Design, analysis and modeling of a novel hybrid powertrain system based on hybridized automated manual transmission

NASA Astrophysics Data System (ADS)

Wu, Guang; Dong, Zuomin

2017-09-01

Hybrid electric vehicles are widely accepted as a promising short to mid-term technical solution due to noticeably improved efficiency and lower emissions at competitive costs. In recent years, various hybrid powertrain systems were proposed and implemented based on different types of conventional transmission. Power-split system, including Toyota Hybrid System and Ford Hybrid System, are well-known examples. However, their relatively low torque capacity, and the drive of alternative and more advanced designs encouraged other innovative hybrid system designs. In this work, a new type of hybrid powertrain system based hybridized automated manual transmission (HAMT) is proposed. By using the concept of torque gap filler (TGF), this new hybrid powertrain type has the potential to overcome issue of torque gap during gearshift. The HAMT design (patent pending) is described in details, from gear layout and design of gear ratios (EV mode and HEV mode) to torque paths at different gears. As an analytical tool, mutli-body model of vehicle equipped with this HAMT was built to analyze powertrain dynamics at various steady and transient modes. A gearshift was decomposed and analyzed based basic modes. Furthermore, a Simulink-SimDriveline hybrid vehicle model was built for the new transmission, driveline and vehicle modular. Control strategy has also been built to harmonically coordinate different powertrain components to realize TGF function. A vehicle launch simulation test has been completed under 30% of accelerator pedal position to reveal details during gearshift. Simulation results showed that this HAMT can eliminate most torque gap that has been persistent issue of traditional AMT, improving both drivability and performance. This work demonstrated a new type of transmission that features high torque capacity, high efficiency and improved drivability.

Biomechanical comparison of a novel engine-driven ridge spreader and conventional ridge splitting techniques.

PubMed

Jung, Gyu-Un; Kim, Jun Hwan; Lim, Nam Hun; Yoon, Gil Ho; Han, Ji-Young

2017-06-01

Ridge splitting techniques are used for horizontal ridge augmentation in implant dentistry. Recently, a novel engine-driven ridge splitting technique was introduced. This study compared the mechanical forces produced by conventional and engine-driven ridge splitting techniques in porcine mandibles. In 33 pigs, mandibular premolar areas were selected for the ridge splitting procedures, designed as a randomized split-mouth study. The conventional group underwent a chisel-and-mallet procedure (control group, n = 20), and percussive impulse (Newton second, Ns) was measured using a sensor attached to the mallet. In the engine-driven ridge spreader group (test group, n = 23), a load cell was used to measure torque values (Newton centimeter, Ncm). Horizontal acceleration generated during procedures (control group, n = 10 and test group, n = 10) was compared between the groups. After ridge splitting, the alveolar crest width was significantly increased both in the control (1.23 ± 0.45 mm) and test (0.98 ± 0.41 mm) groups with no significant differences between the groups. The average impulse of the control group was 4.74 ± 1.05 Ns. Torque generated by rotation in the test group was 9.07 ± 2.15 Ncm. Horizontal acceleration was significantly less in the test group (0.82 ± 1.05 g) than the control group (64.07 ± 42.62 g) (P < 0.001). Narrow edentulous ridges can be expanded by novel engine-driven ridge spreaders. Within the limits of this study, the results suggested that an engine-driven ridge splitting technique may be less traumatic and less invasive than a conventional ridge splitting technique. © 2016 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Helical Face Gear Development Under the Enhanced Rotorcraft Drive System Program

NASA Technical Reports Server (NTRS)

Heath, Gregory F.; Slaughter, Stephen C.; Fisher, David J.; Lewicki, David G.; Fetty, Jason

2011-01-01

U.S. Army goals for the Enhanced Rotorcraft Drive System Program are to achieve a 40 percent increase in horsepower to weight ratio, a 15 dB reduction in drive system generated noise, 30 percent reduction in drive system operating, support, and acquisition cost, and 75 percent automatic detection of critical mechanical component failures. Boeing s technology transition goals are that the operational endurance level of the helical face gearing and related split-torque designs be validated to a TRL 6, and that analytical and manufacturing tools be validated. Helical face gear technology is being developed in this project to augment, and transition into, a Boeing AH-64 Block III split-torque face gear main transmission stage, to yield increased power density and reduced noise. To date, helical face gear grinding development on Northstar s new face gear grinding machine and pattern-development tests at the NASA Glenn/U.S. Army Research Laboratory have been completed and are described.

