paper can be used in numerical analyses to improve the baseplate fixation in the glenoid bone. Copyright (c) 2010 Elsevier Ltd. All rights reserved.

Magnetic tweezers for the measurement of twist and torque.

PubMed

Lipfert, Jan; Lee, Mina; Ordu, Orkide; Kerssemakers, Jacob W J; Dekker, Nynke H

2014-05-19

Single-molecule techniques make it possible to investigate the behavior of individual biological molecules in solution in real time. These techniques include so-called force spectroscopy approaches such as atomic force microscopy, optical tweezers, flow stretching, and magnetic tweezers. Amongst these approaches, magnetic tweezers have distinguished themselves by their ability to apply torque while maintaining a constant stretching force. Here, it is illustrated how such a "conventional" magnetic tweezers experimental configuration can, through a straightforward modification of its field configuration to minimize the magnitude of the transverse field, be adapted to measure the degree of twist in a biological molecule. The resulting configuration is termed the freely-orbiting magnetic tweezers. Additionally, it is shown how further modification of the field configuration can yield a transverse field with a magnitude intermediate between that of the "conventional" magnetic tweezers and the freely-orbiting magnetic tweezers, which makes it possible to directly measure the torque stored in a biological molecule. This configuration is termed the magnetic torque tweezers. The accompanying video explains in detail how the conversion of conventional magnetic tweezers into freely-orbiting magnetic tweezers and magnetic torque tweezers can be accomplished, and demonstrates the use of these techniques. These adaptations maintain all the strengths of conventional magnetic tweezers while greatly expanding the versatility of this powerful instrument.

GOES dynamic propagation of attitude

NASA Astrophysics Data System (ADS)

Markley, F. Landis; Seidewitz, Ed; Chu, Don; Rowe, John N.

1988-09-01

The spacecraft in the next series of Geostationary Operational Environmental Satellites (GOES-Next) are Earth pointing and have 5-year mission lifetimes. Because gyros can be depended on only for a few years of continuous use, they will be turned off during routine operations. This means attitude must, at times, be determined without benefit of gyros and, often, using only Earth sensor data. To minimize the interruption caused by dumping angular momentum, these spacecraft have been designed to reduce the environmental torque acting on them and incorporate an adjustable solar trim tab for fine adjustment. A new support requirement for GOES-Next is that of setting the solar trim tab. Optimizing its setting requires an estimate of the unbalanced torque on the spacecraft. These two requirements, determining attitude without gyros and estimating the external torque, are addressed by replacing or supplementing the gyro propagation with a dynamic one, that is, one that integrates the rigid body equations of motion. By processing quarter-orbit or longer batches, this approach takes advantage of roll-yaw coupling to observe attitude completely without Sun sensor data. Telemetered momentum wheel speeds are used as observations of the unbalanced external torques. GOES-Next provides a unique opportunity to study dynamic attitude propagation. The geosynchronous altitude and adjustable trim tab minimize the external torque and its uncertainty, making long-term dynamic propagation feasible. This paper presents the equations for dynamic propagation, an analysis of the environmental torques, and an estimate of the accuracies obtainable with the proposed method.

Joint forces and torques when walking in shallow water.

PubMed

Orselli, Maria Isabel Veras; Duarte, Marcos

2011-04-07

This study reports for the first time an estimation of the internal net joint forces and torques on adults' lower limbs and pelvis when walking in shallow water, taking into account the drag forces generated by the movement of their bodies in the water and the equivalent data when they walk on land. A force plate and a video camera were used to perform a two-dimensional gait analysis at the sagittal plane of 10 healthy young adults walking at comfortable speeds on land and in water at a chest-high level. We estimated the drag force on each body segment and the joint forces and torques at the ankle, knee, and hip of the right side of their bodies using inverse dynamics. The observed subjects' apparent weight in water was about 35% of their weight on land and they were about 2.7 times slower when walking in water. When the subjects walked in water compared with walking on land, there were no differences in the angular displacements but there was a significant reduction in the joint torques which was related to the water's depth. The greatest reduction was observed for the ankle and then the knee and no reduction was observed for the hip. All joint powers were significantly reduced in water. The compressive and shear joint forces were on average about three times lower during walking in water than on land. These quantitative results substantiate the use of water as a safe environment for practicing low-impact exercises, particularly walking. Copyright © 2011 Elsevier Ltd. All rights reserved.

Role of spin-transfer torques on synchronization and resonance phenomena in stochastic magnetic oscillators

DOE Office of Scientific and Technical Information (OSTI.GOV)

Accioly, Artur; Centre de Nanosciences et de Nanotechnologies, CNRS, Univ. Paris-Sud, Université Paris-Saclay, 91405 Orsay; Locatelli, Nicolas

2016-09-07

A theoretical study on how synchronization and resonance-like phenomena in superparamagnetic tunnel junctions can be driven by spin-transfer torques is presented. We examine the magnetization of a superparamagnetic free layer that reverses randomly between two well-defined orientations due to thermal fluctuations, acting as a stochastic oscillator. When subject to an external ac forcing, this system can present stochastic resonance and noise-enhanced synchronization. We focus on the roles of the mutually perpendicular damping-like and field-like torques, showing that the response of the system is very different at low and high frequencies. We also demonstrate that the field-like torque can increase themore » efficiency of the current-driven forcing, especially at sub-threshold electric currents. These results can be useful for possible low-power, more energy efficient applications.« less

The influence of arch supports on knee torques relevant to knee osteoarthritis.

PubMed

Franz, Jason R; Dicharry, Jay; Riley, Patrick O; Jackson, Keith; Wilder, Robert P; Kerrigan, D Casey

2008-05-01

Changes in footwear and foot orthotic devices have been shown to significantly alter knee joint torques thought to be relevant to the progression if not the development of knee osteoarthritis (OA) in the medial tibiofemoral compartment. The purpose of this study was to determine if commonly prescribed arch support cushions promote a medial force bias during gait similar to medial-wedged orthotics, thereby increasing knee varus torque during both walking and running. Twenty-two healthy, physically active young adults (age, 29.2 +/- 5.1 yr) were analyzed at their self-selected walking and running speeds in control shoes with and without arch support cushions. Three-dimensional motion capture data were collected in synchrony with ground reaction force (GRF) data collected from an instrumented treadmill. Peak external knee varus torque during walking and running were calculated through a full inverse dynamic model and compared. Peak knee varus torque was statistically significantly increased by 6% (0.01 +/- 0.02 N.m.(kg.m)(-1)) in late stance during walking and by 4% (0.03 +/- 0.03 N.m.(kg.m)(-1)) during running with the addition of arch support cushions. The addition of material under the medial aspect of the foot by way of a flexible arch support promotes a medial force bias during walking and running, significantly increasing knee varus torque. These findings suggest that discretion be employed with regard to the prescription of commonly available orthotic insoles like arch support cushions.

Convectively driven decadal zonal accelerations in Earth's fluid core

NASA Astrophysics Data System (ADS)

More, Colin; Dumberry, Mathieu

2018-04-01

Azimuthal accelerations of cylindrical surfaces co-axial with the rotation axis have been inferred to exist in Earth's fluid core on the basis of magnetic field observations and changes in the length-of-day. These accelerations have a typical timescale of decades. However, the physical mechanism causing the accelerations is not well understood. Scaling arguments suggest that the leading order torque averaged over cylindrical surfaces should arise from the Lorentz force. Decadal fluctuations in the magnetic field inside the core, driven by convective flows, could then force decadal changes in the Lorentz torque and generate zonal accelerations. We test this hypothesis by constructing a quasi-geostrophic model of magnetoconvection, with thermally driven flows perturbing a steady, imposed background magnetic field. We show that when the Alfvén number in our model is similar to that in Earth's fluid core, temporal fluctuations in the torque balance are dominated by the Lorentz torque, with the latter generating mean zonal accelerations. Our model reproduces both fast, free Alfvén waves and slow, forced accelerations, with ratios of relative strength and relative timescale similar to those inferred for the Earth's core. The temporal changes in the magnetic field which drive the time-varying Lorentz torque are produced by the underlying convective flows, shearing and advecting the magnetic field on a timescale associated with convective eddies. Our results support the hypothesis that temporal changes in the magnetic field deep inside Earth's fluid core drive the observed decadal zonal accelerations of cylindrical surfaces through the Lorentz torque.

Trunk isometric force production parameters during erector spinae muscle vibration at different frequencies

PubMed Central

2013-01-01

Background Vibration is known to alter proprioceptive afferents and create a tonic vibration reflex. The control of force and its variability are often considered determinants of motor performance and neuromuscular control. However, the effect of vibration on paraspinal muscle control and force production remains to be determined. Methods Twenty-one healthy adults were asked to perform isometric trunk flexion and extension torque at 60% of their maximal voluntary isometric contraction, under three different vibration conditions: no vibration, vibration frequencies of 30 Hz and 80 Hz. Eighteen isometric contractions were performed under each condition without any feedback. Mechanical vibrations were applied bilaterally over the lumbar erector spinae muscles while participants were in neutral standing position. Time to peak torque (TPT), variable error (VE) as well as constant error (CE) and absolute error (AE) in peak torque were calculated and compared between conditions. Results The main finding suggests that erector spinae muscle vibration significantly decreases the accuracy in a trunk extension isometric force reproduction task. There was no difference between both vibration frequencies with regard to force production parameters. Antagonist muscles do not seem to be directly affected by vibration stimulation when performing a trunk isometric task. Conclusions The results suggest that acute erector spinae muscle vibration interferes with torque generation sequence of the trunk by distorting proprioceptive information in healthy participants. PMID:23919578

Newton vs. Munchhausen in upper-troposphere dynamics

NASA Astrophysics Data System (ADS)

Bergmann, Juan Carlos

2010-05-01

Atmospheric angular momentum (AM) balance depends crucially on the existence and magnitude of the planetary-scale AM transport by 'eddies' in the upper troposphere. Its divergence has to provide the torque, which is necessary to realise the upper-troposphere branch of meridional circulation. (In the boundary layer, the torque is provided by surface-friction.) The torques in neighbouring circulation cells are opposed, so that the AM transport mediates a torque-interaction between the circulation cells. This interaction corresponds to a clear requirement of Newton's Third Law: torques (forces) exist only in interaction with other bodies, and their sum is equal to zero. In Münchhausen's physics, force (and torque) exists without interaction: In a famous tale, Münchhausen saves himself (and his horse!) from drowning in a swamp-hole by pulling himself up at his hair. Münchhausen-physics situations arise in the dynamical analysis of the torque exerted by a single eddy and in analysis of the cause for the AM transport of the single eddy. The local AM transport of the single eddy is defined by the difference in zonal velocity between the pole-ward and equator-ward branches (Δu) multiplied with meridional velocity-magnitude (¦v¦). For the average over many eddies, it transforms to the average product of the deviations of zonal and meridional velocities from their local averages (, eddy-correlation; the complete formulations include the local radius of rotation but it is omitted here for simplicity reasons). This definition is phenomenological but not dynamical. In dynamical analysis it turns out that the torque-related zonal equation of motion of an AM-transporting single eddy can be formulated without torque-interaction with other bodies (torque-free eddy). Newton III implies also the phenomenological torque (transport divergence -δ(¦v¦Δu)/δy) to be zero for this case because there is no partner of torque-interaction. However, the dynamically torque-free single eddy has an unavoidable 'transport' divergence - especially in the turning-region of the meridional motion. Thus, there is a phenomenological 'torque' (non-zero 'transport' divergence) without torque-interaction - a classical Münchhausen situation! The dynamical cause of phenomenological 'AM transport' and associated phenomenological 'torques' of the dynamically torque-free single eddy is 'hidden' in the non-torque-related meridional equation of motion for steady-state: δv-δ t = - u δv-δx - vδv-δ y - f u(x) + Fy(x) = 0 . Strong variation of the meridional pressure-gradient force Fy(x) (no torque!) over the eddy-path (longitude x) produces varying zonal velocities u(x) that are falsely interpreted as 'AM transport' on the phenomenological level (the 'advective' terms are negligible outside the eddy's turning regions). Thus, creation and destruction of phenomenological 'AM transport' (Δu) in a single eddy do not originate from torque-interaction with other bodies - another classical Münchhausen situation! Should the previous analysis be ignored in favour of maintaining the 'established' ideas of upper-troposphere dynamics or should there be an effort to formulate new ideas that are in accordance with Newtonian physics?

Angular momentum and torque described with the complex octonion

DOE Office of Scientific and Technical Information (OSTI.GOV)

Weng, Zi-Hua, E-mail: xmuwzh@xmu.edu.cn

2014-08-15

The paper aims to adopt the complex octonion to formulate the angular momentum, torque, and force etc in the electromagnetic and gravitational fields. Applying the octonionic representation enables one single definition of angular momentum (or torque, force) to combine some physics contents, which were considered to be independent of each other in the past. J. C. Maxwell used simultaneously two methods, the vector terminology and quaternion analysis, to depict the electromagnetic theory. It motivates the paper to introduce the quaternion space into the field theory, describing the physical feature of electromagnetic and gravitational fields. The spaces of electromagnetic field andmore » of gravitational field can be chosen as the quaternion spaces, while the coordinate component of quaternion space is able to be the complex number. The quaternion space of electromagnetic field is independent of that of gravitational field. These two quaternion spaces may compose one octonion space. Contrarily, one octonion space can be separated into two subspaces, the quaternion space and S-quaternion space. In the quaternion space, it is able to infer the field potential, field strength, field source, angular momentum, torque, and force etc in the gravitational field. In the S-quaternion space, it is capable of deducing the field potential, field strength, field source, current continuity equation, and electric (or magnetic) dipolar moment etc in the electromagnetic field. The results reveal that the quaternion space is appropriate to describe the gravitational features, including the torque, force, and mass continuity equation etc. The S-quaternion space is proper to depict the electromagnetic features, including the dipolar moment and current continuity equation etc. In case the field strength is weak enough, the force and the continuity equation etc can be respectively reduced to that in the classical field theory.« less

Flow visualization around a rotating body in a wind tunnel

NASA Astrophysics Data System (ADS)

Hiraki, K.; Zaitsu, D.; Yanaga, Y.; Kleine, H.

2017-02-01

The rotational behavior of capsule-shaped models is investigated in the transonic wind tunnel of JAXA. A special support is developed to allow the model to rotate around the pitch, yaw and roll axes. This 3-DOF free rotational mounting apparatus achieves the least frictional torque from the support and the instruments. Two types of capsule models are prepared, one is drag type (SPH model) and the other is lift type (HTV-R model). The developed mounting apparatus is used in the wind tunnel tests with these capsule models. In a flow of Mach 0.9, the SPH model exhibits oscillations in pitch and yaw, and it rolls half a turn during the test. Similarly, the HTV-R model exhibits pitch and yaw oscillations in a flow of Mach 0.5. Moreover, it rolls multiple times during the test. In order to investigate the flow field around the capsule, the combined technique of color schlieren and surface tufts is applied. This visualization clearly shows the flow reattachment on the back surface of a capsule, which is suspected to induce the rapid rolling motion.

The accuracy of dynamic attitude propagation

NASA Technical Reports Server (NTRS)

Harvie, E.; Chu, D.; Woodard, M.

1990-01-01

Propagating attitude by integrating Euler's equation for rigid body motion has long been suggested for the Earth Radiation Budget Satellite (ERBS) but until now has not been implemented. Because of limited Sun visibility, propagation is necessary for yaw determination. With the deterioration of the gyros, dynamic propagation has become more attractive. Angular rates are derived from integrating Euler's equation with a stepsize of 1 second, using torques computed from telemetered control system data. The environmental torque model was quite basic. It included gravity gradient and unshadowed aerodynamic torques. Knowledge of control torques is critical to the accuracy of dynamic modeling. Due to their coarseness and sparsity, control actuator telemetry were smoothed before integration. The dynamic model was incorporated into existing ERBS attitude determination software. Modeled rates were then used for attitude propagation in the standard ERBS fine-attitude algorithm. In spite of the simplicity of the approach, the dynamically propagated attitude matched the attitude propagated with good gyros well for roll and yaw but diverged up to 3 degrees for pitch because of the very low resolution in pitch momentum wheel telemetry. When control anomalies significantly perturb the nominal attitude, the effect of telemetry granularity is reduced and the dynamically propagated attitudes are accurate on all three axes.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tom, Nathan M.; Madhi, Farshad; Yeung, Ronald W.

The aim of this paper is to maximize the power-to-load ratio of the Berkeley Wedge: a one-degree-of-freedom, asymmetrical, energy-capturing, floating breakwater of high performance that is relatively free of viscosity effects. Linear hydrodynamic theory was used to calculate bounds on the expected time-averaged power (TAP) and corresponding surge restraining force, pitch restraining torque, and power take-off (PTO) control force when assuming that the heave motion of the wave energy converter remains sinusoidal. This particular device was documented to be an almost-perfect absorber if one-degree-of-freedom motion is maintained. The success of such or similar future wave energy converter technologies would requiremore » the development of control strategies that can adapt device performance to maximize energy generation in operational conditions while mitigating hydrodynamic loads in extreme waves to reduce the structural mass and overall cost. This paper formulates the optimal control problem to incorporate metrics that provide a measure of the surge restraining force, pitch restraining torque, and PTO control force. The optimizer must now handle an objective function with competing terms in an attempt to maximize power capture while minimizing structural and actuator loads. A penalty weight is placed on the surge restraining force, pitch restraining torque, and PTO actuation force, thereby allowing the control focus to be placed either on power absorption or load mitigation. Thus, in achieving these goals, a per-unit gain in TAP would not lead to a greater per-unit demand in structural strength, hence yielding a favorable benefit-to-cost ratio. Demonstrative results in the form of TAP, reactive TAP, and the amplitudes of the surge restraining force, pitch restraining torque, and PTO control force are shown for the Berkeley Wedge example.« less

Power hand tool kinetics associated with upper limb injuries in an automobile assembly plant.

PubMed

Ku, Chia-Hua; Radwin, Robert G; Karsh, Ben-Tzion

2007-06-01

This study investigated the relationship between pneumatic nutrunner handle reactions, workstation characteristics, and prevalence of upper limb injuries in an automobile assembly plant. Tool properties (geometry, inertial properties, and motor characteristics), fastener properties, orientation relative to the fastener, and the position of the tool operator (horizontal and vertical distances) were measured for 69 workstations using 15 different pneumatic nutrunners. Handle reaction response was predicted using a deterministic mechanical model of the human operator and tool that was previously developed in our laboratory, specific to the measured tool, workstation, and job factors. Handle force was a function of target torque, tool geometry and inertial properties, motor speed, work orientation, and joint hardness. The study found that tool target torque was not well correlated with predicted handle reaction force (r=0.495) or displacement (r=0.285). The individual tool, tool shape, and threaded fastener joint hardness all affected predicted forces and displacements (p<0.05). The average peak handle force and displacement for right-angle tools were twice as great as pistol grip tools. Soft-threaded fastener joints had the greatest average handle forces and displacements. Upper limb injury cases were identified using plant OSHA 200 log and personnel records. Predicted handle forces for jobs where injuries were reported were significantly greater than those jobs free of injuries (p<0.05), whereas target torque and predicted handle displacement did not show statistically significant differences. The study concluded that quantification of handle reaction force, rather than target torque alone, is necessary for identifying stressful power hand tool operations and for controlling exposure to forces in manufacturing jobs involving power nutrunners. Therefore, a combination of tool, work station, and task requirements should be considered.

Balancing Power Absorption and Structural Loading for an Asymmetric Heave Wave-Energy Converter in Regular Waves

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tom, Nathan M.; Madhi, Farshad; Yeung, Ronald W.

2016-06-24

The aim of this paper is to maximize the power-to-load ratio of the Berkeley Wedge: a one-degree-of-freedom, asymmetrical, energy-capturing, floating breakwater of high performance that is relatively free of viscosity effects. Linear hydrodynamic theory was used to calculate bounds on the expected time-averaged power (TAP) and corresponding surge restraining force, pitch restraining torque, and power take-off (PTO) control force when assuming that the heave motion of the wave energy converter remains sinusoidal. This particular device was documented to be an almost-perfect absorber if one-degree-of-freedom motion is maintained. The success of such or similar future wave energy converter technologies would requiremore » the development of control strategies that can adapt device performance to maximize energy generation in operational conditions while mitigating hydrodynamic loads in extreme waves to reduce the structural mass and overall cost. This paper formulates the optimal control problem to incorporate metrics that provide a measure of the surge restraining force, pitch restraining torque, and PTO control force. The optimizer must now handle an objective function with competing terms in an attempt to maximize power capture while minimizing structural and actuator loads. A penalty weight is placed on the surge restraining force, pitch restraining torque, and PTO actuation force, thereby allowing the control focus to be placed either on power absorption or load mitigation. Thus, in achieving these goals, a per-unit gain in TAP would not lead to a greater per-unit demand in structural strength, hence yielding a favorable benefit-to-cost ratio. Demonstrative results in the form of TAP, reactive TAP, and the amplitudes of the surge restraining force, pitch restraining torque, and PTO control force are shown for the Berkeley Wedge example.« less

Decoupling analysis of a novel bearingless flux-switching permanent magnet motor

NASA Astrophysics Data System (ADS)

Zhao, Chenyin; Zhu, Huangqiu; Qin, Yuemei

2017-05-01

In this paper, a novel 12/10 stator/rotor pole bearingless flux-switching permanent magnet (BFSPM) motor is proposed to overcome the drawbacks of rotor permanent magnet type bearingless motors. The basic motor configuration, including motor configuration and winding configuration, is introduced firstly. Then, based on the principle of reverse direction magnetization for symmetrical rotor teeth, the radial suspension forces generation principle is analyzed in detail. Finally, decoupling performances between suspension force windings and torque windings are investigated. The results show that the proposed BFSPM not only ensures the merits of high torque output capability compared with conventional 12/10 stator/rotor pole FSPM motor, but also achieves stable radial suspension forces which have little mutual effect with torque. The validity of the proposed structure has been verified by finite element analysis (FEA).

Thermal elastic shock and its effect on TOPEX spacecraft attitude control

NASA Technical Reports Server (NTRS)

Zimbelman, Darrell F.

1991-01-01

Thermal elastic shock (TES) is a twice per orbit impulsive disturbance torque experienced by low-Earth orbiting spacecraft. The fundamental equations used to model the TES disturbance torque for typical spacecraft appendages (e.g., solar arrays and antenna booms) are derived in detail. In particular, the attitude-pointing performance of the TOPEX spacecraft, when subjected to the TES disturbance, is analyzed using a three-axis nonlinear time-domain simulation. Results indicate that the TOPEX spacecraft could exceed its roll-axis attitude-control requirement during penumbral transitions, and remain in violation for approximately 150 sec each orbit until the umbra collapses. A localized active-control system is proposed as a solution to minimize and/or eliminate the degrading effects of the TES disturbance.

Proposed CMG momentum management scheme for space station

NASA Technical Reports Server (NTRS)

Bishop, L. R.; Bishop, R. H.; Lindsay, K. L.

1987-01-01

A discrete control moment gyro (CMG) momentum management scheme (MMS) applicable to spacecraft with principal axes misalignments, such as the proposed NASA dual keel space station, is presented in this paper. The objective of the MMS is to minmize CMG angular momentum storage requirements for maintaining the space station near local vertical in the presence of environmental disturbances. It utilizes available environmental disturbances, namely gravity gradient torques, to minimize CMG momentum storage. The MMS is executed once per orbit and generates a commanded torque equilibrium attitude (TEA) time history which consists of a yaw, pitch and roll angle command profile. Although the algorithm is called only once per orbit to compute the TEA profile, the space station will maneuver several discrete times each orbit.

How Fo-ATPase generates rotary torque.

PubMed

Oster, G; Wang, H; Grabe, M

2000-04-29

The F-ATPases synthesize ATP using a transmembrane ionmotive force (IMF) established by the electron transport chain. This transduction involves first converting the IMF to a rotary torque in the transmembrane Fo portion. This torque is communicated from Fo to the F1 portion where the energy is used to release the newly synthesized ATP from the catalytic sites according to Boyer's binding change mechanism. Here we explain the principle by which an IMF generates this rotary torque in the Fo ion engine.

Measurement of torque during mandibular distraction.

PubMed

Burstein, Fernando D; Lukas, Saylan; Forsthoffer, Dina

2008-05-01

In a prospective study, 26 patients aged 9 days to 12 years old underwent mandibular distraction. There were 18 bilateral and 8 unilateral distractions performed. Five patients had previous distraction. Torque measurements were performed during the distraction process. A modest linear increase in torque was noted during the distraction process. Older patients required more torque to achieve the same distraction length as younger patients. The results of this study suggest that distraction forces are relatively modest, which may allow for greater freedom of distractor design.

Maximum voluntary joint torque as a function of joint angle and angular velocity: model development and application to the lower limb.

PubMed

Anderson, Dennis E; Madigan, Michael L; Nussbaum, Maury A

2007-01-01

Measurements of human strength can be important during analyses of physical activities. Such measurements have often taken the form of the maximum voluntary torque at a single joint angle and angular velocity. However, the available strength varies substantially with joint position and velocity. When examining dynamic activities, strength measurements should account for these variations. A model is presented of maximum voluntary joint torque as a function of joint angle and angular velocity. The model is based on well-known physiological relationships between muscle force and length and between muscle force and velocity and was tested by fitting it to maximum voluntary joint torque data from six different exertions in the lower limb. Isometric, concentric and eccentric maximum voluntary contractions were collected during hip extension, hip flexion, knee extension, knee flexion, ankle plantar flexion and dorsiflexion. Model parameters are reported for each of these exertion directions by gender and age group. This model provides an efficient method by which strength variations with joint angle and angular velocity may be incorporated into comparisons between joint torques calculated by inverse dynamics and the maximum available joint torques.

van der Waals torque and force between anisotropic topological insulator slabs

NASA Astrophysics Data System (ADS)

Lu, Bing-Sui

2018-01-01

We investigate the character of the van der Waals (vdW) torque and force between two coplanar and dielectrically anisotropic topological insulator (TI) slabs separated by a vacuum gap in the nonretardation regime, where the optic axes of the slabs are each perpendicular to the normal direction to the slab-gap interface and also generally differently oriented from each other. We find that in addition to the magnetoelectric coupling strength, the anisotropy can also influence the sign of the vdW force, viz., a repulsive vdW force can become attractive if the anisotropy is increased sufficiently. In addition, the vdW force oscillates as a function of the angular difference between the optic axes of the TI slabs, being most repulsive/least attractive (least repulsive/most attractive) for angular differences that are integer (half-integer) multiples of π . Our third finding is that the vdW torque for TI slabs is generally weaker than that for ordinary dielectric slabs. Our work provides an instance in which the vector potential appears in a calculation of the vdW interaction for which the limit is nonretarded or static.

Theoretical Pressure Distribution, Apparent Mass, and Moment of Inertia of a Disk Pendulum Oscillating at Low Frequency. M.S. Thesis - George Washington Univ., Washington, D. C.

NASA Technical Reports Server (NTRS)

Dunning, R. S.

1973-01-01

Equations are developed which give the pressure profile, the forces and torques on a disk pendulum by means of point source wave theory from acoustics. The pressure, force and torque equations for an unbaffled disk are developed. These equations are then used to calculate the apparent mass and apparent inertia for the pendulum.

Force and torque modelling of drilling simulation for orthopaedic surgery.

PubMed

MacAvelia, Troy; Ghasempoor, Ahmad; Janabi-Sharifi, Farrokh

2014-01-01

The advent of haptic simulation systems for orthopaedic surgery procedures has provided surgeons with an excellent tool for training and preoperative planning purposes. This is especially true for procedures involving the drilling of bone, which require a great amount of adroitness and experience due to difficulties arising from vibration and drill bit breakage. One of the potential difficulties with the drilling of bone is the lack of consistent material evacuation from the drill's flutes as the material tends to clog. This clogging leads to significant increases in force and torque experienced by the surgeon. Clogging was observed for feed rates greater than 0.5 mm/s and spindle speeds less than 2500 rpm. The drilling simulation systems that have been created to date do not address the issue of drill flute clogging. This paper presents force and torque prediction models that account for this phenomenon. The two coefficients of friction required by these models were determined via a set of calibration experiments. The accuracy of both models was evaluated by an additional set of validation experiments resulting in average R² regression correlation values of 0.9546 and 0.9209 for the force and torque prediction models, respectively. The resulting models can be adopted by haptic simulation systems to provide a more realistic tactile output.

Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm

PubMed Central

Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae

2017-01-01

Purpose Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. Materials and Methods The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. Results A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. Conclusion This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site. PMID:27873506

Joint torques and joint reaction forces during squatting with a forward or backward inclined Smith machine.

PubMed

Biscarini, Andrea; Botti, Fabio M; Pettorossi, Vito E

2013-02-01

We developed a biomechanical model to determine the joint torques and loadings during squatting with a backward/forward-inclined Smith machine. The Smith squat allows a large variety of body positioning (trunk tilt, foot placement, combinations of joint angles) and easy control of weight distribution between forefoot and heel. These distinctive aspects of the exercise can be managed concurrently with the equipment inclination selected to unload specific joint structures while activating specific muscle groups. A backward (forward) equipment inclination decreases (increases) knee torque, and compressive tibiofemoral and patellofemoral forces, while enhances (depresses) hip and lumbosacral torques. For small knee flexion angles, the strain-force on the posterior cruciate ligament increases (decreases) with a backward (forward) equipment inclination, whereas for large knee flexion angles, this behavior is reversed. In the 0 to 60 degree range of knee flexion angles, loads on both cruciate ligaments may be simultaneously suppressed by a 30 degree backward equipment inclination and selecting, for each value of the knee angle, specific pairs of ankle and hip angles. The anterior cruciate ligament is safely maintained unloaded by squatting with backward equipment inclination and uniform/forward foot weight distribution. The conditions for the development of anterior cruciate ligament strain forces are clearly explained.

Miniaturized force/torque sensor for in vivo measurements of tissue characteristics.

PubMed

Hessinger, M; Pilic, T; Werthschutzky, R; Pott, P P

2016-08-01

This paper presents the development of a surgical instrument to measure interaction forces/torques with organic tissue during operation. The focus is on the design progress of the sensor element, consisting of a spoke wheel deformation element with a diameter of 12 mm and eight inhomogeneous doped piezoresistive silicon strain gauges on an integrated full-bridge assembly with an edge length of 500 μm. The silicon chips are contacted to flex-circuits via flip chip and bonded on the substrate with a single component adhesive. A signal processing board with an 18 bit serial A/D converter is integrated into the sensor. The design concept of the handheld surgical sensor device consists of an instrument coupling, the six-axis sensor, a wireless communication interface and battery. The nominal force of the sensing element is 10 N and the nominal torque is 1 N-m in all spatial directions. A first characterization of the force sensor results in a maximal systematic error of 4.92 % and random error of 1.13 %.

Rotor Rolling over a Water-Lubricated Bearing

NASA Astrophysics Data System (ADS)

Shatokhin, V. F.

2018-02-01

The article presents the results of studying the effect of forces associated with secondary damping coefficients (gyroscopic forces) on the development of asynchronous rolling of the rotor over a water-lubricated bearing. The damping forces act against the background of other exciting forces in the rotor-supports system, in particular, the exciting forces of contact interaction between the rotor and bearing. The article considers a rotor resting on supports rubbing against the bearing and the occurrence of self-excited vibration in the form of asynchronous roll-over. The rotor supports are made in the form of plain-type water-lubricated bearings. The plain-type bearing's lubrication stiffness and damping forces are determined using the wellknown algorithms taking into account the physical properties of water serving as lubrication of the bearing. The bearing sliding pair is composed of refractory materials. The lubrication layer in such bearings is thinner than that used in oil-lubricated bearings with white metal lining, and there is no white metal layer in waterlubricated bearings. In case of possible deviations from normal operation of the installation, the rotating rotor comes into direct contact with the liner's rigid body. Unsteady vibrations are modeled using a specially developed software package for calculating the vibration of rotors that rub against the turbine (pump) stator elements. The stiffness of the bearing liner with the stator support structure is specified by a dependence in the force-deformation coordinate axes. In modeling the effect of damping forces, the time moment corresponding to the onset of asynchronous rolling-over with growing vibration amplitudes is used as the assessment criterion. With a longer period of time taken for the rolling-over to develop, it becomes possible to take the necessary measures in response to actuation of the equipment set safety system, which require certain time for implementing them. It is shown that the gyroscopic damping components facilitate the developing rolling of the rotor over the bearing. If measures taken to decrease these components in the damping devices and bearings are met with success, the onset of asynchronous rolling-over with the growing amplitudes occurs after a longer period of time.

Numerical and experimental study on vorticity measurement in liquid metal using local Lorentz force velocimetry

NASA Astrophysics Data System (ADS)

Hernández, Daniel; Marangoni, Rafael; Schleichert, Jan; Karcher, Christian; Fröhlich, Thomas; Wondrak, Thomas

2018-03-01

Local Lorentz force velocimetry (local LFV) is a contactless velocity measurement technique for liquid metals. Due to the relative movement between an electrically conductive fluid and a static applied magnetic field, eddy currents and a flow-braking Lorentz force are generated inside the metal melt. This force is proportional to the flow rate or to the local velocity, depending on the volume subset of the flow spanned by the magnetic field. By using small-size magnets, a localized magnetic field distribution is achieved allowing a local velocity assessment in the region adjacent to the wall. In the present study, we describe a numerical model of our experiments at a continuous caster model where the working fluid is GaInSn in eutectic composition. Our main goal is to demonstrate that this electromagnetic technique can be applied to measure vorticity distributions, i.e. to resolve velocity gradients as well. Our results show that by using a cross-shaped magnet system, the magnitude of the torque perpendicular to the surface of the mold significantly increases improving its measurement in a liquid metal flow. According to our numerical model, this torque correlates with the vorticity of the velocity in this direction. Before validating our numerical predictions, an electromagnetic dry calibration of the measurement system composed of a multicomponent force and torque sensor and a cross-shaped magnet was done using a rotating disk made of aluminum. The sensor is able to measure simultaneously all three components of force and torque, respectively. This calibration step cannot be avoided and it is used for an accurate definition of the center of the magnet with respect to the sensor’s coordinate system for torque measurements. Finally, we present the results of the experiments at the mini-LIMMCAST facility showing a good agreement with the numerical model.

Regularity in an environment produces an internal torque pattern for biped balance control.

PubMed

Ito, Satoshi; Kawasaki, Haruhisa

2005-04-01

In this paper, we present a control method for achieving biped static balance under unknown periodic external forces whose periods are only known. In order to maintain static balance adaptively in an uncertain environment, it is essential to have information on the ground reaction forces. However, when the biped is exposed to a steady environment that provides an external force periodically, uncertain factors on the regularity with respect to a steady environment are gradually clarified using learning process, and finally a torque pattern for balancing motion is acquired. Consequently, static balance is maintained without feedback from ground reaction forces and achieved in a feedforward manner.

Walking patterns and hip contact forces in patients with hip dysplasia.

PubMed

Skalshøi, Ole; Iversen, Christian Hauskov; Nielsen, Dennis Brandborg; Jacobsen, Julie; Mechlenburg, Inger; Søballe, Kjeld; Sørensen, Henrik

2015-10-01

Several studies have investigated walking characteristics in hip dysplasia patients, but so far none have described all hip rotational degrees of freedom during the whole gait cycle. This descriptive study reports 3D joint angles and torques, and furthermore extends previous studies with muscle and joint contact forces in 32 hip dysplasia patients and 32 matching controls. 3D motion capture data from walking and standing trials were analysed. Hip, knee, ankle and pelvis angles were calculated with inverse kinematics for both standing and walking trials. Hip, knee and ankle torques were calculated with inverse dynamics, while hip muscle and joint contact forces were calculated with static optimisation for the walking trials. No differences were found between the two groups while standing. While walking, patients showed decreased hip extension, increased ankle pronation and increased hip abduction and external rotation torques. Furthermore, hip muscle forces were generally lower and shifted to more posteriorly situated muscles, while the hip joint contact force was lower and directed more superiorly. During walking, patients showed lower and more superiorly directed hip joint contact force, which might alleviate pain from an antero-superiorly degenerated joint. Copyright © 2015 Elsevier B.V. All rights reserved.

11. DETAIL SHOWING ROLLING ENGINE DECK AND NORTHEAST TRUSS OF ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

11. DETAIL SHOWING ROLLING ENGINE DECK AND NORTHEAST TRUSS OF SUPERSTRUCTURE. Looking northeast. - Edwards Air Force Base, Air Force Rocket Propulsion Laboratory, Test Stand 1-A, Test Area 1-120, north end of Jupiter Boulevard, Boron, Kern County, CA

Thermomechanical conditions and stresses on the friction stir welding tool

NASA Astrophysics Data System (ADS)

Atthipalli, Gowtam

Friction stir welding has been commercially used as a joining process for aluminum and other soft materials. However, the use of this process in joining of hard alloys is still developing primarily because of the lack of cost effective, long lasting tools. Here I have developed numerical models to understand the thermo mechanical conditions experienced by the FSW tool and to improve its reusability. A heat transfer and visco-plastic flow model is used to calculate the torque, and traverse force on the tool during FSW. The computed values of torque and traverse force are validated using the experimental results for FSW of AA7075, AA2524, AA6061 and Ti-6Al-4V alloys. The computed torque components are used to determine the optimum tool shoulder diameter based on the maximum use of torque and maximum grip of the tool on the plasticized workpiece material. The estimation of the optimum tool shoulder diameter for FSW of AA6061 and AA7075 was verified with experimental results. The computed values of traverse force and torque are used to calculate the maximum shear stress on the tool pin to determine the load bearing ability of the tool pin. The load bearing ability calculations are used to explain the failure of H13 steel tool during welding of AA7075 and commercially pure tungsten during welding of L80 steel. Artificial neural network (ANN) models are developed to predict the important FSW output parameters as function of selected input parameters. These ANN consider tool shoulder radius, pin radius, pin length, welding velocity, tool rotational speed and axial pressure as input parameters. The total torque, sliding torque, sticking torque, peak temperature, traverse force, maximum shear stress and bending stress are considered as the output for ANN models. These output parameters are selected since they define the thermomechanical conditions around the tool during FSW. The developed ANN models are used to understand the effect of various input parameters on the total torque and traverse force during FSW of AA7075 and 1018 mild steel. The ANN models are also used to determine tool safety factor for wide range of input parameters. A numerical model is developed to calculate the strain and strain rates along the streamlines during FSW. The strain and strain rate values are calculated for FSW of AA2524. Three simplified models are also developed for quick estimation of output parameters such as material velocity field, torque and peak temperature. The material velocity fields are computed by adopting an analytical method of calculating velocities for flow of non-compressible fluid between two discs where one is rotating and other is stationary. The peak temperature is estimated based on a non-dimensional correlation with dimensionless heat input. The dimensionless heat input is computed using known welding parameters and material properties. The torque is computed using an analytical function based on shear strength of the workpiece material. These simplified models are shown to be able to predict these output parameters successfully.

Atomic Forces for Geometry-Dependent Point Multipole and Gaussian Multipole Models

PubMed Central

Elking, Dennis M.; Perera, Lalith; Duke, Robert; Darden, Thomas; Pedersen, Lee G.

2010-01-01

In standard treatments of atomic multipole models, interaction energies, total molecular forces, and total molecular torques are given for multipolar interactions between rigid molecules. However, if the molecules are assumed to be flexible, two additional multipolar atomic forces arise due to 1) the transfer of torque between neighboring atoms, and 2) the dependence of multipole moment on internal geometry (bond lengths, bond angles, etc.) for geometry-dependent multipole models. In the current study, atomic force expressions for geometry-dependent multipoles are presented for use in simulations of flexible molecules. The atomic forces are derived by first proposing a new general expression for Wigner function derivatives ∂Dlm′m/∂Ω. The force equations can be applied to electrostatic models based on atomic point multipoles or Gaussian multipole charge density. Hydrogen bonded dimers are used to test the inter-molecular electrostatic energies and atomic forces calculated by geometry-dependent multipoles fit to the ab initio electrostatic potential (ESP). The electrostatic energies and forces are compared to their reference ab initio values. It is shown that both static and geometry-dependent multipole models are able to reproduce total molecular forces and torques with respect to ab initio, while geometry-dependent multipoles are needed to reproduce ab initio atomic forces. The expressions for atomic force can be used in simulations of flexible molecules with atomic multipoles. In addition, the results presented in this work should lead to further development of next generation force fields composed of geometry-dependent multipole models. PMID:20839297

An Ankle-Foot Orthosis Powered by Artificial Pneumatic Muscles

PubMed Central

Ferris, Daniel P.; Czerniecki, Joseph M.; Hannaford, Blake

2005-01-01

We developed a pneumatically powered orthosis for the human ankle joint. The orthosis consisted of a carbon fiber shell, hinge joint, and two artificial pneumatic muscles. One artificial pneumatic muscle provided plantar flexion torque and the second one provided dorsiflexion torque. Computer software adjusted air pressure in each artificial muscle independently so that artificial muscle force was proportional to rectified low-pass-filtered electromyography (EMG) amplitude (i.e., proportional myoelectric control). Tibialis anterior EMG activated the artificial dorsiflexor and soleus EMG activated the artificial plantar flexor. We collected joint kinematic and artificial muscle force data as one healthy participant walked on a treadmill with the orthosis. Peak plantar flexor torque provided by the orthosis was 70 Nm, and peak dorsiflexor torque provided by the orthosis was 38 Nm. The orthosis could be useful for basic science studies on human locomotion or possibly for gait rehabilitation after neurological injury. PMID:16082019

The Effect of Manipulating Subject Mass on Lower Extremity Torque Patterns During Locomotion

NASA Technical Reports Server (NTRS)

DeWitt, John K.; Cromwell, Ronita L.; Hagan, R. Donald

2007-01-01

During locomotion, humans adapt their motor patterns to maintain coordination despite changing conditions (Reisman et al., 2005). Bernstein (1967) proposed that in addition to the present state of a given joint, other factors, including limb inertia and velocity, must be taken into account to allow proper motion to occur. During locomotion with added mass counterbalanced using vertical suspension to maintain body weight, vertical ground reaction forces (GRF's) increase during walking but decrease during running, suggesting that adaptation may be velocity-specific (De Witt et al., 2006). It is not known, however, how lower extremity joint torques adapt to changes in inertial forces. The purpose of this investigation was to examine the effects of increasing body mass while maintaining body weight upon lower-limb joint torque during walking and running. We hypothesized that adaptations in joint torque patterns would occur with the addition of body mass.

3-T MRI safety assessments of magnetic dental attachments and castable magnetic alloys

PubMed Central

Miyata, K; Abe, Y; Ishii, T; Ishigami, T; Ohtani, K; Nagai, E; Ohyama, T; Umekawa, Y; Nakabayashi, S

2015-01-01

Objectives: To assess the safety of different magnetic dental attachments during 3-T MRI according to the American Society for Testing and Materials F2182-09 and F2052-06e1 standard testing methods and to develop a method to determine MRI compatibility by measuring magnetically induced torque. Methods: The temperature elevations, magnetically induced forces and torques of a ferromagnetic stainless steel keeper, a coping comprising a keeper and a cast magnetic alloy coping were measured on MRI systems. Results: The coping comprising a keeper demonstrated the maximum temperature increase (1.42 °C) for the whole-body-averaged specific absorption rate and was calculated as 2.1 W kg−1 with the saline phantom. All deflection angles exceeded 45°. The cast magnetic alloy coping had the greatest deflection force (0.33 N) during 3-T MRI and torque (1.015 mN m) during 0.3-T MRI. Conclusions: The tested devices showed minimal radiofrequency (RF)-induced heating in a 3-T MR environment, but the cast magnetic alloy coping showed a magnetically induced deflection force and torque approximately eight times that of the keepers. For safety, magnetic dental attachments should be inspected before and after MRI and large prostheses containing cast magnetic alloy should be removed. Although magnetic dental attachments may pose no great risk of RF-induced heating or magnetically induced torque during 3-T MRI, their magnetically induced deflection forces tended to exceed acceptable limits. Therefore, the inspection of such devices before and after MRI is important for patient safety. PMID:25785821

Control System for Bearingless Motor-generator

NASA Technical Reports Server (NTRS)

Kascak, Peter E. (Inventor); Jansen, Ralph H. (Inventor); Dever, Timothy P. (Inventor)

2008-01-01

A control system for an electromagnetic rotary drive for bearingless motor-generators comprises a winding configuration comprising a plurality of individual pole pairs through which phase current flows, each phase current producing both a lateral force and a torque. A motor-generator comprises a stator, a rotor supported for movement relative to the stator, and a control system. The motor-generator comprises a winding configuration supported by the stator. The winding configuration comprises at least three pole pairs through which phase current flows resulting in three three-phase systems. Each phase system has a first rotor reference frame axis current that produces a levitating force with no average torque and a second rotor reference frame axis current that produces torque.

A dynamic method for magnetic torque measurement

NASA Technical Reports Server (NTRS)

Lin, C. E.; Jou, H. L.

1994-01-01

In a magnetic suspension system, accurate force measurement will result in better control performance in the test section, especially when a wider range of operation is required. Although many useful methods were developed to obtain the desired model, however, significant error is inevitable since the magnetic field distribution of the large-gap magnetic suspension system is extremely nonlinear. This paper proposed an easy approach to measure the magnetic torque of a magnetic suspension system using an angular photo encoder. Through the measurement of the velocity change data, the magnetic torque is converted. The proposed idea is described and implemented to obtain the desired data. It is useful to the calculation of a magnetic force in the magnetic suspension system.

Control system for bearingless motor-generator

NASA Technical Reports Server (NTRS)

Jansen, Ralph H. (Inventor); Dever, Timothy P. (Inventor); Kascak, Peter E. (Inventor)

2010-01-01

A control system for an electromagnetic rotary drive for bearingless motor-generators comprises a winding configuration comprising a plurality of individual pole pairs through which phase current flows, each phase current producing both a lateral force and a torque. A motor-generator comprises a stator, a rotor supported for movement relative to the stator, and a control system. The motor-generator comprises a winding configuration supported by the stator. The winding configuration comprises at least three pole pairs through which phase current flows resulting in three three-phase systems. Each phase system has a first rotor reference frame axis current that produces a levitating force with no average torque and a second rotor reference frame axis current that produces torque.

[Biomechanical testing of the new torque-segmented arch (TSA)].

PubMed

Wichelhaus, A; Sander, F G

1995-07-01

New torque-segmented arch wires are presented which consist of a superelastic anterior component with 30 degrees or 45 degrees torque and which are connected to 2 steel lateral components by means of a crimped connector. When using such torque-segmented arch wires, the crimped connector rests mesially to the canine bracket and the lateral components exhibit a torque of 0 degree. The use of the torque-segmented arch wires requires the practitioner to adjust the anterior tooth segment, to bend in first order bends in the steel lateral portion as well as to bend in a sweep to avoid an anterior tooth extrusion, and, if desired, to bend in third order bends to influence premolars and molars. In some cases the simultaneous application of palatal arches can become necessary, because each torque transfer results in a transversal enlargement in the molar area. Compared to conventional steel wires with dimensions of 0.016 x 0.022 in which an anterior tooth torque is bent, the torque segmented arch wires exhibit considerably fewer side effects, but there is a larger distally rotating moment for the molars. 1. When applying torque-segmented arch wires, the extrusive force transferred to the anterior teeth is considerably smaller. 2. The protrusive force acting on the anterior teeth is also considerably smaller, which results in a reduced demand being placed on the anchorage of the molars. 3. The torque transfer to the incisors rests in a quite moderate range, even in the case of a 50 degrees torque. For this reason, the practitioner can expect diminished or no resorptions at all compared to the aforementioned steel wires. 4. The Martensite plateau of the torque-segmented arch wires exhibit constant moments in large areas so that such arch wires can be used in almost every anterior tooth position. 5. The segmented wires presented here can be applied not only in the case of the standard edgewise technique but also in each case of the straight-wire technique. 6. These new arch wires require no readjustment of torque values. 7. To control the transferred torque values it is recommended that the already transferred torque values be monitored during each check-up with the help of the described torque key. 8. When the torque values of the brackets are known, the torque key renders frequent patient X-rays superfluous. 9. When the desired torque values are attained, treatment can proceed using conventional arch wires.

Turbine Windage Torque Tests.

DTIC Science & Technology

1981-01-01

chamber, with a 0-60,000 RPM, 300 HP dynamometer, was selected as the test facility. A rotary transformer ( brushless ) torque sensor, using air /oil... brushless ) of 100 and 500 in-lb torque ranges were selected from Lebow Associates, Inc. of Troy, Michigan. Special air / oil mist lubrication for the...period August 1979 - October 1980 I Approved for public release; distribution unlimited. _ DTIC AERO PROPULSION LABORATORY AIR FORCE WRIGHT AERONAUTICAL

Analysis of the torque capacity of a completely customized lingual appliance of the next generation

PubMed Central

2014-01-01

Introduction In lingual orthodontic therapy, effective torque control of the incisors is crucial due to the biomechanical particularities associated with the point of force application and the tight link between third order deviations and vertical tooth position. Aim The aim of the present in vitro investigation was to analyze the torque capacity of a completely customized lingual appliance of the next generation (WIN) in combination with different finishing archwire dimensions. Methods Using a typodont of the upper arch carrying the WIN appliance, slot filling and undersized individualized β-titanium archwires were engaged. Horizontal forces ranging from 0 to 100 cN were applied at the central incisor by means of spring gauges. The resulting angular deviations were recorded and the corresponding torque moments were calculated. Results For fullsize archwires (0.018”×0.018” β-titanium and 0.018”×0.025” β-titanium), an initial torque play of 0-2° had to be overcome prior to the development of an effective torque moment. Thereafter, a linear correlation between torque angle and torque moment developed for both archwire dimensions with steeper slopes calculated for the specimens with the larger dimension. A torque moment of 2 Nmm required for effective torque correction was noted after a minimum of 2-3° of twist for the 0.018”×0.018” β-titanium wires as compared to 2-4° for the 0.018”×0.025” β-titanium study sample. When undersized archwires were analyzed (0.0175”×0.0175” β-titanium), the measured torque play ranged from 5-7°. After 8-12° of torque angle, the threshold of 2 Nmm was reached. A linear relationship between twist angle and torque moment in which the steepness of the slopes was generally flatter than the ones calculated for the slot filling archwires was noted. Conclusions Given the high precision of the bracket slot-archwire-combination provided with the WIN appliance, an effective torque control can be clinically realized. PMID:24502426

Displaceable Spur Gear Torque Controlled Driver and Method

NASA Technical Reports Server (NTRS)

Cook, Joseph S., Jr. (Inventor)

1996-01-01

Methods and apparatus are provided for a torque driver including a laterally displaceable gear support member to carry an output spur gear. A biasing assembly biases the output spur gear into engagement with a pinion to which is applied an input torque greater than a desired output torque limit for a threaded fastener such as a nut or screw. A coiled output linkage connects the output spur gear with a fastener adaptor which may be a socket for a nut. A gear tooth profile provides a separation force that overcomes the bias to limit torque at the desired torque limit. Multiple fasteners may be rotated simultaneously to a desired torque limit if additional output spur gears are provided. A gauged selector mechanism is provided to laterally displace multiple driven members for fasteners arranged in differing configurations. The torque limit is selectably adjustable and may be different for fasteners within the same fastener configuration.

Displaceable spur gear torque controlled driver and method

NASA Technical Reports Server (NTRS)

Cook, Joseph S., Jr. (Inventor)

1994-01-01

Methods and apparatus are provided for a torque driver including a laterally displaceable gear support member to carry an output spur gear. A biasing assembly biases the output spur gear into engagement with a pinion to which is applied an input torque greater than a desired output torque limit for a threaded fastener such as a nut or screw. A coiled output linkage connects the output spur gear with a fastener adaptor which may be a socket for a nut. A gear tooth profile provides a separation force that overcomes the bias to limit torque at the desired torque limit. Multiple fasteners may be rotated simultaneously to a desired torque limit if additional output spur gears are provided. A gauged selector mechanism is provided to laterally displace multiple driver members for fasteners arranged in differing configurations. The torque limit is selectably adjustable and may be different for fasteners within the same fastener configuration.

Measuring Micro-Friction Torque in MEMS Gas Bearings

PubMed Central

Fang, Xudong; Liu, Huan

2016-01-01

An in situ measurement of micro-friction torque in MEMS gas bearings, which has been a challenging research topic for years, is realized by a system designed in this paper. In the system, a high accuracy micro-force sensor and an electronically-driven table are designed, fabricated and utilized. With appropriate installation of the sensor and bearings on the table, the engine rotor can be driven to rotate with the sensor using a silicon lever beam. One end of the beam is fixed to the shaft of the gas bearing, while the other end is free and in contact with the sensor probe tip. When the sensor begins to rotate with the table, the beam is pushed by the sensor probe to rotate in the same direction. For the beam, the friction torque from the gas bearing is balanced by the torque induced by pushing force from the sensor probe. Thus, the friction torque can be calculated as a product of the pushing force measured by the sensor and the lever arm, which is defined as the distance from the sensor probe tip to the centerline of the bearing. Experimental results demonstrate the feasibility of this system, with a sensitivity of 1.285 mV/μN·m in a range of 0 to 11.76 μN·m when the lever arm is 20 mm long. The measuring range can be modified by varying the length of the lever arm. Thus, this system has wide potential applications in measuring the micro-friction torque of gas bearings in rotating MEMS machines. PMID:27213377

Two-Pendulum Model of Propellant Slosh in Europa Clipper PMD Tank

NASA Technical Reports Server (NTRS)

Ng, Wanyi; Benson, David

2017-01-01

Model propellant slosh for Europa Clipper using two pendulums such that controls engineers can predict slosh behavior during the mission. Importance of predicting propellant slosh; (1) Sloshing changes CM (center of mass) of spacecraft and exerts forces and torques on spacecraft. (2) Avoid natural frequencies of structures. (3) Size ACS (Attitude Control Systems) thrusters to counteract forces and torques. Can model sloshing fluid as two pendulums with specific parameters (mass, length, damping),

On kinetics of a dynamically unbalanced rotator with sliding friction in supports

NASA Astrophysics Data System (ADS)

Chistyakov, Viktor V.

2018-05-01

The dynamics is analytically and numerically modelled for both free and forced rotations of a rigid body around the central but non-principal vertical axis Oz under action of dry friction forces in plain bearings and heel supports in combination with other dissipative and conservative axial torques. The inertia forces due to D'Alembert principle cause the supports' reactions and hence the decelerating friction torque depending on not only angular speed but acceleration too. This dependence makes the dynamical equations not resolved with regard to the senior derivative and ambiguous, and being thus resolved they have an irrational or singular right hand side. This irrationality/singularity results in their featured solutions or paradoxical absence of those in frames of absolutely rigid body approach. The kinetics obtained is analyzed and compared with the standard ones of rotation under action of conservative elastic and drag torques.

Conical Euler simulation and active suppression of delta wing rocking motion

NASA Technical Reports Server (NTRS)

Lee, Elizabeth M.; Batina, John T.

1990-01-01

A conical Euler code was developed to study unsteady vortex-dominated flows about rolling highly-swept delta wings, undergoing either forced or free-to-roll motions including active roll suppression. The flow solver of the code involves a multistage Runge-Kutta time-stepping scheme which uses a finite volume spatial discretization of the Euler equations on an unstructured grid of triangles. The code allows for the additional analysis of the free-to-roll case, by including the rigid-body equation of motion for its simultaneous time integration with the governing flow equations. Results are presented for a 75 deg swept sharp leading edge delta wing at a freestream Mach number of 1.2 and at alpha equal to 10 and 30 deg angle of attack. A forced harmonic analysis indicates that the rolling moment coefficient provides: (1) a positive damping at the lower angle of attack equal to 10 deg, which is verified in a free-to-roll calculation; (2) a negative damping at the higher angle of attack equal to 30 deg at the small roll amplitudes. A free-to-roll calculation for the latter case produces an initially divergent response, but as the amplitude of motion grows with time, the response transitions to a wing-rock type of limit cycle oscillation. The wing rocking motion may be actively suppressed, however, through the use of a rate-feedback control law and antisymmetrically deflected leading edge flaps. The descriptions of the conical Euler flow solver and the free-to-roll analysis are presented. Results are also presented which give insight into the flow physics associated with unsteady vortical flows about forced and free-to-roll delta wings, including the active roll suppression of this wing-rock phenomenon.