Titanium alloy vs. stainless steel miniscrews: an in vivo split-mouth study.

PubMed

Bollero, P; Di Fazio, V; Pavoni, C; Cordaro, M; Cozza, P; Lione, R

2018-04-01

To compare in vivo Titanium Alloy (TiA) with Stainless Steel (SS) miniscrews Temporary Anchorage Devices (TADs) using removal torque and Scanning Electron Microscopic (SEM) analysis. 15 subjects (6 males and 9 females) who required maximum anchorage were recruited. For each patient, a TiA TAD and a SS TAD with same length and width were implanted following a randomized split-mouth study design. Retraction was carried out with nickel-titanium spring ligated directly from the anterior hooks of the archwire to the TADs to produce 90 to 100 g of force. When no further anchorage supplementation was needed, the TADs were removed. The removal torque values were registered with a digital screwdriver. After removal, the TADs were collected in a fixed solution and examined using SEM and X-ray microanalysis. All TADs remained intact, with a 100% success rate. There was no difference in removal torque between TiA and SS miniscrews (4.4 ± 1.3 N-cm and 5.1 ± 0.7 N-cm, respectively). All specimens' loss of gloss with signs of biological contaminations resulted in a dull implant surface. SEM photomicrographs of TiA miniscrews showed predominantly blood cells while SS miniscrews showed the precipitation of an amorphous layer with low cellular component. There was no difference in spectroscopic analysis between TiA and SS miniscrews. TiA and SS miniscrews had comparable removal torque values. SEM photomicrographs showed no evidence of osseointegration with both TADs having similar biological responses.

Elastomeric load sharing device

NASA Technical Reports Server (NTRS)

Isabelle, Charles J. (Inventor); Kish, Jules G. (Inventor); Stone, Robert A. (Inventor)

1992-01-01

An elastomeric load sharing device, interposed in combination between a driven gear and a central drive shaft to facilitate balanced torque distribution in split power transmission systems, includes a cylindrical elastomeric bearing and a plurality of elastomeric bearing pads. The elastomeric bearing and bearing pads comprise one or more layers, each layer including an elastomer having a metal backing strip secured thereto. The elastomeric bearing is configured to have a high radial stiffness and a low torsional stiffness and is operative to radially center the driven gear and to minimize torque transfer through the elastomeric bearing. The bearing pads are configured to have a low radial and torsional stiffness and a high axial stiffness and are operative to compressively transmit torque from the driven gear to the drive shaft. The elastomeric load sharing device has spring rates that compensate for mechanical deviations in the gear train assembly to provide balanced torque distribution between complementary load paths of split power transmission systems.

In-orbit performance of the ITOS improved attitude control system with Hall generator brushless motor and earth-splitting technique

NASA Technical Reports Server (NTRS)

Peacock, W. M.

1973-01-01

The National Aeronautics and Space Administration (NASA), launched ITOS-D with an improved attitude control system. A Hall generator brushless dc torque motor replaced the brush dc torque motor on Tiros-M and ITOS-A. Two CO2 attitude horizon sensors and one mirror replaced the four wideband horizon sensors and two mirrors on ITOS-1 and NOAA-1. Redundant pitch-control electronic boxes containing additional electronic circuitry for earth-splitting and brushless motor electronics were used. A method of generating a spacecraft earth-facing side reference for comparison to the time occurrence of the earth-splitting pulse was used to automatically correct pitch-attitude error. A single rotating flywheel, supported by a single bearing, provided gyroscopic stability and the required momentum interchange to keep one side of the satellite facing the earth. Magnetic torquing against the earth's magnetic field eliminated the requirement for expendable propellants which would limit satellite life in orbit.

Torque blending and wheel slip control in EVs with in-wheel motors

NASA Astrophysics Data System (ADS)

de Castro, Ricardo; Araújo, Rui E.; Tanelli, Mara; Savaresi, Sergio M.; Freitas, Diamantino

2012-01-01

Among the many opportunities offered by electric vehicles (EVs), the design of power trains based on in-wheel electric motors represents, from the vehicle dynamics point of view, a very attractive prospect, mainly due to the torque-vectoring capabilities. However, this distributed propulsion also poses some practical challenges, owing to the constraints arising from motor installation in a confined space, to the increased unsprung mass weight and to the integration of the electric motor with the friction brakes. This last issue is the main theme of this work, which, in particular, focuses on the design of the anti-lock braking system (ABS). The proposed structure for the ABS is composed of a tyre slip controller, a wheel torque allocator and a braking supervisor. To address the slip regulation problem, an adaptive controller is devised, offering robustness to uncertainties in the tyre-road friction and featuring a gain-scheduling mechanism based on the vehicle velocity. Further, an optimisation framework is employed in the torque allocator to determine the optimal split between electric and friction brake torque based on energy performance metrics, actuator constraints and different actuators bandwidth. Finally, based on the EV working condition, the priorities of this allocation scheme are adapted by the braking supervisor unit. Simulation results obtained with the CarSim vehicle model, demonstrate the effectiveness of the overall approach.

Dynamic load-sharing characteristic analysis of face gear power-split gear system based on tooth contact characteristics

NASA Astrophysics Data System (ADS)

Dong, Hao; Hu, Yahui

2018-04-01

The bend-torsion coupling dynamics load-sharing model of the helicopter face gear split torque transmission system is established by using concentrated quality standard, to analyzing the dynamic load-sharing characteristic. The mathematical models include nonlinear support stiffness, time-varying meshing stiffness, damping, gear backlash. The results showed that the errors collectively influenced the load sharing characteristics, only reduce a certain error, it is never fully reached the perfect loading sharing characteristics. The system load-sharing performance can be improved through floating shaft support. The above-method will provide a theoretical basis and data support for its dynamic performance optimization design.

Design-Parameters Setup for Power-Split Dual-Regime IVT

NASA Astrophysics Data System (ADS)

Preda, Ion; Ciolan, Gheorghe; Covaciu, Dinu

2017-10-01

To analyze the working possibilities of power-split infinitely variable transmissions (IVTs) it is necessary to follow a systematic approach. The method proposed in this paper consists of generating a block diagram of the transmission and then, based on this diagram, to derive the kinematics and dynamics equations of the transmission. For an actual numerical case, the derived equations are used to find characteristic values of the transmission components (gear and chain drives, planetary units) necessary to calculate the speed ratios, the speeds, torques and powers acting on the shafts and coupling (control) elements, and even to estimate the overall efficiency of the transmission.

NASA transmission research and its probable effects on helicopter transmission design

NASA Technical Reports Server (NTRS)

Zaretsky, E. V.; Coy, J. J.; Townsend, D. P.

1983-01-01

Transmissions studied for application to helicopters in addition to the more conventional geared transmissions include hybrid (traction/gear), bearingless planetary, and split torque transmissions. Research is being performed to establish the validity of analysis and computer codes developed to predict the performance, efficiency, life, and reliability of these transmissions. Results of this research should provide the transmission designer with analytical tools to design for minimum weight and noise with maximum life and efficiency. In addition, the advantages and limitations of drive systems as well as the more conventional systems will be defined.

NASA transmission research and its probable effects on helicopter transmission design

NASA Technical Reports Server (NTRS)

Zaretsky, E. V.; Coy, J. J.; Townsend, D. P.

1984-01-01

Transmissions studied for application to helicopters in addition to the more conventional geared transmissions include hybrid (traction/gear), bearingless planetary, and split torque transmissions. Research is being performed to establish the validity of analysis and computer codes developed to predict the performance, efficiency, life, and reliability of these transmissions. Results of this research should provide the transmission designer with analytical tools to design for minimum weight and noise with maximum life and efficiency. In addition, the advantages and limitations of drive systems as well as the more conventional systems will be defined.