Tides in a body librating about a spin-orbit resonance: generalisation of the Darwin-Kaula theory

NASA Astrophysics Data System (ADS)

Frouard, Julien; Efroimsky, Michael

2017-09-01

The Darwin-Kaula theory of bodily tides is intended for celestial bodies rotating without libration. We demonstrate that this theory, in its customary form, is inapplicable to a librating body. Specifically, in the presence of libration in longitude, the actual spectrum of Fourier tidal modes differs from the conventional spectrum rendered by the Darwin-Kaula theory for a nonlibrating celestial object. This necessitates derivation of formulae for the tidal torque and the tidal heating rate, that are applicable under libration. We derive the tidal spectrum for longitudinal forced libration with one and two main frequencies, generalisation to more main frequencies being straightforward. (By main frequencies we understand those emerging due to the triaxiality of the librating body.) Separately, we consider a case of free libration at one frequency (once again, generalisation to more frequencies being straightforward). We also calculate the tidal torque. This torque provides correction to the triaxiality-caused physical libration. Our theory is not self-consistent: we assume that the tidal torque is much smaller than the permanent-triaxiality-caused torque, so the additional libration due to tides is much weaker than the main libration due to the permanent triaxiality. Finally, we calculate the tidal dissipation rate in a body experiencing forced libration at the main mode, or free libration at one frequency, or superimposed forced and free librations.

Curved-flow, rolling-flow, and oscillatory pure-yawing wind-tunnel test methods for determination of dynamic stability derivatives

NASA Technical Reports Server (NTRS)

Chambers, J. R.; Grafton, S. B.; Lutze, F. H.

1981-01-01

Dynamic stability derivatives are evaluated on the basis of rolling-flow, curved-flow and snaking tests. Attention is given to the hardware associated with curved-flow, rolling-flow and oscillatory pure-yawing wind-tunnel tests. It is found that the snaking technique, when combined with linear- and forced-oscillation methods, yields an important method for evaluating beta derivatives for current configurations at high angles of attack. Since the rolling flow model is fixed during testing, forced oscillations may be imparted to the model, permitting the measurement of damping and cross-derivatives. These results, when coupled with basic rolling-flow or rotary-balance data, yield a highly accurate mathematical model for studies of incipient spin and spin entry.

Muscle activity patterns altered during pedaling at different body orientations.

PubMed

Brown, D A; Kautz, S A; Dairaghi, C A

1996-10-01

Gravity is a contributing force that is believed to influence strongly the control of limb movements since it affects sensory input and also contributes to task mechanics. By altering the relative contribution of gravitational force to the overall forces used to control pedaling at different body orientations, we tested the hypothesis that joint torque and muscle activation patterns would be modified to generate steady-state pedaling at altered body orientations. Eleven healthy subjects pedaled a modified ergometer at different body orientations (from horizontal to vertical), maintaining the same workload (80 J), cadence (60 rpm), and hip and knee kinematics. Pedal reaction forces and crank and pedal kinematics were measured and used to calculate joint torques and angles. EMG was recorded from four muscles (tibialis anterior, triceps surae, rectus femoris, biceps femoris). Measures of muscle activation (joint torque and EMG activity) showed strong dependence on body orientation, indicating that muscle activity is not fixed and is modified in response to altered body orientation. Simulations confirmed that, while joint torque changes were not necessary to pedal at different body orientations, observed changes were necessary to maintain consistent crank angular velocity profiles. Dependence of muscle activity on body orientation may be due to neural integration of sensory information with an internal model that includes characteristics of the endpoint, to produce consistent pedaling trajectories. Thus, both sensory consequences and mechanical aspects of gravitational forces are important determinants of locomotor tasks such as pedaling.

Tibiofemoral wear in standard and non-standard squat: implication for total knee arthroplasty.

PubMed

Fekete, Gusztáv; Sun, Dong; Gu, Yaodong; Neis, Patric Daniel; Ferreira, Ney Francisco; Innocenti, Bernardo; Csizmadia, Béla M

2017-01-01

Due to the more resilient biomaterials, problems related to wear in total knee replacements (TKRs) have decreased but not disappeared. In the design-related factors, wear is still the second most important mechanical factor that limits the lifetime of TKRs and it is also highly influenced by the local kinematics of the knee. During wear experiments, constant load and slide-roll ratio is frequently applied in tribo-tests beside other important parameters. Nevertheless, numerous studies demonstrated that constant slide-roll ratio is not accurate approach if TKR wear is modelled, while instead of a constant load, a flexion-angle dependent tibiofemoral force should be involved into the wear model to obtain realistic results. A new analytical wear model, based upon Archard's law, is introduced, which can determine the effect of the tibiofemoral force and the varying slide-roll on wear between the tibiofemoral connection under standard and non-standard squat movement. The calculated total wear with constant slide-roll during standard squat was 5.5 times higher compared to the reference value, while if total wear includes varying slide-roll during standard squat, the calculated wear was approximately 6.25 times higher. With regard to non-standard squat, total wear with constant slide-roll during standard squat was 4.16 times higher than the reference value. If total wear included varying slide-roll, the calculated wear was approximately 4.75 times higher. It was demonstrated that the augmented force parameter solely caused 65% higher wear volume while the slide-roll ratio itself increased wear volume by 15% higher compared to the reference value. These results state that the force component has the major effect on wear propagation while non-standard squat should be proposed for TKR patients as rehabilitation exercise.

Tibiofemoral wear in standard and non-standard squat: implication for total knee arthroplasty

PubMed Central

Sun, Dong; Gu, Yaodong; Neis, Patric Daniel; Ferreira, Ney Francisco; Innocenti, Bernardo; Csizmadia, Béla M.

2017-01-01

Summary Introduction Due to the more resilient biomaterials, problems related to wear in total knee replacements (TKRs) have decreased but not disappeared. In the design-related factors, wear is still the second most important mechanical factor that limits the lifetime of TKRs and it is also highly influenced by the local kinematics of the knee. During wear experiments, constant load and slide-roll ratio is frequently applied in tribo-tests beside other important parameters. Nevertheless, numerous studies demonstrated that constant slide-roll ratio is not accurate approach if TKR wear is modelled, while instead of a constant load, a flexion-angle dependent tibiofemoral force should be involved into the wear model to obtain realistic results. Methods A new analytical wear model, based upon Archard’s law, is introduced, which can determine the effect of the tibiofemoral force and the varying slide-roll on wear between the tibiofemoral connection under standard and non-standard squat movement. Results The calculated total wear with constant slide-roll during standard squat was 5.5 times higher compared to the reference value, while if total wear includes varying slide-roll during standard squat, the calculated wear was approximately 6.25 times higher. With regard to non-standard squat, total wear with constant slide-roll during standard squat was 4.16 times higher than the reference value. If total wear included varying slide-roll, the calculated wear was approximately 4.75 times higher. Conclusions It was demonstrated that the augmented force parameter solely caused 65% higher wear volume while the slide-roll ratio itself increased wear volume by 15% higher compared to the reference value. These results state that the force component has the major effect on wear propagation while non-standard squat should be proposed for TKR patients as rehabilitation exercise. PMID:29721453

Flex-gear electrical power transmission

NASA Technical Reports Server (NTRS)

Vranish, John; Peritt, Jonathan

1993-01-01

This study was conducted to develop an alternative way of transferring electricity across a continuously rotating joint, with little wear and the potential for low electrical noise. The problems with wires, slip rings, electromagnetic couplings, and recently invented roll-rings are discussed. Flex-gears, an improvement of roll-rings, are described. An entire class of flexgear devices is developed. Finally, the preferred flex-gear device is optimized for maximum electrical contact and analyzed for average mechanical power loss and maximum stress. For a device diameter of six inches, the preferred device is predicted to have a total electrical contact area of 0.066 square inches. In the preferred device, a small amount of internal sliding produces a 0.003 inch-pound torque that resists the motion of the device.

Task-level testing of the JPL-OMV smart end effector

NASA Technical Reports Server (NTRS)

Hannaford, B.

1987-01-01

An intelligent end effector previously developed at JPL has been tested in over 21 hours of experimental teleoperation. The end effector provides local control of gripper clamping force and a 6-degree-of-freedom, wrist mounted force torque sensor. Resolved forces and torques were displayed to the test subjects, and the effect of this information on their performance of simulated satellite servicing tasks was assessed. The experienced subjects accomplished the tasks with lower levels of Remote Manipulator System (RMS) forces than intermediate and naive subjects, but the force levels were apparently uncorrelated with the presence or absence of the display. This negative finding was attributed to the lack of a suitable control mode in the manipulator control system.

Oblique view to the northwest detailing four overhead rolling doors ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

Oblique view to the northwest detailing four overhead rolling doors on the northeast elevation - Over-the-Horizon Backscatter Radar Network, Mountain Home Air Force Operations Building, On Desert Street at 9th Avenue Mountain Home Air Force Base, Mountain Home, Elmore County, ID

Proposed MIL Standard and Handbook - Flying Qualities of Air Vehicles. Volume I. Proposed MIL Standard

DTIC Science & Technology

1982-11-01

control 4centering and breakout forces 21 3.2.9.6 Pitch axis control forces- free play 21 3.2.9.7 Pitch axis control force limits 21 3.2.9.7.1 Pitch axis...axis control forces - control centering and breakout forces 31 *3.5.10.5 Roll axis control forces -- free play 31 3.5.10.6 Roll axis control force limits...vs. deflection 3.2.9.5 Control centering and -- no(-) to homin and hOax breakout forces no(*) 3.2.9.6 Free play I 3.2.9.7.1 Force limits -- takeoff

Experimental evaluation of a high performance superconducting torquer

NASA Astrophysics Data System (ADS)

Goldie, James H.; Avakian, Kevin M.; Downer, James R.; Gerver, Michael; Gondhalekar, Vijay; Johnson, Bruce G.

The high performance superconducting torquer (HPSCT) was designed to slew a large inertia in one degree of freedom with a double versine torque profile, a profile used for pointing applications which minimizes the exciting of structural resonances. The program culminated with the successful demonstration of closed loop torque control, following a desired double versine torque profile to an accuracy of approximately 1 percent of the peak torque of the profile. The targeted double versine possessed a peak torque which matches the torque capacity of the Sperry M4500 CMG (controlled moment gyro). The research provided strong evidence of the feasibility of an advanced concept CMG which would use cryoresistive control coils in conjunction with an electromagnetically suspended rotor and superconducting source coil. The cryoresistive coils interact with the superconducting solenoid to develop the desired torque and, in addition, the required suspension forces.

Intramuscular Pressure of Tibialis Anterior Reflects Ankle Torque but Does Not Follow Joint Angle-Torque Relationship.

PubMed

Ateş, Filiz; Davies, Brenda L; Chopra, Swati; Coleman-Wood, Krista; Litchy, William J; Kaufman, Kenton R

2018-01-01

Intramuscular pressure (IMP) is the hydrostatic fluid pressure that is directly related to muscle force production. Electromechanical delay (EMD) provides a link between mechanical and electrophysiological quantities and IMP has potential to detect local electromechanical changes. The goal of this study was to assess the relationship of IMP with the mechanical and electrical characteristics of the tibialis anterior muscle (TA) activity at different ankle positions. We hypothesized that (1) the TA IMP and the surface EMG (sEMG) and fine-wire EMG (fwEMG) correlate to ankle joint torque, (2) the isometric force of TA increases at increased muscle lengths, which were imposed by a change in ankle angle and IMP follows the length-tension relationship characteristics, and (3) the electromechanical delay (EMD) is greater than the EMD of IMP during isometric contractions. Fourteen healthy adults [7 female; mean ( SD ) age = 26.9 (4.2) years old with 25.9 (5.5) kg/m 2 body mass index] performed (i) three isometric dorsiflexion (DF) maximum voluntary contraction (MVC) and (ii) three isometric DF ramp contractions from 0 to 80% MVC at rate of 15% MVC/second at DF, Neutral, and plantarflexion (PF) positions. Ankle torque, IMP, TA fwEMG, and TA sEMG were measured simultaneously. The IMP, fwEMG, and sEMG were significantly correlated to the ankle torque during ramp contractions at each ankle position tested. This suggests that IMP captures in vivo mechanical properties of active muscles. The ankle torque changed significantly at different ankle positions however, the IMP did not reflect the change. This is explained with the opposing effects of higher compartmental pressure at DF in contrast to the increased force at PF position. Additionally, the onset of IMP activity is found to be significantly earlier than the onset of force which indicates that IMP can be designed to detect muscular changes in the course of neuromuscular diseases impairing electromechanical transmission.

Patterns of the Rotor-over-Stator Rolling under Change in the Damping Components

NASA Astrophysics Data System (ADS)

Shatokhin, V. F.

2018-03-01

As experimental studies show, the rubbing of the rotor against the structure usually excites harmonics of different frequencies. In high-frequency regions, the power of the vibration signal appears to be considerable. The rotor—supports—stator system is in an unstable equilibrium state during the contact interaction between the rotor and the stator. The forces exerted on the rotor facilitate the excitation of the asynchronous rolling and its damping. The forces have been determined that facilitate the excitation of the progressive and retrograde rotor precession. The consideration of these forces in the algorithm for modeling the rotor-over-stator rolling development allows investigation of the impact of the components of the above forces on the behavior of the rotor system. The initial excitation—disturbance of the normal operation—of the rotor and subsequent unsteady oscillations of it result from sudden imbalance in the second span. The results of numerical modeling of the rubbing in the second span and the rotor-over-stator rolling upon change in the damping components of secondary (gyroscopic) components b ij ( i ≠ j) of the damping matrix are presented for the rotor on three bearing-supports considering the synergetic effect of the forces of various types exerted on the rotor. It is shown that change in one of the parameters of the excitation forces leads to ambiguity of the pattern (manifestation form) of the asynchronous rotor-over-stator rolling and proves the existence of more than one states towards which the rotor—supports—stator system tends. In addition to the rolling with a constant rotor—stator contact, oscillations of the rotor develop in the direction perpendicular to the common trajectory of the precession motion of the rotor's center with transition to the vibro-impact motion mode. The oscillations of the rotor tend towards the symmetry center of the system (the stator bore center). The reason is the components of the stiffness and damping forces that act in the direction transverse to the rotor's motion trajectory. Recommendations are given for eliminating dangerous consequences of the development of the asynchronous rolling fraught with great financial losses.

Haptic feedback can provide an objective assessment of arthroscopic skills.

PubMed

Chami, George; Ward, James W; Phillips, Roger; Sherman, Kevin P

2008-04-01

The outcome of arthroscopic procedures is related to the surgeon's skills in arthroscopy. Currently, evaluation of such skills relies on direct observation by a surgeon trainer. This type of assessment, by its nature, is subjective and time-consuming. The aim of our study was to identify whether haptic information generated from arthroscopic tools could distinguish between skilled and less skilled surgeons. A standard arthroscopic probe was fitted with a force/torque sensor. The probe was used by five surgeons with different levels of experience in knee arthroscopy performing 11 different tasks in 10 standard knee arthroscopies. The force/torque data from the hand and tool interface were recorded and synchronized with a video recording of the procedure. The torque magnitude and patterns generated were analyzed and compared. A computerized system was used to analyze the force/torque signature based on general principles for quality of performance using such measures as economy in movement, time efficiency, and consistency in performance. The results showed a considerable correlation between three haptic parameters and the surgeon's experience, which could be used in an automated objective assessment system for arthroscopic surgery. Level II, diagnostic study. See the Guidelines for Authors for a complete description of levels of evidence.

Probable Rotation States of Rocket Bodies in Low Earth Orbit

NASA Astrophysics Data System (ADS)

Ojakangas, G.; Anz-Meador, P.; Cowardin, H.

2012-09-01

In order for Active Debris Removal to be accomplished, it is critically important to understand the probable rotation states of orbiting, spent rocket bodies (RBs). However, rotational dynamics is non-intuitive and misconceptions are common. Determinations of rotation and precession rates from light curves have been published that are inconsistent with the theory presented here. In a state of free precession, the total angular momentum of the object is constant, while kinetic energy decreases due to internal friction, approaching rotation about the axis of maximum inertia. For solid internal friction the timescale is hundreds to thousands of years for quality factors of ~100 and assuming metallic rigidities, but for friction in partially-filled liquid fuel tanks we predict that the preferred rotational state is approached rapidly, within days to months. However, history has shown that theoretical predictions of the timescale have been notoriously inaccurate. In free precession, the 3-1-3 Euler angle rates dphi/dt (precession rate of long axis about fixed angular momentum with cone angle theta) and dpsi/dt (roll rate around long axis) have comparable magnitudes until very close to theta=pi/2, so that otherwise the true rotation period is not simply twice the primary light curve period. Furthermore dtheta/dt, nonzero due to friction, becomes asymptotically smaller as theta=pi/2 is approached, so that theta can linger within several degrees of flat spin for a relatively long time. Such a condition is likely common, and cannot be distinguished from the wobble of a cylinder with a skewed inertia tensor unless the RB has non-axisymmetric reflectivity characteristics. For an RB of known dimensions, a given value of theta fixes the relative values of dpsi/dt and dphi/dt. In forced precession, the angular momentum precesses about a symmetry axis defined by the relevant torque. However, in LEO, only gravity gradient and magnetic eddy current torques are dominant, and these cannot cause precession periods shorter than a week, or more likely, months. Thus forced precession is probably not observable over observation campaigns spanning a few days or less. Spin-orbit resonances are likely for low rotation rates approaching the mean motion, possibly causing large deviations between the symmetry axis and the geocentric direction. An expression for the eddy current torque on an arbitrarily rotating cylinder, hitherto not available in the literature, is presented here. Numerical integrations of the equations of motion for a cylindrical RB in LEO with arbitrary initial conditions and subject to eddy current and gravity gradient torques as well as prescribed internal dissipation are in progress. Acknowledgements: This work was produced under NASA contract NNJ05HI05.

An optical apparatus for rotation and trapping

PubMed Central

Gutiérrez-Medina, Braulio; Andreasson, Johan O. L.; Greenleaf, William J.; LaPorta, Arthur; Block, Steven M.

2010-01-01

We present details of the design, construction and testing of a single-beam optical tweezers apparatus capable of measuring and exerting torque, as well as force, on microfabricated, optically anisotropic particles (an ‘optical torque wrench’). The control of angular orientation is achieved by rotating the linear polarization of a trapping laser with an electro-optic modulator (EOM), which affords improved performance over previous designs. The torque imparted to the trapped particle is assessed by measuring the difference between left- and right-circular components of the transmitted light, and constant torque is maintained by feeding this difference signal back into a custom-designed electronic servo loop. The limited angular range of the EOM (±180°) is extended by rapidly reversing the polarization once a threshold angle is reached, enabling the torque clamp to function over unlimited, continuous rotations at high bandwidth. In addition, we developed particles suitable for rotation in this apparatus using microfabrication techniques. Altogether, the system allows for the simultaneous application of forces (~0.1–100 pN) and torques (~1–10,000 pN nm) in the study of biomolecules. As a proof of principle, we demonstrate how our instrument can be used to study the supercoiling of single DNA molecules. PMID:20627165

Equilibria of a charged artificial satellite subject to gravitational and Lorentz torques

NASA Astrophysics Data System (ADS)

Abdel-Aziz, Yehia A.; Shoaib, Muhammad

2014-07-01

The attitude dynamics of a rigid artificial satellite subject to a gravity gradient and Lorentz torques in a circular orbit are considered. Lorentz torque is developed on the basis of the electrodynamic effects of the Lorentz force acting on the charged satellite's surface. We assume that the satellite is moving in a Low Earth Orbit in the geomagnetic field, which is considered to be a dipole. Our model of torque due to the Lorentz force is developed for an artificial satellite with a general shape, and the nonlinear differential equations of Euler are used to describe its attitude orientation. All equilibrium positions are determined and conditions for their existence are obtained. The numerical results show that the charge q and radius ρ0 of the center of charge for the satellite provide a certain type of semi-passive control for the attitude of the satellite. The technique for this kind of control would be to increase or decrease the electrostatic screening on the satellite. The results obtained confirm that the change in charge can affect the magnitude of the Lorentz torque, which can also affect control of the satellite. Moreover, the relationship between magnitude of the Lorentz torque and inclination of the orbit is investigated.

MULTIPLE DIFFERENTIAL ROTARY MECHANICAL DRIVE

DOEpatents

Smits, R.G.

1964-01-28

This patent relates to a mechanism suitable for such applications as driving two spaced-apart spools which carry a roll film strip under conditions where the film movement must be rapidly started, stopped, and reversed while maintaining a constant tension on the film. The basic drive is provided by a variable speed, reversible rnotor coupled to both spools through a first differential mechanism and driving both spools in the same direction. A second motor, providing a constant torque, is connected to the two spools through a second differential mechanism and is coupled to impart torque to one spool in a first direction anid to the other spool in the reverse direction thus applying a constant tension to the film passing over the two spools irrespective of the speed or direction of rotation thereof. (AEC)

Spring roll dielectric elastomer actuators for a portable force feedback glove

NASA Astrophysics Data System (ADS)

Zhang, Rui; Lochmatter, Patrick; Kunz, Andreas; Kovacs, Gabor

2006-03-01

Miniature spring roll dielectric elastomer actuators for a novel kinematic-free force feedback concept were manufactured and experimentally characterized. The actuators exhibited a maximum blocking force of 7.2 N and a displacement of 5 mm. The theoretical considerations based on the material's incompressibility were discussed in order to estimate the actuator behavior under blocked-strain activation and free-strain activation. One prototype was built for the demonstration of the proposed force feedback concept.

Internal Stresses Lead to Net Forces and Torques on Extended Elastic Bodies

NASA Astrophysics Data System (ADS)

Aharoni, Hillel; Kolinski, John M.; Moshe, Michael; Meirzada, Idan; Sharon, Eran

2016-09-01

A geometrically frustrated elastic body will develop residual stresses arising from the mismatch between the intrinsic geometry of the body and the geometry of the ambient space. We analyze these stresses for an ambient space with gradients in its intrinsic curvature, and show that residual stresses generate effective forces and torques on the center of mass of the body. We analytically calculate these forces in two dimensions, and experimentally demonstrate their action by the migration of a non-Euclidean gel disc in a curved Hele-Shaw cell. An extension of our analysis to higher dimensions shows that these forces are also generated in three dimensions, but are negligible compared to gravity.

Underwound DNA under Tension: Structure, Elasticity, and Sequence-Dependent Behaviors

NASA Astrophysics Data System (ADS)

Sheinin, Maxim Y.; Forth, Scott; Marko, John F.; Wang, Michelle D.

2011-09-01

DNA melting under torsion plays an important role in a wide variety of cellular processes. In the present Letter, we have investigated DNA melting at the single-molecule level using an angular optical trap. By directly measuring force, extension, torque, and angle of DNA, we determined the structural and elastic parameters of torsionally melted DNA. Our data reveal that under moderate forces, the melted DNA assumes a left-handed structure as opposed to an open bubble conformation and is highly torsionally compliant. We have also discovered that at low forces melted DNA properties are highly dependent on DNA sequence. These results provide a more comprehensive picture of the global DNA force-torque phase diagram.

The Pharmaceutical Capping Process-Correlation between Residual Seal Force, Torque Moment, and Flip-off Removal Force.

PubMed

Mathaes, Roman; Mahler, Hanns-Christian; Vorgrimler, Lothar; Steinberg, Henrik; Dreher, Sascha; Roggo, Yves; Nieto, Alejandra; Brown, Helen; Roehl, Holger; Adler, Michael; Luemkemann, Joerg; Huwyler, Joerg; Lam, Philippe; Stauch, Oliver; Mohl, Silke; Streubel, Alexander

2016-01-01

The majority of parenteral drug products are manufactured in glass vials with an elastomeric rubber stopper and a crimp cap. The vial sealing process is a critical process step during fill-and-finish operations, as it defines the seal quality of the final product. Different critical capping process parameters can affect rubber stopper defects, rubber stopper compression, container closure integrity, and also crimp cap quality. A sufficiently high force to remove the flip-off button prior to usage is required to ensure quality of the drug product unit by the flip-off button during storage, transportation, and until opening and use. Therefore, the final product is 100% visually inspected for lose or defective crimp caps, which is subjective as well as time- and labor-intensive. In this study, we sealed several container closure system configurations with different capping equipment settings (with corresponding residual seal force values) to investigate the torque moment required to turn the crimp cap. A correlation between torque moment and residual seal force has been established. The torque moment was found to be influenced by several parameters, including diameter of the vial head, type of rubber stopper (serum or lyophilized) and type of crimp cap (West(®) or Datwyler(®)). In addition, we measured the force required to remove the flip-off button of a sealed container closure system. The capping process had no influence on measured forces; however, it was possible to detect partially crimped vials. In conclusion, a controlled capping process with a defined target residual seal force range leads to a tight crimp cap on a sealed container closure system and can ensure product quality. The majority of parenteral drug products are manufactured in a glass vials with an elastomeric rubber stopper and a crimp cap. The vial sealing process is a critical process step during fill-and-finish operations, as it defines the seal quality of the final product. An adequate force to remove the flip-off button prior to usage is required to ensure product quality during storage and transportation until use. In addition, the complete crimp cap needs to be fixed in a tight position on the vial. In this study, we investigated the torque moment required to turn the crimp cap and the force required to remove the flip-off button of container closure system sealed with different capping equipment process parameters (having different residual seal force values). © PDA, Inc. 2016.

Measurement of external forces and torques on a large pointing system

NASA Technical Reports Server (NTRS)

Morenus, R. C.

1980-01-01

Methods of measuring external forces and torques are discussed, in general and as applied to the Large Pointing System wind tunnel tests. The LPS tests were in two phases. The first test was a preliminary test of three models representing coelostat, heliostat, and on-gimbal telescope configurations. The second test explored the coelostat configuration in more detail. The second test used a different setup for measuring external loads. Some results are given from both tests.

Trusted Remote Operation of Proximate Emergy Robots (TROOPER): DARPA Robotics Challenge

DTIC Science & Technology

2015-12-01

sensor in each of the robot’s feet. Additionally, there is a 6-axis IMU that sits in the robot’s pelvis cage. While testing before the Finals, the...Services. Many of the controllers in the autonomic layer have overlapping requirements, such as filtered IMU and force torque data from the robot...the following services during the DRC: • IMU Filtering • Force Torque Filtering • Joint State Publishing • TF (Transform) Broadcasting • Robot Pose

Trusted Remote Operation of Proximate Emergency Robots (TROOPER): DARPA Robotics Challenge

DTIC Science & Technology

2015-12-01

sensor in each of the robot’s feet. Additionally, there is a 6-axis IMU that sits in the robot’s pelvis cage. While testing before the Finals, the...Services. Many of the controllers in the autonomic layer have overlapping requirements, such as filtered IMU and force torque data from the robot...the following services during the DRC: • IMU Filtering • Force Torque Filtering • Joint State Publishing • TF (Transform) Broadcasting • Robot Pose

The Role of Musculoskeletal Dynamics and Neuromuscular Control in Stress Development in Bone

NASA Technical Reports Server (NTRS)

DeWoody, Yssa

1996-01-01

The role of forces produced by the musculotendon units in the stress development of the long bones during gait has not been fully analyzed. It is well known that the musculotendons act as actuators producing the joint torques which drive the body. Although the joint torques required to perform certain motor tasks can be recovered through a kinematic analysis, it remains a difficult problem to determine the actual forces produced by each muscle that resulted in these torques. As a consequence, few studies have focused on the role of individual muscles in the development of stress in the bone. This study takes a control theoretic approach to the problem. A seven-link, eight degrees of freedom model of the body is controlled by various muscle groups on each leg to simulate gait. The simulations incorporate Hill-type models of muscles with activation and contraction dynamics controlled through neural inputs. This direct approach allows one to know the exact muscle forces exerted by each musculotendon throughout the gait cycle as well the joint torques and reaction forces at the ankle and knee. Stress and strain computed by finite element analysis on skeletal members will be related to these derived loading conditions. Thus the role of musculoskeletal dynamics and neuromuscular control in the stress development of the tibia during gait can be analyzed.

Effective utilization of gravity during arm downswing in keystrokes by expert pianists.

PubMed

Furuya, S; Osu, R; Kinoshita, H

2009-12-01

The present study investigated a skill-level-dependent interaction between gravity and muscular force when striking piano keys. Kinetic analysis of the arm during the downswing motion performed by expert and novice piano players was made using an inverse dynamic technique. The corresponding activities of the elbow agonist and antagonist muscles were simultaneously recorded using electromyography (EMG). Muscular torque at the elbow joint was computed while excluding the effects of gravitational and motion-dependent interaction torques. During descending the forearm to strike the keys, the experts kept the activation of the triceps (movement agonist) muscle close to the resting level, and decreased anti-gravity activity of the biceps muscle across all loudness levels. This suggested that elbow extension torque was produced by gravity without the contribution of agonist muscular work. For the novices, on the other hand, a distinct activity in the triceps muscle appeared during the middle of the downswing, and its amount and duration were increased with increasing loudness. Therefore, for the novices, agonist muscular force was the predominant contributor to the acceleration of elbow extension during the downswing. We concluded that a balance shift from muscular force dependency to gravity dependency for the generation of a target joint torque occurs with long-term piano training. This shift would support the notion of non-muscular force utilization for improving physiological efficiency of limb movement with respect to the effective use of gravity.

Experimental study of tyre/road contact forces in rolling conditions for noise prediction

NASA Astrophysics Data System (ADS)

Cesbron, Julien; Anfosso-Lédée, Fabienne; Duhamel, Denis; Ping Yin, Hai; Le Houédec, Donatien

2009-02-01

This paper deals with the experimental study of dynamical tyre/road contact for noise prediction. In situ measurements of contact forces and close proximity noise levels were carried out for a slick tyre rolling on six different road surfaces between 30 and 50 km/h. Additional texture profiles of the tested surfaces were taken on the wheel track. Normal contact stresses were measured at a sampling frequency of 10752 Hz using a line of pressure sensitive cells placed both along and perpendicular to the rolling direction. The contact areas obtained during rolling were smaller than in static conditions. This is mainly explained by the dynamical properties of tyre compounds, like the viscoelastic behaviour of the rubber. Additionally the root-mean-square of the resultant contact forces at various speeds was in the same order for a given road surface, while their spectra were quite different. This is certainly due to a spectral influence of bending waves propagating in the tyre during rolling, especially when the wavelength is small in comparison with the size of the contact patch. Finally, the levels of contact forces and close proximity noise measured at 30 km/h were correlated. Additional correlations with texture levels were performed. The results show that the macro-texture generates contact forces linearly around 800 Hz and consequently noise levels between 500 and 1000 Hz via the vibrations transmitted to the tyre.

Analysis of mechanical preparations in extracted teeth using ProTaper rotary instruments: value of the safety quotient.

PubMed

Blum, J Y; Machtou, P; Ruddle, C; Micallef, J P

2003-09-01

The purpose of this study was to apply the Endographe to analyze the vertical forces and torque developed during mechanical preparations in extracted teeth. The data collected in this study may be used to calculate the safety quotient (SQ) as proposed by J.T. McSpadden. The SQ formula is defined as the torque required to break a file at D3 divided by the mean working torque required to cut dentin. The Endographe is a unique force-analyzer device equipped to measure, record, and generate graphs of the vertical forces and torque exerted during root canal preparation. All preparations were performed by endodontists in roots with narrow, more restrictive canals, larger, more open canals, or in roots sectioned in two halves. All canals, including the sectioned canals, were prepared with ProTaper files in accordance with the manufacturer's guidelines for use. For narrow canals, the mean values of the generated vertical forces (g) and torque (g.cm) varied from 80 (+/- 20) g (SX) to 232 (+/- 60) g (F2) and from 80 (+/- 24) g x cm (F1) to 150 (+/- 45) g x cm (S2), respectively. For large canals, the mean values of the generated vertical forces (g) and torque (g x cm) varied from 80 (+/- 20) g (SX) to 340 (+/- 20) g (F1) and from 31 (+/- 9) g x cm (S2) to 96 (+/- 35) g x cm (SX), respectively. The SQ varied from 0.93 to 7.95 for narrow canals and from 1.58 to 14.50 for large canals. The SQ is intended to provide values that can be analyzed to predict whether a rotary file will have a tendency to break or will work safely during clinical use. However, if the formula is going to provide useful information, it must index the "rotation to failure torque" with the "mean working torque" at a specific location along the cutting blades of a file. Additionally, this mathematical formula does not account for factors such as the concentration of forces, the way the instruments are used, or the wear of the instruments. A precise protocol for canal preparation should emphasize using small flexible stainless steel hand files to create or verify that within any portion of a root canal there is sufficient space for rotary instruments to follow. When there is a confirmed smooth, reproducible glide path, then a "secured" space exists to safely guide the more flexible terminal extent of a rotary NiTi file. Endogrammes provide an innovative approach to the analysis of mechanical preparations and suggest that the ProTaper shaping files are best used with lateral forces to decrease the coronal screwing effect. The ProTaper finishing files should be used with slow penetration and be introduced only into canals that have a confirmed smooth and reproducible glide path. When any part of the overall length of a canal has been secured, then the number of instruments, the time spent utilizing each instrument, and the overall time progressing through a sequence of instruments to shape this region of the canal is reduced.

Stability versus Maneuvering: Challenges for Stability during Swimming by Fishes.

PubMed

Webb, Paul W; Weihs, Daniel

2015-10-01

Fishes are well known for their remarkable maneuverability and agility. Less visible is the continuous control of stability essential for the exploitation of the full range of aquatic resources. Perturbations to posture and trajectory arise from hydrostatic and hydrodynamic forces centered in a fish (intrinsic) and from the environment (extrinsic). Hydrostatic instabilities arise from vertical and horizontal separation of the centers of mass (CM) and of buoyancy, thereby creating perturbations in roll, yaw, and pitch, with largely neglected implications for behavioral ecology. Among various forms of hydrodynamic stability, the need for stability in the face of recoil forces from propulsors is close to universal. Destabilizing torques in body-caudal fin swimming is created by inertial and viscous forces through a propulsor beat. The recoil component is reduced, damped, and corrected in various ways, including kinematics, shape of the body and fins, and deployment of the fins. We postulate that control of the angle of orientation, θ, of the trailing edge is especially important in the evolution and lifestyles of fishes, but studies are few. Control of stability and maneuvering are reflected in accelerations around the CM. Accelerations for such motions may give insight into time-behavior patterns in the wild but cannot be used to determine the expenditure of energy by free-swimming fishes. © The Author 2015. Published by Oxford University Press on behalf of the Society for Integrative and Comparative Biology. All rights reserved. For permissions please email: journals.permissions@oup.com.

Functional Evaluation of the Reusable JuniorSTAR® Half-Unit Insulin Pen.

PubMed

Klonoff, David; Nayberg, Irina; Rabbone, Ivana; Domenger, Catherine; Stauder, Udo; Oualali, Hamid; Danne, Thomas

2015-05-01

The functional performance of the JuniorSTAR(®) (Sanofi, Paris, France) half-unit insulin pen was evaluated through a series of specific objective tests to assess the dose accuracy, pen weight, injection force, and dialing torque. Pens (n = 60) were tested under standard atmospheric conditions with 3 different types of insulins manufactured by Sanofi (insulin glargine, insulin glulisine, and biphasic insulin isophane). The dose accuracy was tested according to the ISO 11608-1:2012 standards. Injection doses of 0.010, 0.155, and 0.300 ml were evaluated. For mean weight evaluation, the pens without the cartridge were weighed on precision balances. The injection force was measured using a texture analyzer and the dialing torque was measured using a torque meter. JuniorSTAR met the ISO 11608-1:2012 criteria for dose accuracy as all the delivered doses were within the predefined limits for all types of insulin tested. The mean weight of the JuniorSTAR pen was 33.4 g (SD = 0.075). The mean injection force was 6.0 N (SD = 0.8), 4.3 N (SD = 0.4), and 5.1 N (SD = 0.6) for insulin glargine, insulin glulisine, and biphasic insulin isophane, respectively. The mean dialing torque was 5.09 Ncm (SD = 0.29) and 5.88 Ncm (SD = 0.53) for setting and correcting a dose, respectively. Together with results from a previously reported usability survey, these results show that the JuniorSTAR reusable, half-unit pen is a lightweight and accurate device for insulin delivery with a dialing torque and injection force suitable for young people with type 1 diabetes. © 2015 Diabetes Technology Society.

Functional Evaluation of the Reusable JuniorSTAR® Half-Unit Insulin Pen

PubMed Central

Klonoff, David; Nayberg, Irina; Rabbone, Ivana; Domenger, Catherine; Stauder, Udo; Oualali, Hamid; Danne, Thomas

2015-01-01

Background: The functional performance of the JuniorSTAR® (Sanofi, Paris, France) half-unit insulin pen was evaluated through a series of specific objective tests to assess the dose accuracy, pen weight, injection force, and dialing torque. Method: Pens (n = 60) were tested under standard atmospheric conditions with 3 different types of insulins manufactured by Sanofi (insulin glargine, insulin glulisine, and biphasic insulin isophane). The dose accuracy was tested according to the ISO 11608-1:2012 standards. Injection doses of 0.010, 0.155, and 0.300 ml were evaluated. For mean weight evaluation, the pens without the cartridge were weighed on precision balances. The injection force was measured using a texture analyzer and the dialing torque was measured using a torque meter. Results: JuniorSTAR met the ISO 11608-1:2012 criteria for dose accuracy as all the delivered doses were within the predefined limits for all types of insulin tested. The mean weight of the JuniorSTAR pen was 33.4 g (SD = 0.075). The mean injection force was 6.0 N (SD = 0.8), 4.3 N (SD = 0.4), and 5.1 N (SD = 0.6) for insulin glargine, insulin glulisine, and biphasic insulin isophane, respectively. The mean dialing torque was 5.09 Ncm (SD = 0.29) and 5.88 Ncm (SD = 0.53) for setting and correcting a dose, respectively. Conclusions: Together with results from a previously reported usability survey, these results show that the JuniorSTAR reusable, half-unit pen is a lightweight and accurate device for insulin delivery with a dialing torque and injection force suitable for young people with type 1 diabetes. PMID:25633967

Preliminary analysis of force-torque measurements for robot-assisted fracture surgery.

PubMed

Georgilas, Ioannis; Dagnino, Giulio; Tarassoli, Payam; Atkins, Roger; Dogramadzi, Sanja

2015-08-01

Our group at Bristol Robotics Laboratory has been working on a new robotic system for fracture surgery that has been previously reported [1]. The robotic system is being developed for distal femur fractures and features a robot that manipulates the small fracture fragments through small percutaneous incisions and a robot that re-aligns the long bones. The robots controller design relies on accurate and bounded force and position parameters for which we require real surgical data. This paper reports preliminary findings of forces and torques applied during bone and soft tissue manipulation in typical orthopaedic surgery procedures. Using customised orthopaedic surgical tools we have collected data from a range of orthopaedic surgical procedures at Bristol Royal Infirmary, UK. Maximum forces and torques encountered during fracture manipulation which involved proximal femur and soft tissue distraction around it and reduction of neck of femur fractures have been recorded and further analysed in conjunction with accompanying image recordings. Using this data we are establishing a set of technical requirements for creating safe and dynamically stable minimally invasive robot-assisted fracture surgery (RAFS) systems.

Rapid Charged Geosynchronous Debris Perturbation Modeling of Electrodynamic Disturbances

NASA Astrophysics Data System (ADS)

Hughes, Joseph; Schaub, Hanspeter

2018-06-01

Charged space objects experience small perturbative torques and forces from their interaction with Earth's magnetic field. These small perturbations can change the orbits of lightweight, uncontrolled debris objects dramatically even over short periods. This paper investigates the effects of the isolated Lorentz force, the effects of including or neglecting this and other electromagnetic perturbations in a full propagation, and then analyzes for which objects electromagnetic effects have the most impact. It is found that electromagnetic forces have a negligible impact on their own. However, if the center of charge is not collocated with the center of mass, electromagnetic torques are produced which do impact the attitude, and thus the position by affecting the direction and magnitude of the solar radiation pressure force. The objects for which electrostatic torques have the most influence are charged above the kilovolt level, have a difference between their center of mass and center of charge, have highly attitude-dependent cross-sectional area, and are not spinning stably about an axis of maximum inertia. Fully coupled numerical simulation illustrate the impact of electromagnetic disturbances through the solar radiation pressure coupling.

Chaotic behavior in Casimir oscillators: A case study for phase-change materials.

PubMed

Tajik, Fatemeh; Sedighi, Mehdi; Khorrami, Mohammad; Masoudi, Amir Ali; Palasantzas, George

2017-10-01

Casimir forces between material surfaces at close proximity of less than 200 nm can lead to increased chaotic behavior of actuating devices depending on the strength of the Casimir interaction. We investigate these phenomena for phase-change materials in torsional oscillators, where the amorphous to crystalline phase transitions lead to transitions between high and low Casimir force and torque states, respectively, without material compositions. For a conservative system bifurcation curve and Poincare maps analysis show the absence of chaotic behavior but with the crystalline phase (high force-torque state) favoring more unstable behavior and stiction. However, for a nonconservative system chaotic behavior can take place introducing significant risk for stiction, which is again more pronounced for the crystalline phase. The latter illustrates the more general scenario that stronger Casimir forces and torques increase the possibility for chaotic behavior. The latter is making it impossible to predict whether stiction or stable actuation will occur on a long-term basis, and it is setting limitations in the design of micronano devices operating at short-range nanoscale separations.

Rapid Charged Geosynchronous Debris Perturbation Modeling of Electrodynamic Disturbances

NASA Astrophysics Data System (ADS)

Hughes, Joseph; Schaub, Hanspeter

2018-04-01

Charged space objects experience small perturbative torques and forces from their interaction with Earth's magnetic field. These small perturbations can change the orbits of lightweight, uncontrolled debris objects dramatically even over short periods. This paper investigates the effects of the isolated Lorentz force, the effects of including or neglecting this and other electromagnetic perturbations in a full propagation, and then analyzes for which objects electromagnetic effects have the most impact. It is found that electromagnetic forces have a negligible impact on their own. However, if the center of charge is not collocated with the center of mass, electromagnetic torques are produced which do impact the attitude, and thus the position by affecting the direction and magnitude of the solar radiation pressure force. The objects for which electrostatic torques have the most influence are charged above the kilovolt level, have a difference between their center of mass and center of charge, have highly attitude-dependent cross-sectional area, and are not spinning stably about an axis of maximum inertia. Fully coupled numerical simulation illustrate the impact of electromagnetic disturbances through the solar radiation pressure coupling.

The validation of a human force model to predict dynamic forces resulting from multi-joint motions

NASA Technical Reports Server (NTRS)

Pandya, Abhilash K.; Maida, James C.; Aldridge, Ann M.; Hasson, Scott M.; Woolford, Barbara J.

1992-01-01

The development and validation is examined of a dynamic strength model for humans. This model is based on empirical data. The shoulder, elbow, and wrist joints were characterized in terms of maximum isolated torque, or position and velocity, in all rotational planes. This data was reduced by a least squares regression technique into a table of single variable second degree polynomial equations determining torque as a function of position and velocity. The isolated joint torque equations were then used to compute forces resulting from a composite motion, in this case, a ratchet wrench push and pull operation. A comparison of the predicted results of the model with the actual measured values for the composite motion indicates that forces derived from a composite motion of joints (ratcheting) can be predicted from isolated joint measures. Calculated T values comparing model versus measured values for 14 subjects were well within the statistically acceptable limits and regression analysis revealed coefficient of variation between actual and measured to be within 0.72 and 0.80.

A Constant-Force Resistive Exercise Unit

NASA Technical Reports Server (NTRS)

Colosky, Paul; Ruttley, Tara

2010-01-01

A constant-force resistive exercise unit (CFREU) has been invented for use in both normal gravitational and microgravitational environments. In comparison with a typical conventional exercise machine, this CFREU weighs less and is less bulky: Whereas weight plates and associated bulky supporting structures are used to generate resistive forces in typical conventional exercise machines, they are not used in this CFREU. Instead, resistive forces are generated in this CFREU by relatively compact, lightweight mechanisms based on constant-torque springs wound on drums. Each such mechanism is contained in a module, denoted a resistive pack, that includes a shaft for making a torque connection to a cable drum. During a stroke of resistive exercise, the cable is withdrawn from the cable drum against the torque exerted by the resistance pack. The CFREU includes a housing, within which can be mounted one or more resistive pack(s). The CFREU also includes mechanisms for engaging any combination of (1) one or more resistive pack(s) and (2) one or more spring(s) within each resistive pack to obtain a desired level of resistance.

78 FR 63848 - Special Conditions: Embraer S.A., Model EMB-550 Airplanes; Sidestick Controllers

Federal Register 2010, 2011, 2012, 2013, 2014

2013-10-25

..., freedom of arm movement, controller displacement, handgrip size and accommodations for a range of pilot... column controls. Pitch and roll control force and displacement sensitivity must be compatible so that... precision path control/tasks and turbulence. In addition, pitch and roll control force and displacement...

Maintaining rotational equilibrium during object manipulation: linear behavior of a highly non-linear system

PubMed Central

Gao, Fan; Latash, Mark L.

2010-01-01

We address issues of simultaneous control of the grasping force and the total moment of forces applied to a handheld object during its manipulation. Six young healthy male subjects grasped an instrumented handle and performed its cyclic motion in the vertical direction. The handle allowed for setting different clockwise (negative) or counterclockwise torques. Three movement frequencies: 1, 1.5 and 2 Hz, and five different torques: −1/3, −1/6, 0, 1/6 and 1/3 Nm, were used. The rotational equilibrium was maintained by two means: (1) Concerted changes of the moments produced by the normal and tangential forces, specifically anti-phase changes of the moments during the tasks with zero external torque and in-phase changes during the non-zero-torque tasks, and (2) Redistribution of the normal forces among individual fingers such that the agonist fingers—the fingers that resist external torque—increased the force in phase with the acceleration, while the forces of the antagonist fingers—those that assist the external torque—especially, the fingers with the large moment arms, the index and little fingers, stayed unchanged. The observed effects agree with the principle of superposition—according to which some complex actions, for example, prehension, can be decomposed into elemental actions controlled independently—and the mechanical advantage hypothesis according to which in moment production the fingers are activated in proportion to their moment arms with respect to the axis of rotation. We would like to emphasize the linearity of the observed relations, which was not prescribed by the task mechanics and seems to be produced by specific neural control mechanisms. PMID:16328302

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mitri, F. G., E-mail: F.G.Mitri@ieee.org

This paper presents two key contributions; the first concerns the development of analytical expressions for the axial and transverse acoustic radiation forces exerted on a 2D rigid elliptical cylinder placed in the field of plane progressive, quasi-standing, or standing waves with arbitrary incidence. The second emphasis is on the acoustic radiation torque per length. The rigid elliptical cylinder case is important to be considered as a first-order approximation of the behavior of a cylindrical fluid column trapped in air because of the significant acoustic impedance mismatch at the particle boundary. Based on the rigorous partial-wave series expansion method in cylindricalmore » coordinates, non-dimensional acoustic radiation force and torque functions are derived and defined in terms of the scattering coefficients of the elliptic cylinder. A coupled system of linear equations is obtained after applying the Neumann boundary condition for an immovable surface in a non-viscous fluid and solved numerically by matrix inversion after performing a single numerical integration procedure. Computational results for the non-dimensional force components and torque, showing the transition from the progressive to the (equi-amplitude) standing wave behavior, are performed with particular emphasis on the aspect ratio a/b, where a and b are the semi-axes of the ellipse, the dimensionless size parameter, as well as the angle of incidence ranging from end-on to broadside incidence. The results show that the elliptical geometry has a direct influence on the radiation force and torque, so that the standard theory for circular cylinders (at normal incidence) leads to significant miscalculations when the cylinder cross section becomes non-circular. Moreover, the elliptical cylinder experiences, in addition to the acoustic radiation force, a radiation torque that vanishes for the circular cylinder case. The application of the formalism presented here may be extended to other 2D surfaces of arbitrary shape, such as Chebyshev cylindrical particles with a small deformation, stadiums (with oval shape), or other non-circular geometries.« less

Motion and force control for multiple cooperative manipulators

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz, Kenneth

1989-01-01

The motion and force control of multiple robot arms manipulating a commonly held object is addressed. A general control paradigm that decouples the motion and force control problems is introduced. For motion control, there are three natural choices: (1) joint torques, (2) arm-tip force vectors, and (3) the acceleration of a generalized coordinate. Choice (1) allows a class of relatively model-independent control laws by exploiting the Hamiltonian structure of the open-loop system; (2) and (3) require the full model information but produce simpler problems. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, the allocation of the desired end-effector control force to the joint actuators can be optimized; otherwise the internal force can be controlled about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

Pelvic rotation torque during fast-pitch softball hitting under three ball height conditions.

PubMed

Iino, Yoichi; Fukushima, Atsushi; Kojima, Takeji

2014-08-01

The purpose of this study was to investigate the relevance of hip joint angles to the production of the pelvic rotation torque in fast-pitch softball hitting and to examine the effect of ball height on this production. Thirteen advanced female softball players hit stationary balls at three different heights: high, middle, and low. The pelvic rotation torque, defined as the torque acting on the pelvis through the hip joints about the pelvic superior-inferior axis, was determined from the kinematic and force plate data using inverse dynamics. Irrespective of the ball heights, the rear hip extension, rear hip external rotation, front hip adduction, and front hip flexion torques contributed to the production of pelvic rotation torque. Although the contributions of the adduction and external rotation torques at each hip joint were significantly different among the ball heights, the contributions of the front and rear hip joint torques were similar among the three ball heights owing to cancelation of the two torque components. The timings of the peaks of the hip joint torque components were significantly different, suggesting that softball hitters may need to adjust the timings of the torque exertions fairly precisely to rotate the upper body effectively.

Finite-element model to predict roll-separation force and defects during rolling of U-10Mo alloys

NASA Astrophysics Data System (ADS)

Soulami, Ayoub; Burkes, Douglas E.; Joshi, Vineet V.; Lavender, Curt A.; Paxton, Dean

2017-10-01

A major goal of the Convert Program of the U.S. Department of Energy's National Nuclear Security Administration (DOE/NNSA) is to enable high-performance research reactors to operate with low-enriched uranium rather than the high-enriched uranium currently used. To this end, uranium alloyed with 10 wt% molybdenum (U-10Mo) represents an ideal candidate because of its stable gamma phase, low neutron caption cross section, acceptable swelling response, and predictable irradiation behavior. However, because of the complexities of the fuel design and the need for rolled monolithic U-10Mo foils, new developments in processing and fabrication are necessary. This study used a finite-element code, LS-DYNA, as a predictive tool to optimize the rolling process. Simulations of the hot rolling of U-10Mo coupons encapsulated in low-carbon steel were conducted following two different schedules. Model predictions of the roll-separation force and roll pack thicknesses at different stages of the rolling process were compared with experimental measurements. The study reported here discussed various attributes of the rolled coupons revealed by the model (e.g., waviness and thickness non-uniformity like dog-boning). To investigate the influence of the cladding material on these rolling defects, other cases were simulated: hot rolling with alternative can materials, namely, 304 stainless steel and Zircaloy-2, and bare-rolling. Simulation results demonstrated that reducing the mismatch in strength between the coupon and can material improves the quality of the rolled sheet. Bare-rolling simulation results showed a defect-free rolled coupon. The finite-element model developed and presented in this study can be used to conduct parametric studies of several process parameters (e.g., rolling speed, roll diameter, can material, and reduction).

Modeling and dynamic simulation of astronaut's upper limb motions considering counter torques generated by the space suit.

PubMed

Li, Jingwen; Ye, Qing; Ding, Li; Liao, Qianfang

2017-07-01

Extravehicular activity (EVA) is an inevitable task for astronauts to maintain proper functions of both the spacecraft and the space station. Both experimental research in a microgravity simulator (e.g. neutral buoyancy tank, zero-g aircraft or a drop tower/tube) and mathematical modeling were used to study EVA to provide guidance for the training on Earth and task design in space. Modeling has become more and more promising because of its efficiency. Based on the task analysis, almost 90% of EVA activity is accomplished through upper limb motions. Therefore, focusing on upper limb models of the body and space suit is valuable to this effort. In previous modeling studies, some multi-rigid-body systems were developed to simplify the human musculoskeletal system, and the space suit was mostly considered as a part of the astronaut body. With the aim to improve the reality of the models, we developed an astronauts' upper limb model, including a torque model and a muscle-force model, with the counter torques from the space suit being considered as a boundary condition. Inverse kinematics and the Maggi-Kane's method was applied to calculate the joint angles, joint torques and muscle force given that the terminal trajectory of upper limb motion was known. Also, we validated the muscle-force model using electromyogram (EMG) data collected in a validation experiment. Muscle force calculated from our model presented a similar trend with the EMG data, supporting the effectiveness and feasibility of the muscle-force model we established, and also, partially validating the joint model in kinematics aspect.

The control of mono-articular muscles in multijoint leg extensions in man.

PubMed Central

van Ingen Schenau, G J; Dorssers, W M; Welter, T G; Beelen, A; de Groot, G; Jacobs, R

1995-01-01

1. Movements often require control of direction and a magnitude of force exerted externally on the environment. Bi-articular upper leg muscles appear to play a unique role in the regulation of the net torques about the hip and knee joints, necessary for the control of this external force. 2. The aim of this study was to test the hypothesis that the mono-articular muscles act as work generators in powerful dynamic leg extensions, which means that they should be activated primarily in the phases during which they can contribute to work, irrespective of the net joint torques required to control the external force. 3. Cycling movements of six trained subjects were analysed by means of inverse dynamics, yielding net joint torques as well as activity patterns and shortening velocities of four mono- and four bi-articular leg muscles. 4. The results show that the mono-articular muscles exert force only in the phase in which these muscles shorten, whereas this appears not to be the case for the bi-articular muscles. 5. Reciprocal patterns of activation of the rectus femoris and hamstring muscles appear to tune the distribution of net joint torques about the hip and knee joints, necessary to control the (changing) direction of the force on the pedal. 6. An analysis of running in man and additional related literature based on animal studies appears to provide further support for the hypothesis that mono- and bi-articular muscles have essentially different roles in these powerful multijoint leg extension tasks. PMID:7602524

Mathematical model for gyroscope effects

NASA Astrophysics Data System (ADS)

Usubamatov, Ryspek

2015-05-01

Gyroscope effects are used in many engineering calculations of rotating parts, and a gyroscope is the basic unit of numerous devices and instruments used in aviation, space, marine and other industries. The primary attribute of a gyroscope is a spinning rotor that persists in maintaining its plane of rotation, creating gyroscope effects. Numerous publications represent the gyroscope theory using mathematical models based on the law of kinetic energy conservation and the rate of change in angular momentum of a spinning rotor. Gyroscope theory still attracts many researchers who continue to discover new properties of gyroscopic devices. In reality, gyroscope effects are more complex and known mathematical models do not accurately reflect the actual motions. Analysis of forces acting on a gyroscope shows that four dynamic components act simultaneously: the centrifugal, inertial and Coriolis forces and the rate of change in angular momentum of the spinning rotor. The spinning rotor generates a rotating plane of centrifugal and Coriols forces that resist the twisting of the spinning rotor with external torque applied. The forced inclination of the spinning rotor generates inertial forces, resulting in precession torque of a gyroscope. The rate of change of the angular momentum creates resisting and precession torques which are not primary one in gyroscope effects. The new mathematical model for the gyroscope motions under the action of the external torque applied can be as base for new gyroscope theory. At the request of the author of the paper, this corrigendum was issued on 24 May 2016 to correct an incomplete Table 1 and errors in Eq. (47) and Eq. (48).

The timing of control signals underlying fast point-to-point arm movements.