Evaluation of a series hybird thrust bearing at DN values to three million. 1: Analysis and design

NASA Technical Reports Server (NTRS)

Gu, A.; Eusepi, M.; Winn, L. W.

1974-01-01

The analysis and design are presented of a hybrid bearing consisting of a 150-mm ball bearing and a centrifugally actuated, conical, fluid film bearing fitting an envelope with an outer radius of 86.4 mm (3.4 in.) and an inner radius of 71 mm (2.8 in.). The bearing analysis, combined with available torque data on ball bearings, indicates that an effective speed split between the ball and fluid-film bearings of 50 percent may be expected during operation at 20,000 rpm and under an axial load of 17,800 newtons (4000 lbs.). This speed split can result in a ten-fold increase in the life of the ball bearing when compared to a simple ball bearing system operating under similar conditions.

Design and development of split-parallel through-the road retrofit hybrid electric vehicle with in-wheel motors

NASA Astrophysics Data System (ADS)

Zulkifli, S. A.; Syaifuddin Mohd, M.; Maharun, M.; Bakar, N. S. A.; Idris, S.; Samsudin, S. H.; Firmansyah; Adz, J. J.; Misbahulmunir, M.; Abidin, E. Z. Z.; Syafiq Mohd, M.; Saad, N.; Aziz, A. R. A.

2015-12-01

One configuration of the hybrid electric vehicle (HEV) is the split-axle parallel hybrid, in which an internal combustion engine (ICE) and an electric motor provide propulsion power to different axles. A particular sub-type of the split-parallel hybrid does not have the electric motor installed on board the vehicle; instead, two electric motors are placed in the hubs of the non-driven wheels, called ‘hub motor’ or ‘in-wheel motor’ (IWM). Since propulsion power from the ICE and IWM is coupled through the vehicle itself, its wheels and the road on which it moves, this particular configuration is termed ‘through-the-road’ (TTR) hybrid. TTR configuration enables existing ICE-powered vehicles to be retrofitted into an HEV with minimal physical modification. This work describes design of a retrofit- conversion TTR-IWM hybrid vehicle - its sub-systems and development work. Operating modes and power flow of the TTR hybrid, its torque coupling and resultant traction profiles are initially discussed.

Advanced Rotorcraft Transmission (ART) program summary

NASA Technical Reports Server (NTRS)

Krantz, T. L.; Kish, J. G.

1992-01-01

The Advanced Rotorcraft Transmission (ART) Program was initiated to advance the state of the art for rotorcraft transmissions. The goal of the ART Program was to develop and demonstrate the technologies needed to reduce transmission weight by 25 pct. and reduce noise by 10 dB while obtaining a 5000 hr 'mean time between failure'. The research done under the ART Program is summarized. A split path design was selected as best able to meet the program goals. Key part technologies needed for this design were identified, studied, and developed. Two of these technologies are discussed in detail: the load sharing of split path designs including the use of a compliant elastomeric torque splitter and the application of a high ratio, low pitch line velocity gear mesh. Development of an angular contact spherical roller bearing, transmission error analysis, and fretting fatigue testing are discussed. The technologies for a light weight, quiet, and reliable rotorcraft transmission were demonstrated.

Conceptual Design and Optimal Power Control Strategy for AN Eco-Friendly Hybrid Vehicle

NASA Astrophysics Data System (ADS)

Nasiri, N. Mir; Chieng, Frederick T. A.

2011-06-01

This paper presents a new concept for a hybrid vehicle using a torque and speed splitting technique. It is implemented by the newly developed controller in combination with a two degree of freedom epicyclic gear transmission. This approach enables optimization of the power split between the less powerful electrical motor and more powerful engine while driving a car load. The power split is fundamentally a dual-energy integration mechanism as it is implemented by using the epicyclic gear transmission that has two inputs and one output for a proper power distribution. The developed power split control system manages the operation of both the inputs to have a known output with the condition of maintaining optimum operating efficiency of the internal combustion engine and electrical motor. This system has a huge potential as it is possible to integrate all the features of hybrid vehicle known to-date such as the regenerative braking system, series hybrid, parallel hybrid, series/parallel hybrid, and even complex hybrid (bidirectional). By using the new power split system it is possible to further reduce fuel consumption and increase overall efficiency.

ELECTROMAGNETIC AND ELECTROSTATIC GENERATORS: ANNOTATED BIBLIOGRAPHY.

DTIC Science & Technology

generator with split poles, ultrasonic-frequency generator, unipolar generator, single-phase micromotors , synchronous motor, asynchronous motor...asymmetrical rotor, magnetic circuit, dc micromotors , circuit for the automatic control of synchronized induction motors, induction torque micromotors , electric

Improved ITOS attitude control system with Hall generator brushless motor and earth-splitting technique

NASA Technical Reports Server (NTRS)

Peacock, W. M.

1971-01-01

The ITOS with an improved attitude control system is described. A Hall generator brushless dc torque motor will replace the brush dc torque motor on ITOS-I and ITOS-A (NOAA-1). The four attitude horizon sensors will be replaced with two CO2 sensors for better horizon definition. An earth horizon splitting technique will be used to keep the earth facing side of the satellite toward earth even if the desired circular orbit is not achieved. The external appearance of the pitch control subsystem differs from TIROS-M (ITOS-1) and ITOS-A (NOAA-1) in that two instead of one pitch control electronics (PCE) boxes are used. Two instead of four horizon sensors will be used and one instead of two mirrors will be used for sensor scanning. The brushless motor will eliminate the requirement for brushes, strain gages and the telemetry for the brush wear. A single rotating flywheel, supported by a single bearing provides the gyroscopic stability and the required momentum interchange to keep one side of the satellite facing the earth. Magnetic torquing against the earth's magnetic field eliminates the requirement for expendable propellants which would limit satellite life in orbit.

Winding Schemes for Wide Constant Power Range of Double Stator Transverse Flux Machine

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

Husain, Tausif; Hassan, Iftekhar; Sozer, Yilmaz

2015-05-01

Different ring winding schemes for double sided transverse flux machines are investigated in this paper for wide speed operation. The windings under investigation are based on two inverters used in parallel. At higher power applications this arrangement improves the drive efficiency. The new winding structure through manipulation of the end connection splits individual sets into two and connects the partitioned turns from individual stator sets in series. This configuration offers the flexibility of torque profiling and a greater flux weakening region. At low speeds and low torque only one winding set is capable of providing the required torque thus providingmore » greater fault tolerance. At higher speeds one set is dedicated to torque production and the other for flux control. The proposed method improves the machine efficiency and allows better flux weakening which is desirable for traction applications.« less

Handbook on Face Gear Drives with a Spur Involute Pinion

NASA Technical Reports Server (NTRS)

Litvin, F. L.; Egelja, A.; Tan, J.; Chen, D. Y.-D.; Heath, G.

2000-01-01

The use of face gears in power transmission and drive systems has a significant number of benefits. Face gears allow a variety of new transmission arrangements as well as high reduction ratio capability. This leads to drive system weight reduction and improvements in performance. In this work, basic information about the design and analysis of face gear drives is presented. The work considers face gears in mesh with spur involute pinions for both intersecting axes and offset drives. Tooth geometry, kinematics, generation of face gears with localized bearing contact by cutting and grinding, avoidance of tooth undercutting, avoidance of tooth pointing, tooth contact analysis, and algorithms for the simulation of meshing and contact arc all topics which are discussed. In addition, applications of face gear drives are presented. Included are design uses in aerospace applications such as helicopter transmissions, split-torque face gear arrangements, comparisons of face gears with bevel gears, and general design considerations.

Gear and Transmission Research at NASA Lewis Research Center

NASA Technical Reports Server (NTRS)

Townsend, Dennis P.

1997-01-01

This paper is a review of some of the research work of the NASA Lewis Research Center Mechanical Components Branch. It includes a brief review of the NASA Lewis Research Center and the Mechanical Components Branch. The research topics discussed are crack propagation of gear teeth, gear noise of spiral bevel and other gears, design optimization methods, methods we have investigated for transmission diagnostics, the analytical and experimental study of gear thermal conditions, the analytical and experimental study of split torque systems, the evaluation of several new advanced gear steels and transmission lubricants and the evaluation of various aircraft transmissions. The area of research needs for gearing and transmissions is also discussed.