PubMed

Ghafouri, M; Feldman, A G

2001-04-01

It is known that proprioceptive feedback induces muscle activation when the facilitation of appropriate motoneurons exceeds their threshold. In the suprathreshold range, the muscle-reflex system produces torques depending on the position and velocity of the joint segment(s) that the muscle spans. The static component of the torque-position relationship is referred to as the invariant characteristic (IC). According to the equilibrium-point (EP) hypothesis, control systems produce movements by changing the activation thresholds and thus shifting the IC of the appropriate muscles in joint space. This control process upsets the balance between muscle and external torques at the initial limb configuration and, to regain the balance, the limb is forced to establish a new configuration or, if the movement is prevented, a new level of static torques. Taken together, the joint angles and the muscle torques generated at an equilibrium configuration define a single variable called the EP. Thus by shifting the IC, control systems reset the EP. Muscle activation and movement emerge following the EP resetting because of the natural physical tendency of the system to reach equilibrium. Empirical and simulation studies support the notion that the control IC shifts and the resulting EP shifts underlying fast point-to-point arm movements are gradual rather than step-like. However, controversies exist about the duration of these shifts. Some studies suggest that the IC shifts cease with the movement offset. Other studies propose that the IC shifts end early in comparison to the movement duration (approximately, at peak velocity). The purpose of this study was to evaluate the duration of the IC shifts underlying fast point-to-point arm movements. Subjects made fast (hand peak velocity about 1.3 m/s) planar arm movements toward different targets while grasping a handle. Hand forces applied to the handle and shoulder/elbow torques were, respectively, measured from a force sensor placed on the handle, or computed with equations of motion. In some trials, an electromagnetic brake prevented movements. In such movements, the hand force and joint torques reached a steady state after a time that was much smaller than the movement duration in unobstructed movements and was approximately equal to the time to peak velocity (mean difference < 80 ms). In an additional experiment, subjects were instructed to rapidly initiate corrections of the pushing force in response to movement arrest. They were able to initiate such corrections only when the joint torques and the pushing force had practically reached a steady state. The latency of correction onset was, however, smaller than the duration of unobstructed movements. We concluded that during the time at which the steady state torques were reached, the control pattern of IC shifts remained the same despite the movement block. Thereby the duration of these shifts did not exceed the time of reaching the steady state torques. Our findings are consistent with the hypothesis that, in unobstructed movements, the IC shifts and resulting shifts in the EP end approximately at peak velocity. In other words, during the latter part of the movement, the control signals responsible for the equilibrium shift remained constant, and the movement was driven by the arm inertial, viscous and elastic forces produced by the muscle-reflex system. Fast movements may thus be completed without continuous control guidance. As a consequence, central corrections and sequential commands may be issued rapidly, without waiting for the end of kinematic responses to each command, which may be important for many motor behaviours including typing, piano playing and speech. Our study also illustrates that the timing of the control signals may be substantially different from that of the resulting motor output and that the same control pattern may produce different motor outputs depending on external conditions.

Zero-torque spanner wrench

NASA Technical Reports Server (NTRS)

Friedell, M. V.

1980-01-01

Wrench converts gripping action of hand to rotary motion without imparting reactive moments or forces on part being turned or on operator. Wrench should be useful in undersea operations and other delicate work where reactive forces and torques have to be controlled. In design for valve tightening, tool resembles cross between conventional spanner wrench and pilers. One handle engages valve body; second handle has ratchet pawl that engages toothed coupling ring on perimeter of valve handle. When operator squeezes wrench handles, valve handle rotates with respect to valve body.

Double-reed exhaust valve engine

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bennett, Charles L.

An engine based on a reciprocating piston engine that extracts work from pressurized working fluid. The engine includes a double reed outlet valve for controlling the flow of low-pressure working fluid out of the engine. The double reed provides a stronger force resisting closure of the outlet valve than the force tending to open the outlet valve. The double reed valve enables engine operation at relatively higher torque and lower efficiency at low speed, with lower torque, but higher efficiency at high speed.

A flight simulator control system using electric torque motors

NASA Technical Reports Server (NTRS)

Musick, R. O.; Wagner, C. A.

1975-01-01

Control systems are required in flight simulators to provide representative stick and rudder pedal characteristics. A system has been developed that uses electric dc torque motors instead of the more common hydraulic actuators. The torque motor system overcomes certain disadvantages of hydraulic systems, such as high cost, high power consumption, noise, oil leaks, and safety problems. A description of the torque motor system is presented, including both electrical and mechanical design as well as performance characteristics. The system develops forces sufficiently high for most simulations, and is physically small and light enough to be used in most motion-base cockpits.

Advances in the analysis and design of constant-torque springs

NASA Technical Reports Server (NTRS)

McGuire, John R.; Yura, Joseph A.

1996-01-01

In order to improve the design procedure of constant-torque springs used in aerospace applications, several new analysis techniques have been developed. These techniques make it possible to accurately construct a torque-rotation curve for any general constant-torque spring configuration. These new techniques allow for friction in the system to be included in the analysis, an area of analysis that has heretofore been unexplored. The new analysis techniques also include solutions for the deflected shape of the spring as well as solutions for drum and roller support reaction forces. A design procedure incorporating these new capabilities is presented.

Effect of the number of blades and solidity on the performance of a vertical axis wind turbine

NASA Astrophysics Data System (ADS)

Delafin, PL; Nishino, T.; Wang, L.; Kolios, A.

2016-09-01

Two, three and four bladed ϕ-shape Vertical Axis Wind Turbines are simulated using a free-wake vortex model. Two versions of the three and four bladed turbines are considered, one having the same chord length as the two-bladed turbine and the other having the same solidity as the two-bladed turbine. Results of the two-bladed turbine are validated against published experimental data of power coefficient and instantaneous torque. The effect of solidity on the power coefficient is presented and the instantaneous torque, thrust and lateral force of the two-, three- and four-bladed turbines are compared for the same solidity. It is found that increasing the number of blades from two to three significantly reduces the torque, thrust and lateral force ripples. Adding a fourth blade further reduces the ripples except for the torque at low tip speed ratio. This work aims to help choosing the number of blades during the design phase of a vertical axis wind turbine.

Recycle of mixed automotive plastics: A model study

NASA Astrophysics Data System (ADS)

Woramongconchai, Somsak

This research investigated blends of virgin automotive plastics which were identified through market analysis. The intent was that this study could be used as a basis for further research in blends of automotive plastics recyclate. The effects of temperature, shear, time, and degree of mixing in a two-roll mill, a single-screw extruder, and a twin-screw extruder were investigated. Properties were evaluated in terms of melt flow, rigidity, strength, impact, heat resistance, electrical resistivity, color, and resistance to water and gasoline. Torque rheometry, dynamic mechanical analysis (DMA), optical and scanning electron microscopy were used to characterize the processability and morphology of major components of the blends. The two-roll mill was operated at high temperature, short time, and low roll speed to avoid discolored and degraded materials. The single-screw extruder and twin-screw extruder were operated at medium and high temperature and high screw speed, respectively, for optimizing head pressure, residence time, shear and degree of mixing of the materials. Melt index increased with extrusion temperature. Flexural modulus increased with the processing temperatures in milling or twin-screw extrusion, but decreased with the increasing single-screw extrusion temperature. Tensile modulus was also enhanced by increasing processing temperature. The tensile strengths for each process were similar and relatively low. The impact strength increased with temperature and roll speed in two-roll milling, was unaffected by the single-screw extrusion temperature and decreased with increasing twin-screw extrusion temperature. Heat resistance was always reduced by higher processing temperature. The volume resistivity increased, water absorption was unaffected and gasoline absorption altered by increased processing temperature. The latter increased somewhat with mill temperature, roll speed (two-roll mill) and higher extrusion temperature (single-screw extruder), but decreased with increased twin-screw extrusion temperature. The flexural modulus of the recycled mixed automotive plastics expected in 2003 was higher than the 1980s and 1990 recycle. Flexural strength effects were not large enough for serious consideration, but were more dominant when compared to those in the 1980s and 1990s. Impact strengths at 20-30 J/m were the lowest value compared to the 1980s and 1990s mixed automotive recycle. Torque rheometry, dynamic mechanical analysis and optical and electron microscopy agreed with each other on the characterization of the processability and morphology of the blends. LLDPE and HDPE were miscible while PP was partially miscible with polyethylene. ABS and nylon-6 were immiscible with the polyolefins, but partially miscible with each other. As expected, the polyurethane foam was immiscible with the other components. The minor components of the model recycle of mixed automotive materials were probably partially miscible with ABS/nylon-6, but there were multiple and unresolved phases in the major blends.

NASA Ares I Launch Vehicle Roll and Reaction Control Systems Design Status

NASA Technical Reports Server (NTRS)

Butt, Adam; Popp, Chris G.; Pitts, Hank M.; Sharp, David J.

2009-01-01

This paper provides an update of design status following the preliminary design review of NASA s Ares I first stage roll and upper stage reaction control systems. The Ares I launch vehicle has been chosen to return humans to the moon, mars, and beyond. It consists of a first stage five segment solid rocket booster and an upper stage liquid bi-propellant J-2X engine. Similar to many launch vehicles, the Ares I has reaction control systems used to provide the vehicle with three degrees of freedom stabilization during the mission. During launch, the first stage roll control system will provide the Ares I with the ability to counteract induced roll torque. After first stage booster separation, the upper stage reaction control system will provide the upper stage element with three degrees of freedom control as needed. Trade studies and design assessments conducted on the roll and reaction control systems include: propellant selection, thruster arrangement, pressurization system configuration, and system component trades. Since successful completion of the preliminary design review, work has progressed towards the critical design review with accomplishments made in the following areas: pressurant / propellant tank, thruster assembly, and other component configurations, as well as thruster module design, and waterhammer mitigation approach. Also, results from early development testing are discussed along with plans for upcoming system testing. This paper concludes by summarizing the process of down selecting to the current baseline configuration for the Ares I roll and reaction control systems.

Finite-element model to predict roll-separation force and defects during rolling of U-10Mo alloys

DOE Office of Scientific and Technical Information (OSTI.GOV)

Soulami, Ayoub; Burkes, Douglas E.; Joshi, Vineet V.

This study used a finite element code, LSDYNA, as a predictive tool to optimize the rolling process. Simulations of the hot rolling of U-10Mo coupons encapsulated in low-carbon steel were conducted following two different schedules. Model predictions of the roll-separation force and roll pack thicknesses at different stages of the rolling process were compared with experimental measurements. The study reported here discussed various attributes of the rolled coupons revealed by the model (e.g., waviness and thickness non-uniformity like dog boning). To investigate the influence of the cladding material on these rolling defects, other cases were simulated:  hot rolling with alternative can materials, namely, 304 stainless steel and Zircaloy-2, and bare-rolling.

A novel integrated chassis controller for full drive-by-wire vehicles

NASA Astrophysics Data System (ADS)

Song, Pan; Tomizuka, Masayoshi; Zong, Changfu

2015-02-01

In this paper, a systematic design with multiple hierarchical layers is adopted in the integrated chassis controller for full drive-by-wire vehicles. A reference model and the optimal preview acceleration driver model are utilised in the driver control layer to describe and realise the driver's anticipation of the vehicle's handling characteristics, respectively. Both the sliding mode control and terminal sliding mode control techniques are employed in the vehicle motion control (MC) layer to determine the MC efforts such that better tracking performance can be attained. In the tyre force allocation layer, a polygonal simplification method is proposed to deal with the constraints of the tyre adhesive limits efficiently and effectively, whereby the load transfer due to both roll and pitch is also taken into account which directly affects the constraints. By calculating the motor torque and steering angle of each wheel in the executive layer, the total workload of four wheels is minimised during normal driving, whereas the MC efforts are maximised in extreme handling conditions. The proposed controller is validated through simulation to improve vehicle stability and handling performance in both open- and closed-loop manoeuvres.

[On evaluating the robot-based experimental system for biomechanical experiment of human knee].

PubMed

Deng, Guoyong; Tian, Lianfang; Bai, Bo; Sun, Hui

2010-02-01

This is a report on how we use the hybrid force-displacement control method to load the human knee and analyze the effect and value of our robot experimental system through the biomechanical experiments of total meniscal resection of human knee. The whole robot control system can load continuously on the specimens, thus overcoming the shortcomings of the traditional loading methods which can only load discretely. In the meantime, by using the robot-based testing system, the force (torque) of the specimens and the spatial position under the force can be measured in real-time, which overcomes the shortcomings caused by the separation of force (torque) measurement from displacement measurement and so greatly improves the measurement accuracy.

Deformation of fluctuating chiral ribbons

NASA Astrophysics Data System (ADS)

Panyukov, Sergey

2003-03-01

We find analytical solution of the model of a fluctuating filament with a spontaneously twisted noncircular cross section in the presence of external force and torque. We show that when such ribbon is subjected to a sufficiently strong extensional force, it exhibits an asymmetric response to large degrees of overwinding and unwinding. We construct the stability diagram that describes the buckling transition of such ribbons under the opposing action of force and torque and show that all the observed behaviors can be understood in terms of continuous transformations between straight and spiral states of the ribbon. The relation between our results and experimental observations on DNA is discussed and a new reentrant spiral to rod transition is predicted at intermediate values of twist rigidity and applied force.

Advantages and disadvantages of new torque-controlled endodontic motors and low-torque NiTi rotary instrumentation.

PubMed

Gambarini, G

2001-12-01

The main problem with the NiTi rotary instrumentation technique is instrument failure. During shaping procedures, rotary instruments might lock and/or screw into canals and, consequently, be subjected to high levels of stress. This may frequently lead to instrument separation or deformation. If a high-torque motor is used, the applied forces are usually very high and the instrument-fracture limit is often exceeded, thus increasing the risk of intracanal failure. A possible solution of this problem is to use a low-torque endodontic motor, which operates below the maximum permissible torque limit of each and every rotary instrument. During clinical instrumentation of root canals, if a torque-controlled motor is loaded right up to the instrument-specific torque, the motor stops momentarily and/or starts rotating counter-clockwise (auto-reverse function) to disengage the locked instrument. These safety mechanisms were developed to reduce the risk of instrument fracture. The author fully discusses the rationale for selecting lower torque values in everyday endodontic practice, and provides clinicians with useful information on the advantages and disadvantages of new endodontic motors with torque control.

Estimates of the dissipative heat and axial torque generated by ocean tides on icy satellites in the outer solar system.

NASA Astrophysics Data System (ADS)

Tyler, R.

2012-09-01

The tidal flow response generated in a satellite ocean depends strongly on the ocean configuration parameters as these parameters control the form and frequencies of the ocean's natural modes of oscillation; if there is a near match between the form and frequency of one of these natural modes and that of one of the available tidal forcing constituents, the ocean can be resonantly excited, producing a strong tidal response. The fundamental elements of the response are described by the tidal flow and surface fluctuations. Derivative elements of the response include the associated dissipative heat, stress, and forces/torques. The dissipative heat has received much previous attention as it may be important in explaining the heat budget on several of the satellites in the Outer Solar System. While these estimates will be reviewed and compared with the tidal dissipation estimates compiled in Hussman et al. (2010), the primary goal in this presentation is to extend the analysis to consider the tidally generated axial torque on the satellites and the potential consquences for rotation. Interestingly, even a synchronously rotating satellite will, if a global fluid layer is included, experience a complex set of opportunities for torques in both the prograde and retrograde sense. The amplitude and sense of the torque sensitively depends on the ocean parameters controlling the tidal response. This sensitivity, combined with expected feedbacks whereby the tides affect the orbital parameters, suggests that the evolution of the satellite system will experience phases of both prograde and retrograde tidal torques during its evolution. A related point is that parameters of the ocean might be inferred from inferences or observations of torque or rotational deviations. In the panels to the right we show the nondimensional tidal torques associated with obliquity (top) and eccentricity (bottom). The parameters described in the labeling are the fluid density ρ, surface gravity g, ocean surface area A, tidal equilibrium height ηF, dissipation quality factor Q,and c=(gh)1/2, cr=Ωa, with ocean thickness h, rotation rate Ω, and radius a. Torque due to tides forced by obliquity as a function of the parameters c/cr and Q. Retrograde ("Westward") and prograde ("Eastward") components shown in left and right panels, respectively. Log10 scale shown in colorbar.

Tires

DTIC Science & Technology

2015-12-15

during shipment, protect the threads of the valve stem, and shield the folded tube against abrasion by the threads . A metal valve cap contains a...Test types include force and moment, rolling resistance , steer frequency response, load-deflection curves, characteristics, endurance, and...several on-vehicle tests. 15. SUBJECT TERMS tire test rig force and moment rolling resistance steer frequency response

Free-to-Roll Testing of Airplane Models in Wind Tunnels

NASA Technical Reports Server (NTRS)

Capone, Francis J.; Owens, D. Bruce; Hall, Robert M.

2007-01-01

A free-to-roll (FTR) test technique and test rig make it possible to evaluate both the transonic performance and the wingdrop/ rock behavior of a high-strength airplane model in a single wind-tunnel entry. The free-to-roll test technique is a single degree-of-motion method in which the model is free to roll about the longitudinal axis. The rolling motion is observed, recorded, and analyzed to gain insight into wing-drop/rock behavior. Wing-drop/rock is one of several phenomena symptomatic of abrupt wing stall. FTR testing was developed as part of the NASA/Navy Abrupt Wing Stall Program, which was established for the purposes of understanding and preventing significant unexpected and uncommanded (thus, highly undesirable) lateral-directional motions associated with wing-drop/rock, which have been observed mostly in fighter airplanes under high-subsonic and transonic maneuvering conditions. Before FTR testing became available, wingrock/ drop behavior of high-performance airplanes undergoing development was not recognized until flight testing. FTR testing is a reliable means of detecting, and evaluating design modifications for reducing or preventing, very complex abrupt wing stall phenomena in a ground facility prior to flight testing. The FTR test rig was designed to replace an older sting attachment butt, such that a model with its force balance and support sting could freely rotate about the longitudinal axis. The rig (see figure) includes a rotary head supported in a stationary head with a forward spherical roller bearing and an aft needle bearing. Rotation is amplified by a set of gears and measured by a shaft-angle resolver; the roll angle can be resolved to within 0.067 degrees at a rotational speed up to 1,000 degrees/s. An assembly of electrically actuated brakes between the rotary and stationary heads can be used to hold the model against a rolling torque at a commanded roll angle. When static testing is required, a locking bar is used to fix the rotating head rigidly to the stationary head. Switching between the static and FTR test modes takes only about 30 minutes. The FTR test rig was originally mounted in a 16-ft (approximately 4.0-m) transonic wind tunnel, but could just as well be adapted to use in any large wind tunnel. In one series of tests on the FTR rig, static and dynamic characteristics of models of four different fighter airplanes were measured. Two of the models exhibited uncommanded lateral motions; the other two did not. A figure of merit was developed to discern the severity of lateral motions. Using this figure of merit, it was shown that the FTR test technique enabled identification of conditions under which the uncommanded lateral motions occurred. The wind-tunnel conditions thus identified were found to be correlated with flight conditions under which the corresponding full-size airplanes exhibited uncommanded lateral motions.

Force characteristics in continuous path controlled crankpin grinding

NASA Astrophysics Data System (ADS)

Zhang, Manchao; Yao, Zhenqiang

2015-03-01

Recent research on the grinding force involved in cylindrical plunge grinding has focused mainly on steady-state conditions. Unlike in conventional external cylindrical plunge grinding, the conditions between the grinding wheel and the crankpin change periodically in path controlled grinding because of the eccentricity of the crankpin and the constant rotational speed of the crankshaft. The objective of this study is to investigate the effects of various grinding conditions on the characteristics of the grinding force during continuous path controlled grinding. Path controlled plunge grinding is conducted at a constant rotational speed using a cubic boron nitride (CBN) wheel. The grinding force is determined by measuring the torque. The experimental results show that the force and torque vary sinusoidally during dry grinding and load grinding. The variations in the results reveal that the resultant grinding force and torque decrease with higher grinding speeds and increase with higher peripheral speeds of the pin and higher grinding depths. In path controlled grinding, unlike in conventional external cylindrical plunge grinding, the axial grinding force cannot be disregarded. The speeds and speed ratios of the workpiece and wheel are also analyzed, and the analysis results show that up-grinding and down-grinding occur during the grinding process. This paper proposes a method for describing the force behavior under varied process conditions during continuous path controlled grinding, which provides a beneficial reference for describing the material removal mechanism and for optimizing continuous controlled crankpin grinding.

Dynamical Models for Sloshing Dynamics of Helium 2 Under Low-G Conditions

NASA Technical Reports Server (NTRS)

Hung, R. J.; Long, Y. T.

1997-01-01

Coupling of sloshing dynamics within a partially filled rotating dewar of superfluid helium 2 with spacecraft dynamics are investigated in response to the realistic environmental disturbance forces and torques acting on the spacecraft during normal operation. This study investigates: (1) the rotating bubble of superfluid helium 2 reacting to combined environmental disturbances, including gravity gradient, aerodynamic, and magnetic forces and torques; (2) characteristics of slosh reaction forces and torques coupling with spacecraft dynamics; (3) the contribution of slosh dynamics to over-all spacecraft dynamics; and (4) activating of attitude and translation control system. The numerical computation of sloshing dynamics is based on the rotational frame, while the spacecraft dynamics is associated with non-rotational frame. Results show that the contributions of spacecraft dynamics are driven by the environmental disturbances coupling with slosh dynamics. Without considering the effects of environmental disturbances-driven slosh dynamics acting on spacecraft coupling with the spacecraft dynamics may lead to the wrong results for the development of spacecraft system guidance and attitude control techniques.

Mixed convective/dynamic roll vortices and their effects on initial wind and temperature profiles

NASA Technical Reports Server (NTRS)

Haack, Tracy; Shirer, Hampton N.

1991-01-01

The onset and development of both dynamically and convectively forced boundary layer rolls are studied with linear and nonlinear analyses of a truncated spectral model of shallow Boussinesq flow. Emphasis is given here on the energetics of the dominant roll modes, on the magnitudes of the roll-induced modifications of the initial basic state wind and temperature profiles, and on the sensitivity of the linear stability results to the use of modified profiles as basic states. It is demonstrated that the roll circulations can produce substantial changes to the cross-roll component of the initial wind profile and that significant changes in orientation angle estimates can result from use of a roll-modified profile in the stability analysis. These results demonstrate that roll contributions must be removed from observed background wind profiles before using them to investigate the mechanisms underlying actual secondary flows in the boundary layer. The model is developed quite generally to accept arbitrary basic state wind profiles as dynamic forcing. An Ekman profile is chosen here merely to provide a means for easy comparison with other theoretical boundary layer studies; the ultimate application of the model is to study observed boundary layer profiles. Results of the analytic stability analysis are validated by comparing them with results from a larger linear model. For an appropriate Ekman depth, a complete set of transition curves is given in forcing parameter space for roll modes driven both thermally and dynamically. Preferred orientation angles, horizontal wavelengths and propagation frequencies, as well as energetics and wind profile modifications, are all shown to agree rather well with results from studies on Ekman layers as well as with studies on near-neutral and convective atmospheric boundary layers.

Filament wound data base development, revision 1, appendix A

NASA Technical Reports Server (NTRS)

Sharp, R. Scott; Braddock, William F.

1985-01-01

Data are presented in tabular form for the High Performance Nozzle Increments, Filament Wound Case (FWC) Systems Tunnel Increments, Steel Case Systems Tunnel Increments, FWC Stiffener Rings Increments, Steel Case Stiffener Rings Increments, FWC External Tank (ET) Attach Ring Increments, Steel Case ET Attach Ring Increments, and Data Tape 8. The High Performance Nozzle are also presented in graphical form. The tabular data consist of six-component force and moment coefficients as they vary with angle of attack at a specific Mach number and roll angle. The six coefficients are normal force, pitching moment, side force, yawing moment, axial force, and rolling moment. The graphical data for the High Performance Nozzle Increments consist of a plot of a coefficient increment as a function of angle of attack at a specific Mach number and at a roll angle of 0 deg.

Solid lubrication design methodology

NASA Technical Reports Server (NTRS)

Aggarwal, B. B.; Yonushonis, T. M.; Bovenkerk, R. L.

1984-01-01

A single element traction rig was used to measure the traction forces at the contact of a ball against a flat disc at room temperature under combined rolling and sliding. The load and speed conditions were selected to match those anticipated for bearing applications in adiabatic diesel engines. The test program showed that the magnitude of traction forces were almost the same for all the lubricants tested; a lubricant should, therefore, be selected on the basis of its ability to prevent wear of the contact surfaces. Traction vs. slide/roll ratio curves were similar to those for liquid lubricants but the traction forces were an order of magnitude higher. The test data was used to derive equations to predict traction force as a function of contact stress and rolling speed. Qualitative design guidelines for solid lubricated concentrated contacts are proposed.

Zero torque gear head wrench

NASA Technical Reports Server (NTRS)

Mcdougal, A. R.; Norman, R. M. (Inventor)

1976-01-01

A gear head wrench particularly suited for use in applying torque to bolts without transferring torsional stress to bolt-receiving structures is introduced. The wrench is characterized by a coupling including a socket, for connecting a bolt head with a torque multiplying gear train, provided within a housing having an annulus concentrically related to the socket and adapted to be coupled with a spacer interposed between the bolt head and the juxtaposed surface of the bolt-receiving structure for applying a balancing counter-torque to the spacer as torque is applied to the bolt head whereby the bolt-receiving structure is substantially isolated from torsional stress. As a result of the foregoing, the operator of the wrench is substantially isolated from any forces which may be imposed.

Estimations of One Repetition Maximum and Isometric Peak Torque in Knee Extension Based on the Relationship Between Force and Velocity.

PubMed

Sugiura, Yoshito; Hatanaka, Yasuhiko; Arai, Tomoaki; Sakurai, Hiroaki; Kanada, Yoshikiyo

2016-04-01

We aimed to investigate whether a linear regression formula based on the relationship between joint torque and angular velocity measured using a high-speed video camera and image measurement software is effective for estimating 1 repetition maximum (1RM) and isometric peak torque in knee extension. Subjects comprised 20 healthy men (mean ± SD; age, 27.4 ± 4.9 years; height, 170.3 ± 4.4 cm; and body weight, 66.1 ± 10.9 kg). The exercise load ranged from 40% to 150% 1RM. Peak angular velocity (PAV) and peak torque were used to estimate 1RM and isometric peak torque. To elucidate the relationship between force and velocity in knee extension, the relationship between the relative proportion of 1RM (% 1RM) and PAV was examined using simple regression analysis. The concordance rate between the estimated value and actual measurement of 1RM and isometric peak torque was examined using intraclass correlation coefficients (ICCs). Reliability of the regression line of PAV and % 1RM was 0.95. The concordance rate between the actual measurement and estimated value of 1RM resulted in an ICC(2,1) of 0.93 and that of isometric peak torque had an ICC(2,1) of 0.87 and 0.86 for 6 and 3 levels of load, respectively. Our method for estimating 1RM was effective for decreasing the measurement time and reducing patients' burden. Additionally, isometric peak torque can be estimated using 3 levels of load, as we obtained the same results as those reported previously. We plan to expand the range of subjects and examine the generalizability of our results.

Adjustable vector Airy light-sheet single optical tweezers: negative radiation forces on a subwavelength spheroid and spin torque reversal

NASA Astrophysics Data System (ADS)

Mitri, Farid G.

2018-01-01

Generalized solutions of vector Airy light-sheets, adjustable per their derivative order m, are introduced stemming from the Lorenz gauge condition and Maxwell's equations using the angular spectrum decomposition method. The Cartesian components of the incident radiated electric, magnetic and time-averaged Poynting vector fields in free space (excluding evanescent waves) are determined and computed with particular emphasis on the derivative order of the Airy light-sheet and the polarization on the magnetic vector potential forming the beam. Negative transverse time-averaged Poynting vector components can arise, while the longitudinal counterparts are always positive. Moreover, the analysis is extended to compute the optical radiation force and spin torque vector components on a lossless dielectric prolate subwavelength spheroid in the framework of the electric dipole approximation. The results show that negative forces and spin torques sign reversal arise depending on the derivative order of the beam, the polarization of the magnetic vector potential, and the orientation of the subwavelength prolate spheroid in space. The spin torque sign reversal suggests that counter-clockwise or clockwise rotations around the center of mass of the subwavelength spheroid can occur. The results find useful applications in single Airy light-sheet tweezers, particle manipulation, handling, and rotation applications to name a few examples.

A comparison of torque expression between stainless steel, titanium molybdenum alloy, and copper nickel titanium wires in metallic self-ligating brackets.

PubMed

Archambault, Amy; Major, Thomas W; Carey, Jason P; Heo, Giseon; Badawi, Hisham; Major, Paul W

2010-09-01

The force moment providing rotation of the tooth around the x-axis (buccal-lingual) is referred to as torque expression in orthodontic literature. Many factors affect torque expression, including the wire material characteristics. This investigation aims to provide an experimental study into and comparison of the torque expression between wire types. With a worm-gear-driven torquing apparatus, wire was torqued while a bracket mounted on a six-axis load cell was engaged. Three 0.019 x 0.0195 inch wire (stainless steel, titanium molybdenum alloy [TMA], copper nickel titanium [CuNiTi]), and three 0.022 inch slot bracket combinations (Damon 3MX, In-Ovation-R, SPEED) were compared. At low twist angles (<12 degrees), the differences in torque expression between wires were not statistically significant. At twist angles over 24 degrees, stainless steel wire yielded 1.5 to 2 times the torque expression of TMA and 2.5 to 3 times that of nickel titanium (NiTi). At high angles of torsion (over 40 degrees) with a stiff wire material, loss of linear torque expression sometimes occurred. Stainless steel has the largest torque expression, followed by TMA and then NiTi.

Analysis of joint force and torque for the human and non-human ape foot during bipedal walking with implications for the evolution of the foot.

PubMed

Wang, Weijie; Abboud, Rami J; Günther, Michael M; Crompton, Robin H

2014-08-01

The feet of apes have a different morphology from those of humans. Until now, it has merely been assumed that the morphology seen in humans must be adaptive for habitual bipedal walking, as the habitual use of bipedal walking is generally regarded as one of the most clear-cut differences between humans and apes. This study asks simply whether human skeletal proportions do actually enhance foot performance during human-like bipedalism, by examining the influence of foot proportions on force, torque and work in the foot joints during simulated bipedal walking. Skeletons of the common chimpanzee, orangutan, gorilla and human were represented by multi-rigid-body models, where the components of the foot make external contact via finite element surfaces. The models were driven by identical joint motion functions collected from experiments on human walking. Simulated contact forces between the ground and the foot were found to be reasonably comparable with measurements made during human walking using pressure- and force-platforms. Joint force, torque and work in the foot were then predicted. Within the limitations of our model, the results show that during simulated human-like bipedal walking, (1) the human and non-human ape (NHA) feet carry similar joint forces, although the distributions of the forces differ; (2) the NHA foot incurs larger joint torques than does the human foot, although the human foot has higher values in the first tarso-metatarsal and metatarso-phalangeal joints, whereas the NHA foot incurs higher values in the lateral digits; and (3) total work in the metatarso-phalangeal joints is lower in the human foot than in the NHA foot. The results indicate that human foot proportions are indeed well suited to performance in normal human walking. © 2014 Anatomical Society.

Analysis of joint force and torque for the human and non-human ape foot during bipedal walking with implications for the evolution of the foot

PubMed Central

Wang, Weijie; Abboud, Rami J; Günther, Michael M; Crompton, Robin H

2014-01-01

The feet of apes have a different morphology from those of humans. Until now, it has merely been assumed that the morphology seen in humans must be adaptive for habitual bipedal walking, as the habitual use of bipedal walking is generally regarded as one of the most clear-cut differences between humans and apes. This study asks simply whether human skeletal proportions do actually enhance foot performance during human-like bipedalism, by examining the influence of foot proportions on force, torque and work in the foot joints during simulated bipedal walking. Skeletons of the common chimpanzee, orangutan, gorilla and human were represented by multi-rigid-body models, where the components of the foot make external contact via finite element surfaces. The models were driven by identical joint motion functions collected from experiments on human walking. Simulated contact forces between the ground and the foot were found to be reasonably comparable with measurements made during human walking using pressure- and force-platforms. Joint force, torque and work in the foot were then predicted. Within the limitations of our model, the results show that during simulated human-like bipedal walking, (1) the human and non-human ape (NHA) feet carry similar joint forces, although the distributions of the forces differ; (2) the NHA foot incurs larger joint torques than does the human foot, although the human foot has higher values in the first tarso-metatarsal and metatarso-phalangeal joints, whereas the NHA foot incurs higher values in the lateral digits; and (3) total work in the metatarso-phalangeal joints is lower in the human foot than in the NHA foot. The results indicate that human foot proportions are indeed well suited to performance in normal human walking. PMID:24925580

Rolling Process Modeling Report. Finite-Element Model Validation and Parametric Study on various Rolling Process parameters

DOE Office of Scientific and Technical Information (OSTI.GOV)

Soulami, Ayoub; Lavender, Curt A.; Paxton, Dean M.

2015-06-15

Pacific Northwest National Laboratory (PNNL) has been investigating manufacturing processes for the uranium-10% molybdenum alloy plate-type fuel for high-performance research reactors in the United States. This work supports the U.S. Department of Energy National Nuclear Security Administration’s Office of Material Management and Minimization Reactor Conversion Program. This report documents modeling results of PNNL’s efforts to perform finite-element simulations to predict roll-separating forces for various rolling mill geometries for PNNL, Babcock & Wilcox Co., Y-12 National Security Complex, Los Alamos National Laboratory, and Idaho National Laboratory. The model developed and presented in a previous report has been subjected to further validationmore » study using new sets of experimental data generated from a rolling mill at PNNL. Simulation results of both hot rolling and cold rolling of uranium-10% molybdenum coupons have been compared with experimental results. The model was used to predict roll-separating forces at different temperatures and reductions for five rolling mills within the National Nuclear Security Administration Fuel Fabrication Capability project. This report also presents initial results of a finite-element model microstructure-based approach to study the surface roughness at the interface between zirconium and uranium-10% molybdenum.« less

Quantifying the Precision of Single-Molecule Torque and Twist Measurements Using Allan Variance.

PubMed

van Oene, Maarten M; Ha, Seungkyu; Jager, Tessa; Lee, Mina; Pedaci, Francesco; Lipfert, Jan; Dekker, Nynke H

2018-04-24

Single-molecule manipulation techniques have provided unprecedented insights into the structure, function, interactions, and mechanical properties of biological macromolecules. Recently, the single-molecule toolbox has been expanded by techniques that enable measurements of rotation and torque, such as the optical torque wrench (OTW) and several different implementations of magnetic (torque) tweezers. Although systematic analyses of the position and force precision of single-molecule techniques have attracted considerable attention, their angle and torque precision have been treated in much less detail. Here, we propose Allan deviation as a tool to systematically quantitate angle and torque precision in single-molecule measurements. We apply the Allan variance method to experimental data from our implementations of (electro)magnetic torque tweezers and an OTW and find that both approaches can achieve a torque precision better than 1 pN · nm. The OTW, capable of measuring torque on (sub)millisecond timescales, provides the best torque precision for measurement times ≲10 s, after which drift becomes a limiting factor. For longer measurement times, magnetic torque tweezers with their superior stability provide the best torque precision. Use of the Allan deviation enables critical assessments of the torque precision as a function of measurement time across different measurement modalities and provides a tool to optimize measurement protocols for a given instrument and application. Copyright © 2018 Biophysical Society. Published by Elsevier Inc. All rights reserved.

A teleoperation training simulator with visual and kinesthetic force virtual reality

NASA Technical Reports Server (NTRS)

Kim, Won S.; Schenker, Paul

1992-01-01

A force-reflecting teleoperation training simulator with a high-fidelity real-time graphics display has been developed for operator training. A novel feature of this simulator is that it enables the operator to feel contact forces and torques through a force-reflecting controller during the execution of the simulated peg-in-hole task, providing the operator with the feel of visual and kinesthetic force virtual reality. A peg-in-hole task is used in our simulated teleoperation trainer as a generic teleoperation task. A quasi-static analysis of a two-dimensional peg-in-hole task model has been extended to a three-dimensional model analysis to compute contact forces and torques for a virtual realization of kinesthetic force feedback. The simulator allows the user to specify force reflection gains and stiffness (compliance) values of the manipulator hand for both the three translational and the three rotational axes in Cartesian space. Three viewing modes are provided for graphics display: single view, two split views, and stereoscopic view.

A New Twist on Torque Labs

ERIC Educational Resources Information Center

Lane, W. Brian

2014-01-01

The traditional introductory-level meterstick-balancing lab assumes that students already know what torque is and that they readily identify it as a physical quantity of interest. We propose a modified version of this activity in which students qualitatively and quantitatively measure the amount of force required to keep the meterstick level. The…

40 CFR 1065.310 - Torque calibration.

Code of Federal Regulations, 2014 CFR

2014-07-01

... force is measured. The lever arm must be perpendicular to gravity (i.e., horizontal), and it must be... known distance along a lever arm. Make sure the weights' lever arm is perpendicular to gravity (i.e... Earth's gravity, as described in § 1065.630. Calculate the reference torque as the weights' reference...

Forces Generated by Vastus Lateralis and Vastus Medialis Decrease with Increasing Stair Descent Speed.

PubMed

Caruthers, Elena J; Oxendale, Kassandra K; Lewis, Jacqueline M; Chaudhari, Ajit M W; Schmitt, Laura C; Best, Thomas M; Siston, Robert A

2018-04-01

Stair descent (SD) is a common, difficult task for populations who are elderly or have orthopaedic pathologies. Joint torques of young, healthy populations during SD increase at the hip and ankle with increasing speed but not at the knee, contrasting torque patterns during gait. To better understand the sources of the knee torque pattern, we used dynamic simulations to estimate knee muscle forces and how they modulate center of mass (COM) acceleration across SD speeds (slow, self-selected, and fast) in young, healthy adults. The vastus lateralis and vastus medialis forces decreased from slow to self-selected speeds as the individual lowered to the next step. Since the vasti are primary contributors to vertical support during SD, they produced lower forces at faster speeds due to the lower need for vertical COM support observed at faster speeds. In contrast, the semimembranosus and rectus femoris forces increased across successive speeds, allowing the semimembranosus to increase acceleration downward and forward and the rectus femoris to provide more vertical support and resistance to forward progression as SD speed increased. These results demonstrate the utility of dynamic simulations to extend beyond traditional inverse dynamics analyses to gain further insight into muscle mechanisms during tasks like SD.

Bending stiffness, torsional stability, and insertion force of cementless femoral stems.

PubMed

Incavo, S J; Johnson, C C; Churchill, D L; Beynnon, B D

2001-04-01

In cementless total hip arthroplasty, increased femoral stem flexibility and decreased fracture propensity are desirable characteristics. The slotting and tapering of the stem have been introduced to achieve this. These features should not, however, be allowed to interfere with the ability of the distal stem to provide initial mechanical stability, especially under rotation. This study was done to investigate the ability of slotted and tapered stem designs to reduce stiffness and insertion force while still maintaining adequate torsional strength. The torsional strength, maximum insertion force, and insertional work of straight, slotted, and taper stems were measured by inserting each type into rigid polyurethane foam and torque testing to failure. Bending stiffness of each stem design was calculated using numerical methods. When compared to a straight stem, a unislot stem has similar torsional strength, maximum insertional force, and work of insertion. The bending stiffness is decreased by 19% to 82% depending on the bending direction. A trislot design decreased torque strength by 29%, maximal insertion force by 36%, and work by 11%. Bending stiffness was decreased by 74% and was not dependent on bending direction. A 0.5-mm taper decreased torque strength by 11% and insertional work by 14%. No difference was seen in maximum insertional force. We conclude that the design features studied (slots and taper) are effective in decreasing stem stiffness and reducing fracture propensity.

Power-to-load balancing for asymmetric heave wave energy converters with nonideal power take-off

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tom, Nathan M.; Madhi, Farshad; Yeung, Ronald W.

The aim of this study is to maximize the power-to-load ratio for asymmetric heave wave energy converters. Linear hydrodynamic theory was used to calculate bounds of the expected time-averaged power (TAP) and corresponding surge-restraining force, pitch-restraining torque, and power take-off (PTO) control force with the assumption of sinusoidal displacement. This paper formulates an optimal control problem to handle an objective function with competing terms in an attempt to maximize power capture while minimizing structural and actuator loads in regular and irregular waves. Penalty weights are placed on the surge-restraining force, pitch-restraining torque, and PTO actuation force, thereby allowing the controlmore » focus to concentrate on either power absorption or load mitigation. The penalty weights are used to control peak structural and actuator loads that were found to curb the additional losses in power absorption associated with a nonideal PTO. Thus, in achieving these goals, a per-unit gain in TAP would not lead to a greater per-unit demand in structural strength, hence yielding a favorable benefit-to-cost ratio. Demonstrative results for 'The Berkeley Wedge' in the form of output TAP, reactive TAP needed to drive WEC motion, and the amplitudes of the surge-restraining force, pitch-restraining torque, and PTO control force are shown.« less

Power-to-load balancing for asymmetric heave wave energy converters with nonideal power take-off

DOE PAGES

Tom, Nathan M.; Madhi, Farshad; Yeung, Ronald W.

2017-12-11

The aim of this study is to maximize the power-to-load ratio for asymmetric heave wave energy converters. Linear hydrodynamic theory was used to calculate bounds of the expected time-averaged power (TAP) and corresponding surge-restraining force, pitch-restraining torque, and power take-off (PTO) control force with the assumption of sinusoidal displacement. This paper formulates an optimal control problem to handle an objective function with competing terms in an attempt to maximize power capture while minimizing structural and actuator loads in regular and irregular waves. Penalty weights are placed on the surge-restraining force, pitch-restraining torque, and PTO actuation force, thereby allowing the controlmore » focus to concentrate on either power absorption or load mitigation. The penalty weights are used to control peak structural and actuator loads that were found to curb the additional losses in power absorption associated with a nonideal PTO. Thus, in achieving these goals, a per-unit gain in TAP would not lead to a greater per-unit demand in structural strength, hence yielding a favorable benefit-to-cost ratio. Demonstrative results for 'The Berkeley Wedge' in the form of output TAP, reactive TAP needed to drive WEC motion, and the amplitudes of the surge-restraining force, pitch-restraining torque, and PTO control force are shown.« less

Effects of abutment screw coating on implant preload.

PubMed

Park, Jae-Kyoung; Choi, Jin-Uk; Jeon, Young-Chan; Choi, Kyung-Soo; Jeong, Chang-Mo

2010-08-01

The aim of the present study was to investigate the effects of tungsten carbide carbon (WC/CTa) screw surface coating on abutment screw preload in three implant connection systems in comparison to noncoated titanium alloy (Ta) screws. Preload of WC/CTa abutment screws was compared to noncoated Ta screws in three implant connection systems. The differences in preloads were measured in tightening rotational angle, compression force, initial screw removal torque, and postload screw removal torque after 1 million cyclic loads. Preload loss percent was calculated to determine the efficacy of maintaining the preload of two abutment screw types in relation to implant connection systems. WC/CTa screws provided 10 degrees higher tightening rotational angle than Ta screws in all three connection systems. This difference was statistically significant (p < 0.05). External-hex butt joint implant connections had a higher compression force than the two internal conical implant connections. WC/CTa screws provided a statistically significantly higher compression force than Ta screws in all three implant connections (p < 0.05). Ta screws required statistically higher removal torque than WC/CTa screws in all three implant connections (p < 0.05); however, Ta screws needed statistically lower postload removal torque than WC/CTa screws in all three implant connections (p < 0.05). Ta screws had a statistically higher preload loss percent than WC/CTa screws in all three implant connections (p < 0.05), indicating that WC/CTa screws were superior in maintaining the preload than Ta screws. Within the limits of present study, the following conclusions were made: (1) WC/CTa screws provided higher preload than noncoated Ta screws in all three implant connection systems. (2) The initial removal torque for Ta screws required higher force than WC/CTa screws, whereas postload removal torque for Ta screws was lower than WC/CTa screws. Calculated Ta screw preload loss percent was higher than for WC/CTa screws, suggesting that WC/CTa screws were more effective in maintaining the preload than Ta screws. (3) Internal conical connections were more effective in maintaining the screw preload in cyclic loads than external-hex butt joint connections.

Torque sensor

NASA Astrophysics Data System (ADS)

Fgeppert, E.

1984-09-01

Mechanical means for sensing turning torque generated by the load forces in a rotary drive system is described. The sensing means is designed to operate with minimal effect on normal operation of the drive system. The invention can be employed in various drive systems, e.g., automotive engine-transmission power plants, electric motor-operated tools, and metal cutting machines. In such drive systems, the torque-sensing feature may be useful for actuation of various control devices, such as electric switches, mechanical clutches, brake actuators, fluid control valves, or audible alarms. The torque-sensing function can be used for safety overload relief, motor de-energization, engine fuel control transmission clutch actuation, remote alarm signal, tool breakage signal, etc.

Reduction in Tribological Energy Losses in the Transportation and Electric Utilities Sectors

DTIC Science & Technology

1985-09-01

detailed a flow tree as possible. A major difficulty here lies in the fact that such detailed data are not always available or known. Another is that...Followers 14% Spring Load Reduction Same + Rolling Element Fulcrum Bearing Camshaft 0 FIGURE 4.27. Type IV 500 1000 1500 2000 2500 3000... Camshaft rpm Valve Train Friction Reduction with Various Improvements reduced the valve train torque 82% at 1500 rpm and the projected vehicle eco

Investigation of high-speed shaft bearing loads in wind turbine gearboxes through dynamometer testing

DOE PAGES

Guo, Yi; Keller, Jonathan

2017-11-10

Many wind turbine gearboxes require repair or replacement well before reaching the end of their design life. The most common failure is bearing axial cracks, commonly called white etching cracks (WECs), which typically occur in the inner raceways of the high-speed parallel-stage rolling element bearings. Although the root causes of WECs are debated, one theory is that they are related to routine dynamic operating conditions and occasional transient events prevalent in wind turbines that can result in high bearing stress and sliding of the rolling elements. Here, this paper examined wind turbine gearbox high-speed shaft bearing loads and stresses throughmore » modeling and full-scale dynamometer testing. Bearing outer race loads were directly measured and predicted using a variety of modeling tools in normal operations, misaligned conditions, and transient events particularly prone to bearing sliding. Test data and models of bearing loads were well correlated. Neither operational misalignment due to rotor moments nor static generator misalignment affected the bearing loads when compared with pure-torque conditions. Thus, it is not likely that generator misalignment is a causal factor of WECs. In contrast, during transient events, the bearings experienced alternating periods of high stress, torque reversals, and loads under the minimum requisite at high rotating speeds while showing indications of sliding, all of which could be related to the formation of WECs.« less

Investigation of high-speed shaft bearing loads in wind turbine gearboxes through dynamometer testing

DOE Office of Scientific and Technical Information (OSTI.GOV)

Guo, Yi; Keller, Jonathan

Many wind turbine gearboxes require repair or replacement well before reaching the end of their design life. The most common failure is bearing axial cracks, commonly called white etching cracks (WECs), which typically occur in the inner raceways of the high-speed parallel-stage rolling element bearings. Although the root causes of WECs are debated, one theory is that they are related to routine dynamic operating conditions and occasional transient events prevalent in wind turbines that can result in high bearing stress and sliding of the rolling elements. Here, this paper examined wind turbine gearbox high-speed shaft bearing loads and stresses throughmore » modeling and full-scale dynamometer testing. Bearing outer race loads were directly measured and predicted using a variety of modeling tools in normal operations, misaligned conditions, and transient events particularly prone to bearing sliding. Test data and models of bearing loads were well correlated. Neither operational misalignment due to rotor moments nor static generator misalignment affected the bearing loads when compared with pure-torque conditions. Thus, it is not likely that generator misalignment is a causal factor of WECs. In contrast, during transient events, the bearings experienced alternating periods of high stress, torque reversals, and loads under the minimum requisite at high rotating speeds while showing indications of sliding, all of which could be related to the formation of WECs.« less

Loads Model Development and Analysis for the F/A-18 Active Aeroelastic Wing Airplane

NASA Technical Reports Server (NTRS)

Allen, Michael J.; Lizotte, Andrew M.; Dibley, Ryan P.; Clarke, Robert

2005-01-01

The Active Aeroelastic Wing airplane was successfully flight-tested in March 2005. During phase 1 of the two-phase program, an onboard excitation system provided independent control surface movements that were used to develop a loads model for the wing structure and wing control surfaces. The resulting loads model, which was used to develop the control laws for phase 2, is described. The loads model was developed from flight data through the use of a multiple linear regression technique. The loads model input consisted of aircraft states and control surface positions, in addition to nonlinear inputs that were calculated from flight-measured parameters. The loads model output for each wing consisted of wing-root bending moment and torque, wing-fold bending moment and torque, inboard and outboard leading-edge flap hinge moment, trailing-edge flap hinge moment, and aileron hinge moment. The development of the Active Aeroelastic Wing loads model is described, and the ability of the model to predict loads during phase 2 research maneuvers is demonstrated. Results show a good match to phase 2 flight data for all loads except inboard and outboard leading-edge flap hinge moments at certain flight conditions. The average load prediction errors for all loads at all flight conditions are 9.1 percent for maximum stick-deflection rolls, 4.4 percent for 5-g windup turns, and 7.7 percent for 4-g rolling pullouts.

Phosphorus Segregation in Meta-Rapidly Solidified Carbon Steels

NASA Astrophysics Data System (ADS)

Li, Na; Qiao, Jun; Zhang, Junwei; Sha, Minghong; Li, Shengli

2017-09-01

Twin-roll strip casters for near-net-shape manufacture of steels have received increased attention in the steel industry. Although negative segregation of phosphorus occurred in twin-roll strip casting (TRSC) steels in our prior work, its mechanism is still unclear. In this work, V-shaped molds were designed and used to simulate a meta-rapid solidification process without roll separating force during twin roll casting of carbon steels. Experimental results show that no obvious phosphorus segregation exist in the V-shaped mold casting (VMC) steels. By comparing TRSC and the VMC, it is proposed that the negative phosphorus segregation during TRSC results from phosphorus redistribution driven by recirculating and vortex flow in the molten pool. Meanwhile, solute atoms near the advancing interface are overtaken and incorporated into the solid because of the high solidification speed. The high rolling force could promote the negative segregation of alloying elements in TRSC.

Skyrmionic spin Seebeck effect via dissipative thermomagnonic torques

NASA Astrophysics Data System (ADS)

Kovalev, Alexey A.

2014-06-01

We derive thermomagnonic torque and its "β-type" dissipative correction from the stochastic Landau-Lifshitz-Gilbert equation. The β-type dissipative correction describes viscous coupling between magnetic dynamics and magnonic current and it stems from spin mistracking of the magnetic order. We show that thermomagnonic torque is important for describing temperature gradient induced motion of skyrmions in helical magnets while dissipative correction plays an essential role in generating transverse Magnus force. We propose to detect such skyrmionic motion by employing the transverse spin Seebeck effect geometry.

Polymorphisms in PTK2 are associated with skeletal muscle specific force: an independent replication study.

PubMed

Stebbings, Georgina K; Williams, A G; Morse, C I; Day, S H

2017-04-01

The aim of the study was to investigate two single nucleotide polymorphisms (SNP) in PTK2 for associations with human muscle strength phenotypes in healthy men. Measurement of maximal isometric voluntary knee extension (MVC KE ) torque, net MVC KE torque and vastus lateralis (VL) specific force, using established techniques, was completed on 120 Caucasian men (age = 20.6 ± 2.3 year; height = 1.79 ± 0.06 m; mass = 75.0 ± 10.0 kg; mean ± SD). All participants provided either a blood (n = 96) or buccal cell sample, from which DNA was isolated and genotyped for the PTK2 rs7843014 A/C and rs7460 A/T SNPs using real-time polymerase chain reaction. Genotype frequencies for both SNPs were in Hardy-Weinberg equilibrium (X 2  ≤ 1.661, P ≥ 0.436). VL specific force was 8.3% higher in rs7843014 AA homozygotes than C-allele carriers (P = 0.017) and 5.4% higher in rs7460 AA homozygotes than T-allele carriers (P = 0.029). No associations between either SNP and net MVC KE torque (P ≥ 0.094) or peak MVC KE torque (P ≥ 0.107) were observed. These findings identify a genetic contribution to the inter-individual variability within muscle specific force and provides the first independent replication, in a larger Caucasian cohort, of an association between these PTK2 SNPs and muscle specific force, thus extending our understanding of the influence of genetic variation on the intrinsic strength of muscle.

In vivo mechanical study of helical cardiac pacing electrode interacting with canine myocardium

NASA Astrophysics Data System (ADS)

Zhang, Xiangming; Ma, Nianke; Fan, Hualin; Niu, Guodong; Yang, Wei

2007-06-01

Cardiac pacing is a medical device to help human to overcome arrhythmia and to recover the regular beats of heart. A helical configuration of electrode tip is a new type of cardiac pacing lead distal tip. The helical electrode attaches itself to the desired site of heart by screwing its helical tip into the myocardium. In vivo experiments on anesthetized dogs were carried out to measure the acute interactions between helical electrode and myocardium during screw-in and pull-out processes. These data would be helpful for electrode tip design and electrode/myocardium adherence safety evaluation. They also provide reliability data for clinical site choice of human heart to implant and to fix the pacing lead. A special design of the helical tip using strain gauges is instrumented for the measurement of the screw-in and pull-out forces. We obtained the data of screw-in torques and pull-out forces for five different types of helical electrodes at nine designed sites on ten canine hearts. The results indicate that the screw-in torques increased steplike while the torque time curves presente saw-tooth fashion. The maximum torque has a range of 0.3 1.9 N mm. Obvious differences are observed for different types of helical tips and for different test sites. Large pull-out forces are frequently obtained at epicardium of left ventricle and right ventricle lateral wall, and the forces obtained at right ventricle apex and outflow tract of right ventricle are normally small. The differences in pull-out forces are dictated by the geometrical configuration of helix and regional structures of heart muscle.

The Plunge Phase of Friction Stir Welding

NASA Technical Reports Server (NTRS)

Nunes, Arthur; McClure, John; Avila, Ricardo

2005-01-01

Torque and plunge force during the initial plunge phase in Friction Stir Welding were measured for a 0.5 inch diameter pin entering a 2219 aluminum alloy plate. Weld structures were preserved for metallographic observation by making emergency stops at various plunge depths. The plunging pin tool is seen to be surrounded by a very fine grained layer of recrystallized metal extending substantially below the bottom of the pin, implying a shear interface in the metal below and not at the tool-metal interface. Torque and plunge force during the initial plunge phase in Friction Stir Welding are calculated from a straight forward model based on a concept to plastic flow in the vicinity of the plunging tool compatible with structural observations. The concept: a disk of weld metal seized to and rotating with the bottom of the pin is squeezed out laterally by the plunge force and extruded upwards in a hollow cylinder around the tool. As the shear surface separating rotating disk from stationary weld metal engulfs fresh metal, the fresh metal is subjected to severe shear deformation, which results in its recrystallization. Encouraging agreement between computations and measured torque and plunge force is obtained.

Towards measuring quantum electrodynamic torque with a levitated nanorod

NASA Astrophysics Data System (ADS)

Xu, Zhujing; Bang, Jaehoon; Ahn, Jonghoon; Hoang, Thai M.; Li, Tongcang

2017-04-01

According to quantum electrodynamics, quantum fluctuations of electromagnetic fields give rise to a zero-point energy that never vanishes, even in the absence of electromagnetic sources. The interaction energy will not only lead to the well-known Casimir force but will also contribute to the Casimir torque for anisotropic materials. We propose to use an optically levitated nanorod in vacuum and a birefringent substrate to experimentally investigate the QED torque. We have previously observed the libration of an optically levitated non-spherical nanoparticle in vacuum and found it to be an ultrasensitive torque sensor. A nanorod with a long axis of 300nm and a diameter of 60nm levitated in vacuum at 10 (- 8) torr will have a remarkable torque detection sensitivity on the order of 10 (- 28) Nm/ √Hz, which will be sufficient to detect the Casimir torque. This work is partially supported by the National Science Foundation under Grant No.1555035-PHY.

Muscle Torque Relative to Cross-Sectional Area and the Functional Muscle-Bone Unit in Children and Adolescents with Chronic Disease

PubMed Central

Lee, Dale Y.; Wetzsteon, Rachel J.; Zemel, Babette S.; Shults, Justine; Organ, Jason M.; Foster, Bethany J.; Herskovitz, Rita M.; Foerster, Debbie L.; Leonard, Mary B.

2015-01-01

Measures of muscle mass or size are often used as surrogates of forces acting on bone. However, chronic diseases may be associated with abnormal muscle force relative to muscle size. The muscle-bone unit was examined in 64 children and adolescents with new-onset Crohn’s disease (CD), 54 with chronic kidney disease (CKD), 51 treated with glucocorticoids for nephrotic syndrome (NS), and 264 healthy controls. Muscle torque was assessed by isometric ankle dynamometry. Calf muscle cross-sectional area (CSA) and tibia cortical section modulus (Zp) were assessed by quantitative CT. Log-linear regression was used to determine the relations among muscle CSA, muscle torque, and Zp, adjusted for tibia length, age, Tanner stage, sex, and race. Muscle CSA and muscle torque-relative-to-muscle CSA were significantly lower than controls in advanced CKD (CSA −8.7%, p = 0.01; torque −22.9%, p < 0.001) and moderate-to-severe CD (CSA −14.1%, p < 0.001; torque −7.6%, p = 0.05), but not in NS. Zp was 11.5% lower in advanced CKD (p = 0.005) compared to controls, and this deficit was attenuated to 6.7% (p = 0.05) with adjustment for muscle CSA. With additional adjustment for muscle torque and body weight, Zp was 5.9% lower and the difference with controls was no longer significant (p = 0.09). In participants with moderate-to-severe CD, Zp was 6.8% greater than predicted (p = 0.01) given muscle CSA and torque deficits (R2=0.92), likely due to acute muscle loss in newly diagnosed patients. Zp did not differ in NS, compared with controls. In conclusion, muscle torque relative to muscle CSA was significantly lower in CKD and CD, compared with controls, and was independently associated with Zp. Future studies are needed to determine if abnormal muscle strength contributes to progressive bone deficits in chronic disease, independent of muscle area. PMID:25264231

Mechanics of snout expansion in suction-feeding seahorses: musculoskeletal force transmission.

PubMed

Van Wassenbergh, Sam; Leysen, Heleen; Adriaens, Dominique; Aerts, Peter

2013-02-01

Seahorses and other syngnathid fishes rely on a widening of the snout to create the buccal volume increase needed to suck prey into the mouth. This snout widening is caused by abduction of the suspensoria, the long and flat bones outlining the lateral sides of the mouth cavity. However, it remains unknown how seahorses can generate a forceful abduction of the suspensoria. To understand how force is transmitted to the suspensoria via the hyoid and the lower jaw, we performed mathematical simulations with models based on computerized tomography scans of Hippocampus reidi. Our results show that the hinge joint between the left and right hyoid bars, as observed in H. reidi, allows for an efficient force transmission to the suspensorium from a wide range of hyoid angles, including the extremely retracted hyoid orientations observed in vivo for syngnathids. Apart from the hyoid retraction force by the sternohyoideus-hypaxial muscles, force generated in the opposite direction on the hyoid by the mandibulohyoid ligament also has an important contribution to suspensorium abduction torque. Forces on the lower jaw contribute only approximately 10% of the total suspensorium torque. In particular, when dynamical aspects of hyoid retraction are included in the model, a steep increase is shown in suspensorium abduction torque at highly retracted hyoid positions, when the linkages to the lower jaw counteract further hyoid rotation in the sagittal plane. A delayed strain in these linkages allows syngnathids to postpone suction generation until the end of cranial rotation, a fundamental difference from non-syngnathiform fishes.

Helmet weight simulator

NASA Technical Reports Server (NTRS)

Ashworth, B. R.; Hall, A. C.; Clark, C. E. (Inventor)

1981-01-01

A device for providing acceleration cues to the helmet of a simulator pilot is described. Pulleys are attached to both shoulders of the pilot. A cable is attached to both sides of the helmet and extends through the pulleys to a takeup reel that is controlled by a torque motor. Control signals are applied to a servo system including the torque motor, the takeup reel and a force transducer which supplies the feedback signal. In one embodiment of the invention the force transducer is in the cable and in another it is in the takeup reel.

[Magnetic resonance compatibility research for coronary mental stents].

PubMed

Wang, Ying; Liu, Li; Wang, Shuo; Shang, Ruyao; Wang, Chunren

2015-01-01

The objective of this article is to research magnetic resonance compatibility for coronary mental stents, and to evaluate the magnetic resonance compatibility based on laboratory testing results. Coronary stents magnetic resonance compatibility test includes magnetically induced displacement force test, magnetically induced torque test, radio frequency induced heating and evaluation of MR image. By magnetic displacement force and torque values, temperature, and image distortion values to determine metal coronary stent demagnetization effect. The methods can be applied to test magnetic resonance compatibility for coronary mental stents and evaluate its demagnetization effect.

On the theory of dynamics of dust grain in plasma

NASA Astrophysics Data System (ADS)

Stepanenko, A. A.; Krasheninnikov, S. I.

2013-03-01

The dynamics of rotationally symmetric dust grains in plasma embedded in a magnetic field are of concern. The general expressions for forces and torques acting on dust are found. It is shown that dust spinning is determined by torques related to both the Lorentz force (dominant for relatively small grains) and the gyro-motion of plasma particles impinging the grain (which prevails for large grains). The stability of grain spinning is analyzed and it is shown that, for some cases (e.g., oblate spheroid), there is no stable dynamic equilibrium of grain spinning.

On the deformation of fluctuating chiral ribbons

NASA Astrophysics Data System (ADS)

Panyukov, S.; Rabin, Y.

2002-02-01

A theoretical analysis of the effect of force and torque on fluctuating chiral ribbons is presented. We find that when a filament with a straight centerline and a spontaneously twisted noncircular cross-section is subjected to a sufficiently strong extensional force, it exhibits an asymmetric response to large degrees of overwinding and unwinding. We construct the stability diagram that describes the buckling transition of such ribbons under the opposing action of force and torque and show that all the observed behaviors can be understood in terms of continuous transformations between straight and spiral states of the ribbon. The relation between our results and experimental observations on DNA is discussed and a new re-entrant spiral-to-rod transition is predicted at intermediate values of twist rigidity and applied force.

Compact Hip-Force Sensor for a Gait-Assistance Exoskeleton System.

PubMed

Choi, Hyundo; Seo, Keehong; Hyung, Seungyong; Shim, Youngbo; Lim, Soo-Chul

2018-02-13

In this paper, we propose a compact force sensor system for a hip-mounted exoskeleton for seniors with difficulties in walking due to muscle weakness. It senses and monitors the delivered force and power of the exoskeleton for motion control and taking urgent safety action. Two FSR (force-sensitive resistors) sensors are used to measure the assistance force when the user is walking. The sensor system directly measures the interaction force between the exoskeleton and the lower limb of the user instead of a previously reported force-sensing method, which estimated the hip assistance force from the current of the motor and lookup tables. Furthermore, the sensor system has the advantage of generating torque in the walking-assistant actuator based on directly measuring the hip-assistance force. Thus, the gait-assistance exoskeleton system can control the delivered power and torque to the user. The force sensing structure is designed to decouple the force caused by hip motion from other directional forces to the sensor so as to only measure that force. We confirmed that the hip-assistance force could be measured with the proposed prototype compact force sensor attached to a thigh frame through an experiment with a real system.

Compact Hip-Force Sensor for a Gait-Assistance Exoskeleton System

PubMed Central

Choi, Hyundo; Seo, Keehong; Hyung, Seungyong; Shim, Youngbo; Lim, Soo-Chul

2018-01-01

In this paper, we propose a compact force sensor system for a hip-mounted exoskeleton for seniors with difficulties in walking due to muscle weakness. It senses and monitors the delivered force and power of the exoskeleton for motion control and taking urgent safety action. Two FSR (force-sensitive resistors) sensors are used to measure the assistance force when the user is walking. The sensor system directly measures the interaction force between the exoskeleton and the lower limb of the user instead of a previously reported force-sensing method, which estimated the hip assistance force from the current of the motor and lookup tables. Furthermore, the sensor system has the advantage of generating torque in the walking-assistant actuator based on directly measuring the hip-assistance force. Thus, the gait-assistance exoskeleton system can control the delivered power and torque to the user. The force sensing structure is designed to decouple the force caused by hip motion from other directional forces to the sensor so as to only measure that force. We confirmed that the hip-assistance force could be measured with the proposed prototype compact force sensor attached to a thigh frame through an experiment with a real system. PMID:29438300

The influence of aging on the isometric torque sharing patterns among the plantar flexor muscles.

PubMed

Oliveira, Liliam F; Verneque, Debora; Menegaldo, Luciano L

2017-01-01

Physiological cross-sectional area (PCSA) reduction of the triceps surae (TS) muscles during aging suggests a proportional loss of torque among its components: soleus, medial and lateral gastrocnemii. However, direct measurements of muscle forces in vivo are not feasible. The purpose of this paper was to compare, between older and young women, isometric ankle joint torque sharing patterns among TS muscles and tibialis anterior (TA). An EMG-driven model was used for estimating individual muscle torque contributions to the total plantar flexor torque, during sustained contractions of 10% and 40% of maximum voluntary contraction (MVC). Relative individual muscle contributions to the total plantar flexion torque were similar between older and young women groups, for both intensities, increasing from LG, MG to SOL. Muscle strength (muscle torque/body mass) was significantly greater for all TS components in 40% MVC contractions. Increased TA activation was observed in 10% of MVC for older people. Despite the reduced maximum isometric torque and muscle strength, the results suggest small variations of ankle muscle synergies during the aging process.

Stokesian dynamics of pill-shaped Janus particles with stick and slip boundary conditions

NASA Astrophysics Data System (ADS)

Sun, Qiang; Klaseboer, Evert; Khoo, Boo Cheong; Chan, Derek Y. C.

2013-04-01

We study the forces and torques experienced by pill-shaped Janus particles of different aspect ratios where half of the surface obeys the no-slip boundary condition and the other half obeys the Navier slip condition of varying slip lengths. Using a recently developed boundary integral formulation whereby the traditional singular behavior of this approach is removed analytically, we quantify the strength of the forces and torques experienced by such particles in a uniform flow field in the Stokes regime. Depending on the aspect ratio and the slip length, the force transverse to the flow direction can change sign. This is a novel property unique to the Janus nature of the particles.

Clustering of cycloidal wave energy converters

DOEpatents

Siegel, Stefan G.

2016-03-29

A wave energy conversion system uses a pair of wave energy converters (WECs) on respective active mountings on a floating platform, so that the separation of the WECs from each other or from a central WEC can be actively adjusted according to the wavelength of incident waves. The adjustable separation facilitates operation of the system to cancel reactive forces, which may be generated during wave energy conversion. Modules on which such pairs of WECs are mounted can be assembled with one or more central WECs to form large clusters in which reactive forces and torques can be made to cancel. WECs of different sizes can be employed to facilitate cancelation of reactive forces and torques.

Multivariate-data-visualization-based investigation of projectiles in sports

NASA Astrophysics Data System (ADS)

Shah, Agam; Chauhan, Yagnesh; Patel, Prithvi; Chaudhury, Bhaskar

2018-07-01

The kinematics and dynamics of projectiles in sports is a complex topic involving several physical quantities and variables such as time, distance, velocity, acceleration, momentum, force, energy, viscosity, pressure, torque, bounce, sliding, rolling, etc. The analysis of these complex sets of multidimensional information, including the correlation between different variables, is an important requirement for the clear understanding of projectile trajectories in sports. However, those who do not have a strong mechanics or physics background find it difficult to interpret the data and comprehend the results in terms of the interacting forces and mutual interaction, which perpetuate the motion of the ball (or projectile). To address this issue, we propose a novel multivariate-data-visualization-based understanding of projectiles in sports inspired by the basic Gestalt principle that the whole is greater than the sum of its parts. The data representation approach involves the use of a single two-dimensional plane for the representation of multidimensional dynamic variables, and thereby completely removes the requirement of using several 2D plots for analysing and comprehending the meaning behind all of the data and how it correlates. For this study, we have considered the dynamics of two ball sports, namely volleyball and table tennis, as well as the sport of badminton, which involves high-drag projectile motion. We have presented a basic computational model incorporating the important forces to study projectile motion in sports. The data generated by the simulation is investigated using the proposed visualization methodology, and we show how this helps it to be interpreted easily, improving the clarity of our understanding of projectile trajectories in sports using both force and energy language.

EMG and force production of the flexor hallucis longus muscle in isometric plantarflexion and the push-off phase of walking.

PubMed

Péter, Annamária; Hegyi, András; Stenroth, Lauri; Finni, Taija; Cronin, Neil J

2015-09-18

Large forces are generated under the big toe in the push-off phase of walking. The largest flexor muscle of the big toe is the flexor hallucis longus (FHL), which likely contributes substantially to these forces. This study examined FHL function at different levels of isometric plantarflexion torque and in the push-off phase at different speeds of walking. FHL and calf muscle activity were measured with surface EMG and plantar pressure was recorded with pressure insoles. FHL activity was compared to the activity of the calf muscles. Force and impulse values were calculated under the big toe, and were compared to the entire pressed area of the insole to determine the relative contribution of big toe flexion forces to the ground reaction force. FHL activity increased with increasing plantarflexion torque level (F=2.8, P=0.024) and with increasing walking speed (F=11.608, P<0.001). No differences were observed in the relative contribution of the force under the big toe to the entire sole between different plantarflexion torque levels (F=0.836, P=0.529). On the contrary, in the push-off phase of walking, peak force under the big toe increased at a higher rate than force under the other areas of the plantar surface (F=3.801, P=0.018), implying a greater relative contribution to total force at faster speeds. Moreover, substantial differences were found between isometric plantarflexion and walking concerning FHL activity relative to that of the calf muscles, highlighting the task-dependant behaviour of FHL. Copyright © 2015 Elsevier Ltd. All rights reserved.

The Anterolateral Capsule of the Knee Behaves Like a Sheet of Fibrous Tissue.

PubMed

Guenther, Daniel; Rahnemai-Azar, Amir A; Bell, Kevin M; Irarrázaval, Sebastián; Fu, Freddie H; Musahl, Volker; Debski, Richard E

2017-03-01

The function of the anterolateral capsule of the knee has not been clearly defined. However, the contribution of this region of the capsule to knee stability in comparison with other anterolateral structures can be determined by the relative force that each structure carries during loading of the knee. Purpose/Hypothesis: The purpose of this study was to determine the forces in the anterolateral structures of the intact and anterior cruciate ligament (ACL)-deficient knee in response to an anterior tibial load and internal tibial torque. It was hypothesized that the anterolateral capsule would not function like a traditional ligament (ie, transmitting forces only along its longitudinal axis). Controlled laboratory study. Loads (134-N anterior tibial load and 7-N·m internal tibial torque) were applied continuously during flexion to 7 fresh-frozen cadaveric knees in the intact and ACL-deficient state using a robotic testing system. The lateral collateral ligament (LCL) and the anterolateral capsule were separated from the surrounding tissue and from each other. This was done by performing 3 vertical incisions: lateral to the LCL, medial to the LCL, and lateral to the Gerdy tubercle. Attachments of the LCL and anterolateral capsule were detached from the underlying tissue (ie, meniscus), leaving the insertions and origins intact. The force distribution in the anterolateral capsule, ACL, and LCL was then determined at 30°, 60°, and 90° of knee flexion using the principle of superposition. In the intact knee, the force in the ACL in response to an anterior tibial load was greater than that in the other structures ( P < .001). However, in response to an internal tibial torque, no significant differences were found between the ACL, LCL, and forces transmitted between each region of the anterolateral capsule after capsule separation. The anterolateral capsule experienced smaller forces (~50% less) compared with the other structures ( P = .048). For the ACL-deficient knee in response to an anterior tibial load, the force transmitted between each region of the anterolateral capsule was 434% greater than was the force in the anterolateral capsule ( P < .001) and 54% greater than the force in the LCL ( P = .036) at 30° of flexion. In response to an internal tibial torque at 30°, 60°, or 90° of knee flexion, no significant differences were found between the force transmitted between each region of the anterolateral capsule and the LCL. The force in the anterolateral capsule was significantly smaller than that in the other structures at all knee flexion angles for both loading conditions ( P = .004 for anterior tibial load and P = .04 for internal tibial torque). The anterolateral capsule carries negligible forces in the longitudinal direction, and the forces transmitted between regions of the capsule were similar to the forces carried by the other structures at the knee, suggesting that it does not function as a traditional ligament. Thus, the anterolateral capsule should be considered a sheet of tissue. Surgical repair techniques for the anterolateral capsule should restore the ability of the tissue to transmit forces between adjacent regions of the capsule rather than along its longitudinal axis.

Force reflecting hand controller for manipulator teleoperation

NASA Technical Reports Server (NTRS)

Bryfogle, Mark D.

1991-01-01

A force reflecting hand controller based upon a six degree of freedom fully parallel mechanism, often termed a Stewart Platform, has been designed, constructed, and tested as an integrated system with a slave robot manipulator test bed. A force reflecting hand controller comprises a kinesthetic device capable of transmitting position and orientation commands to a slave robot manipulator while simultaneously representing the environmental interaction forces of the slave manipulator back to the operator through actuators driving the hand controller mechanism. The Stewart Platform was chosen as a novel approach to improve force reflecting teleoperation because of its inherently high ratio of load generation capability to system mass content and the correspondingly high dynamic bandwidth. An additional novelty of the program was to implement closed loop force and torque control about the hand controller mechanism by equipping the handgrip with a six degree of freedom force and torque measuring cell. The mechanical, electrical, computer, and control systems are discussed and system tests are presented.

Optical forces, torques, and force densities calculated at a microscopic level using a self-consistent hydrodynamics method

NASA Astrophysics Data System (ADS)

Ding, Kun; Chan, C. T.

2018-04-01

The calculation of optical force density distribution inside a material is challenging at the nanoscale, where quantum and nonlocal effects emerge and macroscopic parameters such as permittivity become ill-defined. We demonstrate that the microscopic optical force density of nanoplasmonic systems can be defined and calculated using the microscopic fields generated using a self-consistent hydrodynamics model that includes quantum, nonlocal, and retardation effects. We demonstrate this technique by calculating the microscopic optical force density distributions and the optical binding force induced by external light on nanoplasmonic dimers. This approach works even in the limit when the nanoparticles are close enough to each other so that electron tunneling occurs, a regime in which classical electromagnetic approach fails completely. We discover that an uneven distribution of optical force density can lead to a light-induced spinning torque acting on individual particles. The hydrodynamics method offers us an accurate and efficient approach to study optomechanical behavior for plasmonic systems at the nanoscale.

Momentum accumulation due to solar radiation torque, and reaction wheel sizing, with configuration optimization

NASA Technical Reports Server (NTRS)

Hablani, Hari B.

1993-01-01

This paper has a two-fold objective: determination of yearly momentum accumulation due to solar radiation pressure, and optimum reaction wheel sizing. The first objective is confronted while determining propellant consumption by the attitude control system over a spacecraft's lifetime. This, however, cannot be obtained from the daily momentum accumulation and treating that constant throughout the year, because the orientation of the solar arrays relative to the spacecraft changes over a wide range in a year, particularly if the spacecraft has two arrays, one normal and the other off-normal to different extent at different times to the sun rays. The paper first develops commands for the arrays for tracking the sun, the arrays articulated to earth-pointing spacecraft with two rotational degrees of freedom, and spacecraft in an arbitrary circular orbit. After developing expressions for solar radiation torque due to one or both arrays, arranged symmetrically or asymmetrically relative to the spacecraft bus, momentum accumulation over an orbit and then over a year are determined. The remainder of the paper is concerned with designing reaction wheel configurations. Four-, six-, and three-wheel configurations are considered, and for given torque and momentum requirements, their cant angles with the roll/yaw plane are optimized for minimum power consumption. Finally, their momentum and torque capacities are determined for one-wheel failure scenario, and six configurations are compared and contrasted.

Influence of Joint Angle on EMG-Torque Model During Constant-Posture, Torque-Varying Contractions.

PubMed

Liu, Pu; Liu, Lukai; Clancy, Edward A

2015-11-01

Relating the electromyogram (EMG) to joint torque is useful in various application areas, including prosthesis control, ergonomics and clinical biomechanics. Limited study has related EMG to torque across varied joint angles, particularly when subjects performed force-varying contractions or when optimized modeling methods were utilized. We related the biceps-triceps surface EMG of 22 subjects to elbow torque at six joint angles (spanning 60° to 135°) during constant-posture, torque-varying contractions. Three nonlinear EMG σ -torque models, advanced EMG amplitude (EMG σ ) estimation processors (i.e., whitened, multiple-channel) and the duration of data used to train models were investigated. When EMG-torque models were formed separately for each of the six distinct joint angles, a minimum "gold standard" error of 4.01±1.2% MVC(F90) resulted (i.e., error relative to maximum voluntary contraction at 90° flexion). This model structure, however, did not directly facilitate interpolation across angles. The best model which did so achieved a statistically equivalent error of 4.06±1.2% MVC(F90). Results demonstrated that advanced EMG σ processors lead to improved joint torque estimation as do longer model training durations.

On structural transitions, thermodynamic equilibrium, and the phase diagram of DNA and RNA duplexes under torque and tension.

PubMed

Wereszczynski, Jeff; Andricioaei, Ioan

2006-10-31

A precise understanding of the flexibility of double stranded nucleic acids and the nature of their deformed conformations induced by external forces is important for a wide range of biological processes including transcriptional regulation, supercoil and catenane removal, and site-specific recombination. We present, at atomic resolution, a simulation of the dynamics involved in the transitions from B-DNA and A-RNA to Pauling (P) forms and to denatured states driven by application of external torque and tension. We then calculate the free energy profile along a B- to P-transition coordinate and from it, compute a reversible pathway, i.e., an isotherm of tension and torque pairs required to maintain P-DNA in equilibrium. The reversible isotherm maps correctly onto a phase diagram derived from single molecule experiments, and yields values of elongation, twist, and twist-stretch coupling in agreement with measured values. We also show that configurational entropy compensates significantly for the large electrostatic energy increase due to closer-packed P backbones. A similar set of simulations applied to RNA are used to predict a novel structure, P-RNA, with its associated free energy, equilibrium tension, torque and structural parameters, and to assign the location, on the phase-diagram, of a putative force-torque-dependent RNA "triple point."

Experimental verification and comparison of the rubber V- belt continuously variable transmission models

NASA Astrophysics Data System (ADS)

Grzegożek, W.; Dobaj, K.; Kot, A.

2016-09-01

The paper includes the analysis of the rubber V-belt cooperation with the CVT transmission pulleys. The analysis of the forces and torques acting in the CVT transmission was conducted basing on calculated characteristics of the centrifugal regulator and the torque regulator. The accurate estimation of the regulator surface curvature allowed for calculation of the relation between the driving wheel axial force, the engine rotational speed and the gear ratio of the CVT transmission. Simplified analytical models of the rubber V-belt- pulley cooperation are based on three basic approaches. The Dittrich model assumes two contact regions on the driven and driving wheel. The Kim-Kim model considers, in addition to the previous model, also the radial friction. The radial friction results in the lack of the developed friction area on the driving pulley. The third approach, formulated in the Cammalleri model, assumes variable sliding angle along the wrap arch and describes it as a result the belt longitudinal and cross flexibility. Theoretical torque on the driven and driving wheel was calculated on the basis of the known regulators characteristics. The calculated torque was compared to the measured loading torque. The best accordance, referring to the centrifugal regulator range of work, was obtained for the Kim-Kim model.

Applying torque to the Escherichia coli flagellar motor using magnetic tweezers.

PubMed

van Oene, Maarten M; Dickinson, Laura E; Cross, Bronwen; Pedaci, Francesco; Lipfert, Jan; Dekker, Nynke H

2017-03-07

The bacterial flagellar motor of Escherichia coli is a nanoscale rotary engine essential for bacterial propulsion. Studies on the power output of single motors rely on the measurement of motor torque and rotation under external load. Here, we investigate the use of magnetic tweezers, which in principle allow the application and active control of a calibrated load torque, to study single flagellar motors in Escherichia coli. We manipulate the external load on the motor by adjusting the magnetic field experienced by a magnetic bead linked to the motor, and we probe the motor's response. A simple model describes the average motor speed over the entire range of applied fields. We extract the motor torque at stall and find it to be similar to the motor torque at drag-limited speed. In addition, use of the magnetic tweezers allows us to force motor rotation in both forward and backward directions. We monitor the motor's performance before and after periods of forced rotation and observe no destructive effects on the motor. Our experiments show how magnetic tweezers can provide active and fast control of the external load while also exposing remaining challenges in calibration. Through their non-invasive character and straightforward parallelization, magnetic tweezers provide an attractive platform to study nanoscale rotary motors at the single-motor level.

Shoulder torques resulting from luggage handling tasks in non-inertial frames.

PubMed

Shippen, James; May, Barbara

2018-05-18

This paper reports on the torques developed in the shoulder joint experienced by occupants of moving vehicles during manual handling tasks. Handling heavy weights can cause musculoskeletal injuries, especially if handling is done with arms extended or at high levels. The aim of the study was to measure the longitudinal and lateral accelerations in a variety of passenger vehicles together with the postures of subjects lifting luggage onto storage shelves. This data enabled the application of inverse dynamics methods in a non-inertial reference frame to calculate the shoulder joint torques. The subjects lifted 3 pieces of luggage of masses of 5 kg, 10 kg and 14 kg onto shelving which were at heights of 1.2 m, 1.6 m and 1.8 m. The movement of subjects was measured using a 12 camera, 3-dimensional optical tracking system. The subjects stood on force plates to measure the ground reaction forces. Sixty-three trials were completed, although 9 trials were aborted because subjects felt unable to complete the task. It was found that the shoulder torques exceeded the levels recommend by the UK Health and Safety Executive for manual handling. A lift assistance device is suggested to reduce the shoulder torques required for luggage handling.

Applying torque to the Escherichia coli flagellar motor using magnetic tweezers

PubMed Central

van Oene, Maarten M.; Dickinson, Laura E.; Cross, Bronwen; Pedaci, Francesco; Lipfert, Jan; Dekker, Nynke H.

2017-01-01

The bacterial flagellar motor of Escherichia coli is a nanoscale rotary engine essential for bacterial propulsion. Studies on the power output of single motors rely on the measurement of motor torque and rotation under external load. Here, we investigate the use of magnetic tweezers, which in principle allow the application and active control of a calibrated load torque, to study single flagellar motors in Escherichia coli. We manipulate the external load on the motor by adjusting the magnetic field experienced by a magnetic bead linked to the motor, and we probe the motor’s response. A simple model describes the average motor speed over the entire range of applied fields. We extract the motor torque at stall and find it to be similar to the motor torque at drag-limited speed. In addition, use of the magnetic tweezers allows us to force motor rotation in both forward and backward directions. We monitor the motor’s performance before and after periods of forced rotation and observe no destructive effects on the motor. Our experiments show how magnetic tweezers can provide active and fast control of the external load while also exposing remaining challenges in calibration. Through their non-invasive character and straightforward parallelization, magnetic tweezers provide an attractive platform to study nanoscale rotary motors at the single-motor level. PMID:28266562

The development of contact force construction in the dynamic-contact task of cycling [corrected].

PubMed

Brown, Nicholas A T; Jensen, Jody L

2003-01-01

Purposeful movement requires that an individual produce appropriate joint torques to accelerate segments, and when environmental contact is involved, to develop task-appropriate contact forces. Developmental research has been confined largely to the mastery of unconstrained movement skills (pointing, kicking). The purpose of this study was to study the developmental progression that characterizes the interaction of muscular and non-muscular forces in tasks constrained by contact with the environment. Seven younger children (YC, 6-8 years), 7 older children (OC, 9-11 years) and 7 adults (AD) pedaled an ergometer (80 rpm) at an anthropometrically scaled cycling power. Resultant forces measured at the pedal's surface were decomposed into muscle, inertia and gravity components. Muscle pedal forces were further examined in terms of the underlying lower extremity joint torques and kinematic weights that constitute the muscular component of the pedal force. Data showed children applied muscle forces to the pedal in a significantly different manner compared to adults, and that this was due to the children's lower segmental mass and inertia. The children adjusted the contribution of the proximal joint muscle torques to compensate for reduced contributions to the resultant pedal force by gravitational and inertial components. These data show that smaller segmental mass and inertia limit younger children's ability to construct the dynamic-contact task of cycling in an adult-like form. On the basis of these results, however, the children's response was not "immature". Rather, the results show a task-appropriate adaptation to lower segmental mass and inertia. Copyright 2002 Elsevier Science Ltd.

Force measurements in the medial meniscus posterior horn attachment: effects of anterior cruciate ligament removal.

PubMed

Markolf, Keith L; Jackson, Steven R; McAllister, David R

2012-02-01

Tears of the medial meniscus posterior horn attachment (PHA) occur clinically, and an anterior cruciate ligament (ACL)-deficient knee may be more vulnerable to this injury. The PHA forces from applied knee loadings will increase after removal of the ACL. Controlled laboratory study. A cap of bone containing the medial meniscus PHA was attached to a load cell that measured PHA tensile force. Posterior horn attachment forces were recorded before and after ACL removal during anteroposterior (AP) laxity testing at ±200 N and during passive knee extension tests with 5 N·m tibial torque and varus-valgus moment. Selected tests were also performed with 500 N joint load. For AP tests with no joint load, ACL removal increased laxity between 0° and 90° and increased PHA force generated by applied anterior tibial force between 30° and 90°. For AP tests with an intact ACL, application of joint load approximately doubled PHA forces. Anteroposterior testing of ACL-deficient knees was not possible with joint load because of bone cap failures from high PHA forces. Removal of the ACL during knee extension tests under joint load significantly increased PHA forces between 20° and 90° of flexion. For unloaded tests with applied tibial torque and varus-valgus moment, ACL removal had no significant effect on PHA forces. Applied anterior tibial force and external tibial torque were loading modes that produced relatively high PHA forces, presumably by impingement of the medial femoral condyle against the medial meniscus posterior horn rim. Under joint load, an ACL-deficient knee was particularly susceptible to PHA injury from applied anterior tibial force. Because tensile forces developed in the PHA are also borne by meniscus tissue near the attachment site, loading mechanisms that produce high PHA forces could also produce complete or partial radial tears near the posterior horn, a relatively common clinical observation.

Support Air and Space Expeditionary Forces. Analysis of Combat Support Basing Options

DTIC Science & Technology

2004-01-01

Mahyar A . Amouzegar, Robert S. Tripp, Ronald G. McGarve Edward W Chan C. Robert Roll, Jr. _77 Ap L_ L; Reý PROJECT AIR FORCE - Supporting Air and Space...Expeditionary Forces Analysis of Combat Support Basing Options Mahyar A . Amouzegar Robert S. Tripp Ronald G. McGarvey Edward W. Chan C. Robert Roll...support basing options / Mahyar A . Amouzegar ... [et al. p. cm. "’MG-261." Indudes bibliographical references. ISBN 0-8330-3675-0 (pbk.) 1. Air bases

Transient rolling friction model for discrete element simulations of sphere assemblies

NASA Astrophysics Data System (ADS)

Kuhn, Matthew R.

2014-03-01

The rolling resistance between a pair of contacting particles can be modeled with two mechanisms. The first mechanism, already widely addressed in the DEM literature, involves a contact moment between the particles. The second mechanism involves a reduction of the tangential contact force, but without a contact moment. This type of rotational resistance, termed creep-friction, is the subject of the paper. Within the creep-friction literature, the term “creep” does not mean a viscous mechanism, but rather connotes a slight slip that accompanies rolling. Two extremes of particle motions bound the range of creep-friction behaviors: a pure tangential translation is modeled as a Cattaneo-Mindlin interaction, whereas prolonged steady-state rolling corresponds to the traditional wheel-rail problem described by Carter, Poritsky, and others. DEM simulations, however, are dominated by the transient creep-friction rolling conditions that lie between these two extremes. A simplified model is proposed for the three-dimensional transient creep-friction rolling of two spheres. The model is an extension of the work of Dahlberg and Alfredsson, who studied the two-dimensional interactions of disks. The proposed model is applied to two different systems: a pair of spheres and a large dense assembly of spheres. Although creep-friction can reduce the tangential contact force that would otherwise be predicted with Cattaneo-Mindlin theory, a significant force reduction occurs only when the rate of rolling is much greater than the rate of translational sliding and only after a sustained period of rolling. When applied to the deviatoric loading of an assembly of spheres, the proposed creep-friction model has minimal effect on macroscopic strength or stiffness. At the micro-scale of individual contacts, creep-friction does have a modest influence on the incremental contact behavior, although the aggregate effect on the assembly's behavior is minimal.

How do roll compaction/dry granulation affect the tableting behaviour of inorganic materials? Comparison of four magnesium carbonates.

PubMed

Freitag, Franziska; Kleinebudde, Peter

2003-07-01

The effect of roll compaction/dry granulation on the particle and bulk material characteristics of different magnesium carbonates was evaluated. The flowability of all materials could be improved, even by the application of low specific compaction forces. The tablet properties made of powder and dry granulated magnesium carbonate were compared. Roll compaction/dry granulation resulted in a modified compactibility of the material and, consequently, tablets with reduced tensile strength. The higher relative tap density of the compacted material does not allow a densification to the same extent as the uncompacted powder. The degree of densification during tableting can be expressed as the ratio of the relative tablet density to the relative tap density of the feed material. Increasing the specific compaction forces resulted in higher apparent mean yield pressure, gained from Heckel plots, of all materials analysed. The partial loss of compactibility leads to the demand of low loads during roll compaction. Comparing the tablet properties of different magnesium carbonates reveals an obvious capping disposition. However, it depends on the type of magnesium carbonate, the specific compaction force and also on the tableting force applied.

FDTD simulations of forces on particles during holographic assembly.

PubMed

Benito, David C; Simpson, Stephen H; Hanna, Simon

2008-03-03

We present finite-difference time-domain (FDTD) calculations of the forces and torques on dielectric particles of various shapes, held in one or many Gaussian optical traps, as part of a study of the physical limitations involved in the construction of micro- and nanostructures using a dynamic holographic assembler (DHA). We employ a full 3-dimensional FDTD implementation, which includes a complete treatment of optical anisotropy. The Gaussian beams are sourced using a multipole expansion of a fifth order Davis beam. Force and torques are calculated for pairs of silica spheres in adjacent traps, for silica cylinders trapped by multiple beams and for oblate silica spheroids and calcite spheres in both linearly and circularly polarized beams. Comparisons are drawn between the magnitudes of the optical forces and the Van der Waals forces acting on the systems. The paper also considers the limitations of the FDTD approach when applied to optical trapping.

Smart wing wind tunnel test results

NASA Astrophysics Data System (ADS)

Scherer, Lewis B.; Martin, Christopher A.; Appa, Kari; Kudva, Jayanth N.; West, Mark N.

1997-05-01

The use of smart materials technologies can provide unique capabilities in improving aircraft aerodynamic performance. Northrop Grumman built and tested a 16% scale semi-span wind tunnel model of the F/A-18 E/F for the on-going DARPA/WL Smart Materials and Structures-Smart Wing Program. Aerodynamic performance gains to be validated included increase in the lift to drag ratio, increased pitching moment (Cm), increased rolling moment (Cl) and improved pressure distribution. These performance gains were obtained using hingeless, contoured trailing edge control surfaces with embedded shape memory alloy (SMA) wires and spanwise wing twist via a SMA torque tube and are compared to a conventional wind tunnel model with hinged control surfaces. This paper presents an overview of the results from the first wind tunnel test performed at the NASA Langley's 16 ft Transonic Dynamic Tunnel. Among the benefits demonstrated are 8 - 12% increase in rolling moment due to wing twist, a 10 - 15% increase in rolling moment due to contoured aileron, and approximately 8% increase in lift due to contoured flap, and improved pressure distribution due to trailing edge control surface contouring.

Evaluation of the Effect of Platelet-Released Growth Factor and Immediate Orthodontic Loading on the Removal Torque of Miniscrews.

PubMed

Bayani, Shahin; Masoomi, Fatemeh; Aghaabbasi, Sharereh; Farsinejad, Alireza

2016-01-01

The purpose of this study was to evaluate the effect of platelet-released growth factor (PRGF) and immediate orthodontic forces on the removal torque of miniscrews. This study was conducted on three male dogs aged 6 to 8 months with a body weight of 17.6 to 18.4 kg. Sixty miniscrews were inserted in the posterior aspect of the femur. There were four groups, including loaded miniscrews with application of PRGF, unloaded miniscrews without application of PRGF, unloaded miniscrews with PRGF, and loaded miniscrews without PRGF. Twenty miniscrews were inserted in the femoral bone of one foot of each dog, including all the aforementioned subgroups. After 12 weeks, the miniscrews were removed by a removal torque tester device and measured in newton centimeters. The mean removal torque values in four groups of immediately loaded screws with PRGF, unloaded screws with PRGF, immediately loaded screws without PRGF, and unloaded screws without PRGF were 19.68, 21.74, 13.65, and 15.46 Ncm, respectively. It was shown that the mean removal torque value for the group with PRGF was significantly higher than that in the other groups (P = .0001). Although there was a tendency toward a decrease in removal torque value with immediate loading, it was not statistically significant (P = .21). According to the results of this study, applying PRGF with miniscrews increased their stability, but the delivery of immediate force on miniscrews had no effect on the miniscrews' stability.

Loosening torque of Universal Abutment screws after cyclic loading: influence of tightening technique and screw coating.

PubMed

Bacchi, Atais; Regalin, Alexandre; Bhering, Claudia Lopes Brilhante; Alessandretti, Rodrigo; Spazzin, Aloisio Oro

2015-10-01

The purpose of this study was to evaluate the influence of tightening technique and the screw coating on the loosening torque of screws used for Universal Abutment fixation after cyclic loading. Forty implants (Titamax Ti Cortical, HE, Neodent) (n=10) were submerged in acrylic resin and four tightening techniques for Universal Abutment fixation were evaluated: A - torque with 32 Ncm (control); B - torque with 32 Ncm holding the torque meter for 20 seconds; C - torque with 32 Ncm and retorque after 10 minutes; D - torque (32 Ncm) holding the torque meter for 20 seconds and retorque after 10 minutes as initially. Samples were divided into subgroups according to the screw used: conventional titanium screw or diamond like carbon-coated (DLC) screw. Metallic crowns were fabricated for each abutment. Samples were submitted to cyclic loading at 10(6) cycles and 130 N of force. Data were analyzed by two-way ANOVA and Tukey's test (5%). The tightening technique did not show significant influence on the loosening torque of screws (P=.509). Conventional titanium screws showed significant higher loosening torque values than DLC (P=.000). The use of conventional titanium screw is more important than the tightening techniques employed in this study to provide long-term stability to Universal Abutment screws.

Posterior Tibial Slope Angle Correlates With Peak Sagittal and Frontal Plane Knee Joint Loading During Robotic Simulations of Athletic Tasks.

PubMed

Bates, Nathaniel A; Nesbitt, Rebecca J; Shearn, Jason T; Myer, Gregory D; Hewett, Timothy E

2016-07-01

Tibial slope angle is a nonmodifiable risk factor for anterior cruciate ligament (ACL) injury. However, the mechanical role of varying tibial slopes during athletic tasks has yet to be clinically quantified. To examine the influence of posterior tibial slope on knee joint loading during controlled, in vitro simulation of the knee joint articulations during athletic tasks. Descriptive laboratory study. A 6 degree of freedom robotic manipulator positionally maneuvered cadaveric knee joints from 12 unique specimens with varying tibial slopes (range, -7.7° to 7.7°) through drop vertical jump and sidestep cutting tasks that were derived from 3-dimensional in vivo motion recordings. Internal knee joint torques and forces were recorded throughout simulation and were linearly correlated with tibial slope. The mean (±SD) posterior tibial slope angle was 2.2° ± 4.3° in the lateral compartment and 2.3° ± 3.3° in the medial compartment. For simulated drop vertical jumps, lateral compartment tibial slope angle expressed moderate, direct correlations with peak internally generated knee adduction (r = 0.60-0.65), flexion (r = 0.64-0.66), lateral (r = 0.57-0.69), and external rotation torques (r = 0.47-0.72) as well as inverse correlations with peak abduction (r = -0.42 to -0.61) and internal rotation torques (r = -0.39 to -0.79). Only frontal plane torques were correlated during sidestep cutting simulations. For simulated drop vertical jumps, medial compartment tibial slope angle expressed moderate, direct correlations with peak internally generated knee flexion torque (r = 0.64-0.69) and lateral knee force (r = 0.55-0.74) as well as inverse correlations with peak external torque (r = -0.34 to -0.67) and medial knee force (r = -0.58 to -0.59). These moderate correlations were also present during simulated sidestep cutting. The investigation supported the theory that increased posterior tibial slope would lead to greater magnitude knee joint moments, specifically, internally generated knee adduction and flexion torques. The knee torques that positively correlated with increased tibial slope angle in this investigation are associated with heightened risk of ACL injury. Therefore, the present data indicated that a higher posterior tibial slope is correlated to increased knee loads that are associated with heightened risk of ACL injury. © 2016 The Author(s).

Slot deformation of various stainless steel bracket due to the torque force of the beta-titanium wire

NASA Astrophysics Data System (ADS)

Huda, M. M.; Siregar, E.; Ismah, N.

2017-08-01

Stainless steel bracket slot deformation ffects the force applied to teeth and it can impede tooth movement and prolong orthodontic treatment time. The aim of this study is to determine the slot deformation due to torque of a 0.021 × 0.025 inch Beta Titanium wire with a torsional angle of 30° and 45° for five different bracket brands: y, 3M, Biom, Versadent, Ormco, and Shinye. The research also aims to compare the deformation and amount of torque among all five bracket brands at torsional angles of 30° and 45°. Fifty stainless steel edgewise brackets from the five bracket group brands (n=10) were attached to acrylic plates. The bracket slot measurements were carried out in two stages. In the first stage, the, deformation was measured by calculating the average bracket slot height using a stereoscopy microscope before and after application of torque. In the second stage, the torque was measured using a torque measurement apparatus. The statistical analysis shows that slot deformations were found on all five bracket brands with a clinical permanent deformation on the Biom (2.79 μm) and Shinye (2.29 μm) brackets. The most torque was observed on the 3M bracket, followed by the Ormco, Versadent, Shinye, and Biom brackets. When the brands were compared, a correlation between bracket slot deformation and the amount of torque was found, but the correlation was not statistically significant for the 3M and Ormco brackets and the Biom and Shinye brackets. There is a difference in the amount of torque between the five brands with a torsional angle of 30° (except the 3M and Ormco brackets) and those with a torsional angle of 45°. The composition of the metal and the manufacturing process are the factors that influence the occurrence of bracket slot deformation and the amount of torque. A manufacturing process using metal injection molding (MIM) and metal compositions of AISI 303 and 17-4 PH stainless steel reduce the risk of deformation.

Constant strain rate experiments and constitutive modeling for a class of bitumen

NASA Astrophysics Data System (ADS)

Reddy, Kommidi Santosh; Umakanthan, S.; Krishnan, J. Murali

2012-08-01

The mechanical properties of bitumen vary with the nature of the crude source and the processing methods employed. To understand the role of the processing conditions played in the mechanical properties, bitumen samples derived from the same crude source but processed differently (blown and blended) are investigated. The samples are subjected to constant strain rate experiments in a parallel plate rheometer. The torque applied to realize the prescribed angular velocity for the top plate and the normal force applied to maintain the gap between the top and bottom plate are measured. It is found that when the top plate is held stationary, the time taken by the torque to be reduced by a certain percentage of its maximum value is different from the time taken by the normal force to decrease by the same percentage of its maximum value. Further, the time at which the maximum torque occurs is different from the time at which the maximum normal force occurs. Since the existing constitutive relations for bitumen cannot capture the difference in the relaxation times for the torque and normal force, a new rate type constitutive model, incorporating this response, is proposed. Although the blended and blown bitumen samples used in this study correspond to the same grade, the mechanical responses of the two samples are not the same. This is also reflected in the difference in the values of the material parameters in the model proposed. The differences in the mechanical properties between the differently processed bitumen samples increase further with aging. This has implications for the long-term performance of the pavement.

On the origin of the angular momentum of galaxies: cosmological tidal torques supplemented by the Coriolis force

NASA Astrophysics Data System (ADS)

Casuso, E.; Beckman, J. E.

2015-05-01

We present here a theoretical model which can at least contribute to the observed relation between the specific angular momenta of galaxies and their masses. This study offers prima facie evidence that the origin of an angular momentum of galaxies could be somewhat more complex than previously proposed. The most recent observations point to a scenario in which, after recombination, matter was organized around bubbles (commonly termed voids), which acquired rotation by tidal torque interaction. Subsequently, a combination of the effects of the gravitational collapse of gas in protogalaxies and the Coriolis force due to the rotation of the voids could produce the rotation of spiral galaxies. Thereafter, the tidal interaction between the objects populating the quasi-spherical voids, in which the galaxies far away from the rotation axes (populating the sheet forming the surface of a void) interact with higher probability with others similarly situated in a neighbouring void, offers a mechanism for transforming some of the galaxies into ellipticals, breaking their spin and yielding galaxies with low net angular momentum, as observed. This model gives an explanation for those observations which suggest a tendency of galactic spins to align along the radius vectors pointing towards the centres of the voids for ellipticals/SO and parallel to filaments and sheets for the spirals. Furthermore, while in simple tidal torque theory the angular momentum supplied to galaxies diminishes drastically with the cosmic expansion, in our approximation for which the Coriolis force acts in addition to tidal torques, the Coriolis force due to void rotation ensures almost continuous angular momentum supply.

Forces and torques on rigid inclusions in an elastic environment: Resulting matrix-mediated interactions, displacements, and rotations

NASA Astrophysics Data System (ADS)

Puljiz, Mate; Menzel, Andreas M.

2017-05-01

Embedding rigid inclusions into elastic matrix materials is a procedure of high practical relevance, for instance, for the fabrication of elastic composite materials. We theoretically analyze the following situation. Rigid spherical inclusions are enclosed by a homogeneous elastic medium under stick boundary conditions. Forces and torques are directly imposed from outside onto the inclusions or are externally induced between them. The inclusions respond to these forces and torques by translations and rotations against the surrounding elastic matrix. This leads to elastic matrix deformations, and in turn results in mutual long-ranged matrix-mediated interactions between the inclusions. Adapting a well-known approach from low-Reynolds-number hydrodynamics, we explicitly calculate the displacements and rotations of the inclusions from the externally imposed or induced forces and torques. Analytical expressions are presented as a function of the inclusion configuration in terms of displaceability and rotateability matrices. The role of the elastic environment is implicitly included in these relations. That is, the resulting expressions allow a calculation of the induced displacements and rotations directly from the inclusion configuration, without having to explicitly determine the deformations of the elastic environment. In contrast to the hydrodynamic case, compressibility of the surrounding medium is readily taken into account. We present the complete derivation based on the underlying equations of linear elasticity theory. In the future, the method will, for example, be helpful to characterize the behavior of externally tunable elastic composite materials, to accelerate numerical approaches, as well as to improve the quantitative interpretation of microrheological results.

Ares I-X Management Office (MMO) Integrated Master Schedule (IMS)

NASA Technical Reports Server (NTRS)

Heintzman, Keith; Askins, Bruce

2010-01-01

Objectives: Demonstrate control of a dynamically similar, integrated Ares I/Orion, using Ares I relevant ascent control algorithms. Perform an in-flight separation/staging event between a Ares I-similar First Stage and a representative Upper Stage. Demonstrate assembly and recovery of a new Ares I-like First Stage element at KSC. Demonstrate First Stage separation sequencing, and quantify First Stage atmospheric entry dynamics, and parachute performance. Characterize magnitude of integrated vehicle roll torque throughout First Stage flight.

NLS clutching bearing cavity flow analysis

NASA Technical Reports Server (NTRS)

Tran, Ken; Chan, Daniel C.; Darian, Armen

1992-01-01

A flow model of the NLS clutching bearing cavity was built for 2-D axisymmetric viscous analysis. From the computational fluid dynamics (CFD) approach, the tangential force exerted on the surfaces of the inner race was integrated to calculate the dividing torque which, in conjunction with the resistance torque, was used to predict the operating speed of the inner race. In order to further reduce the inner race rotation, the swirling flow at the cavity inlet was partially redirected to generate an opposing torque. Thirty six slanted slots were incorporated into the anti-vortex rib to achieve this goal. A 3-D flow analysis performed on this configuration indicates a drastic reduction of the driving torque and inner race RPM.

Analytical modeling and analysis of magnetic field and torque for novel axial flux eddy current couplers with PM excitation

NASA Astrophysics Data System (ADS)

Li, Zhao; Wang, Dazhi; Zheng, Di; Yu, Linxin

2017-10-01

Rotational permanent magnet eddy current couplers are promising devices for torque and speed transmission without any mechanical contact. In this study, flux-concentration disk-type permanent magnet eddy current couplers with double conductor rotor are investigated. Given the drawback of the accurate three-dimensional finite element method, this paper proposes a mixed two-dimensional analytical modeling approach. Based on this approach, the closed-form expressions of magnetic field, eddy current, electromagnetic force and torque for such devices are obtained. Finally, a three-dimensional finite element method is employed to validate the analytical results. Besides, a prototype is manufactured and tested for the torque-speed characteristic.

Structural optimisation of cage induction motors using finite element analysis

NASA Astrophysics Data System (ADS)

Palko, S.

The current trend in motor design is to have highly efficient, low noise, low cost, and modular motors with a high power factor. High torque motors are useful in applications like servo motors, lifts, cranes, and rolling mills. This report contains a detailed review of different optimization methods applicable in various design problems. Special attention is given to the performance of different methods, when they are used with finite element analysis (FEA) as an objective function, and accuracy problems arising from the numerical simulations. Also an effective method for designing high starting torque and high efficiency motors is presented. The method described in this work utilizes FEA combined with algorithms for the optimization of the slot geometry. The optimization algorithm modifies the position of the nodal points in the element mesh. The number of independent variables ranges from 14 to 140 in this work.

Cortical bone drilling: An experimental and numerical study.

PubMed

Alam, Khurshid; Bahadur, Issam M; Ahmed, Naseer

2014-12-16

Bone drilling is a common surgical procedure in orthopedics, dental and neurosurgeries. In conventional bone drilling process, the surgeon exerts a considerable amount of pressure to penetrate the drill into the bone tissue. Controlled penetration of drill in the bone is necessary for safe and efficient drilling. Development of a validated Finite Element (FE) model of cortical bone drilling. Drilling experiments were conducted on bovine cortical bone. The FE model of the bone drilling was based on mechanical properties obtained from literature data and additionally conducted microindentation tests on the cortical bone. The magnitude of stress in bone was found to decrease exponentially away from the lips of the drill in simulations. Feed rate was found to be the main influential factor affecting the force and torque in the numerical simulations and experiments. The drilling thrust force and torque were found to be unaffected by the drilling speed in numerical simulations. Simulated forces and torques were compared with experimental results for similar drilling conditions and were found in good agreement.CONCLUSIONS: FE schemes may be successfully applied to model complex kinematics of bone drilling process.

A novel platform for in vitro analysis of torque, forces, and three-dimensional file displacements during root canal preparations: application to ProTaper rotary files.

PubMed

Diop, Amadou; Maurel, Nathalie; Oiknine, Michel; Patoor, Etienne; Machtou, Pierre

2009-04-01

We proposed a new testing setup and in vitro experimental procedure allowing the analysis of the forces, torque, and file displacements during the preparation of root canals using nickel-titanium rotary endodontic files. We applied it to the preparation of 20 fresh frozen cadaveric teeth using ProTaper files (Dentsply Maillefer, Ballaigues, Switzerland), according to a clinically used sequence. During the preparations, a clinical hand motion was performed by an endodontist, and we measured the applied torque around the file axis and also the involved three-dimensional forces and 3-dimensional file displacements. Such a biomechanical procedure is useful to better understand the working conditions of the files in terms of loads and displacements. It could be used to analyze the effects of various mechanical and geometric parameters on the files' behavior and to get data for modelling purposes. Finally, it could contribute to studies aiming to improve files design in order to reduce the risks of file fractures.

Intelligent excavator control system for lunar mining system

NASA Astrophysics Data System (ADS)

Lever, Paul J. A.; Wang, Fei-Yue

1995-01-01

A major benefit of utilizing local planetary resources is that it reduces the need and cost of lifting materials from the Earth's surface into Earth orbit. The location of the moon makes it an ideal site for harvesting the materials needed to assist space activities. Here, lunar excavation will take place in the dynamic unstructured lunar environment, in which conditions are highly variable and unpredictable. Autonomous mining (excavation) machines are necessary to remove human operators from this hazardous environment. This machine must use a control system structure that can identify, plan, sense, and control real-time dynamic machine movements in the lunar environment. The solution is a vision-based hierarchical control structure. However, excavation tasks require force/torque sensor feedback to control the excavation tool after it has penetrated the surface. A fuzzy logic controller (FLC) is used to interpret the forces and torques gathered from a bucket mounted force/torque sensor during excavation. Experimental results from several excavation tests using the FLC are presented here. These results represent the first step toward an integrated sensing and control system for a lunar mining system.

Coupled vibrations of rectangular buildings subjected to normally-incident random wind loads

USGS Publications Warehouse

Safak, E.; Foutch, D.A.

1987-01-01

A method for analyzing the three-directional coupled dynamic response of wind-excited buildings is presented. The method is based on a random vibration concept and is parallel to those currently used for analyzing alongwind response. Only the buildings with rectangular cross-section and normally-incident wind are considered. The alongwind pressures and their correlations are represented by the well-known expressions that are available in the literature. The acrosswind forces are assumed to be mainly due to vortex shedding. The torque acting on the building is taken as the sum of the torque due to random alongwind forces plus the torque due to asymmetric acrosswind forces. The study shows the following: (1) amplitude of acrosswind vibrations can be several times greater than that of alongwind vibrations; (2) torsional vibrations are significant if the building has large frontal width, and/or it is asymmetric, and/or its torsional natural frequency is low; (3) even a perfectly symmetric structure with normally incident wind can experience significant torsional vibrations due to the randomness of wind pressures. ?? 1987.

Spacecraft attitude and velocity control system

NASA Technical Reports Server (NTRS)

Paluszek, Michael A. (Inventor); Piper, Jr., George E. (Inventor)

1992-01-01

A spacecraft attitude and/or velocity control system includes a controller which responds to at least attitude errors to produce command signals representing a force vector F and a torque vector T, each having three orthogonal components, which represent the forces and torques which are to be generated by the thrusters. The thrusters may include magnetic torquer or reaction wheels. Six difference equations are generated, three having the form ##EQU1## where a.sub.j is the maximum torque which the j.sup.th thruster can produce, b.sub.j is the maximum force which the j.sup.th thruster can produce, and .alpha..sub.j is a variable representing the throttling factor of the j.sup.th thruster, which may range from zero to unity. The six equations are summed to produce a single scalar equation relating variables .alpha..sub.j to a performance index Z: ##EQU2## Those values of .alpha. which maximize the value of Z are determined by a method for solving linear equations, such as a linear programming method. The Simplex method may be used. The values of .alpha..sub.j are applied to control the corresponding thrusters.

A moving control volume approach to computing hydrodynamic forces and torques on immersed bodies

DOE Office of Scientific and Technical Information (OSTI.GOV)

Nangia, Nishant; Johansen, Hans; Patankar, Neelesh A.

Here, we present a moving control volume (CV) approach to computing hydrodynamic forces and torques on complex geometries. The method requires surface and volumetric integrals over a simple and regular Cartesian box that moves with an arbitrary velocity to enclose the body at all times. The moving box is aligned with Cartesian grid faces, which makes the integral evaluation straightforward in an immersed boundary (IB) framework. Discontinuous and noisy derivatives of velocity and pressure at the fluid–structure interface are avoided and far-field (smooth) velo city and pressure information is used. We re-visit the approach to compute hydrodynamic forces and torquesmore » through force/torque balance equations in a Lagrangian frame that some of us took in a prior work (Bhalla et al., 2013 [13]). We prove the equivalence of the two approaches for IB methods, thanks to the use of Peskin's delta functions. Both approaches are able to suppress spurious force oscillations and are in excellent agreement, as expected theoretically. Test cases ranging from Stokes to high Reynolds number regimes are considered. We discuss regridding issues for the moving CV method in an adaptive mesh refinement (AMR) context. The proposed moving CV method is not limited to a specific IB method and can also be used, for example, with embedded boundary methods.« less