Conceptual design study of improved automotives gas turbine powertrain

NASA Technical Reports Server (NTRS)

1979-01-01

Twenty-two candidate engine concepts and nineteen transmission concepts. Screening of these concepts, predominantly for fuel economy, cost and technical risk, resulted in a recommended powertrain consisting of a single-shaft engine, with a ceramic radial turbine rotor, connected through a differential split-power transmission utilizing a variable stator torque converter and a four speed automatic gearbox. Vehicle fuel economy and performance projections, preliminary design analyses and installation studies in a were completed. A cost comparison with the conventional spark ignited gasoline engine showed that the turbine engine would be more expensive initially, however, lifetime cost of ownership is in favor of the gas turbine. A powertrain research and development plan was constructed to gain information on timing and costs to achieve the required level of technology and demonstrate the engine in a vehicle by the year 1983.

Traction drive automatic transmission for gas turbine engine driveline

DOEpatents

Carriere, Donald L.

1984-01-01

A transaxle driveline for a wheeled vehicle has a high speed turbine engine and a torque splitting gearset that includes a traction drive unit and a torque converter on a common axis transversely arranged with respect to the longitudinal centerline of the vehicle. The drive wheels of the vehicle are mounted on a shaft parallel to the turbine shaft and carry a final drive gearset for driving the axle shafts. A second embodiment of the final drive gearing produces an overdrive ratio between the output of the first gearset and the axle shafts. A continuously variable range of speed ratios is produced by varying the position of the drive rollers of the traction unit. After starting the vehicle from rest, the transmission is set for operation in the high speed range by engaging a first lockup clutch that joins the torque converter impeller to the turbine for operation as a hydraulic coupling.

Intrinsic spin-orbit torque in a single-domain nanomagnet

NASA Astrophysics Data System (ADS)

Kalitsov, A.; Nikolaev, S. A.; Velev, J.; Chshiev, M.; Mryasov, O.

2017-12-01

We present theoretical studies of the intrinsic spin-orbit torque (SOT) in a single-domain ferromagnetic layer with Rashba spin-orbit coupling (SOC) using the nonequilibrium Green's function formalism for a tight-binding Hamiltonian. We find that, in the case of a small electric field, the intrinsic SOT to first order in SOC has only the field-like torque symmetry and can be interpreted as the longitudinal spin current induced by the charge current and Rashba field. We analyze the results in terms of the material-related parameters of the electronic structure, such as the band filling, bandwidth, exchange splitting, and the Rashba SOC strength. On the basis of these numerical and analytical results, we discuss the magnitude and sign of SOT. Our results suggest that the different sign of SOT in identical ferromagnets with different supporting layers, e.g., Co/Pt and Co/Ta, can be attributed to electrostatic doping of the ferromagnetic layer by the support.

Dual Control of Giant Field-like Spin Torque in Spin Filter Tunnel Junctions

PubMed Central

Tang, Y. -H.; Chu, F. -C.; Kioussis, Nicholas

2015-01-01

We predict a giant field-like spin torque, , in spin-filter (SF) barrier tunnel junctions in sharp contrast to existing junctions based on nonmagnetic passive barriers. We demonstrate that has linear bias behavior, is independent of the SF thickness, and has odd parity with respect to the SF’s exchange splitting. Thus, it can be selectively controlled via external bias or external magnetic field which gives rise to sign reversal of via magnetic field switching. The underlying mechanism is the interlayer exchange coupling between the noncollinear magnetizations of the SF and free ferromagnetic electrode via the nonmagnetic insulating (I) spacer giving rise to giant spin-dependent reflection at the SF/I interface. These findings suggest that the proposed field-like-spin-torque MRAM may provide promising dual functionalities for both ‘reading’ and ‘writing’ processes which require lower critical current densities and faster writing and reading speeds. PMID:26095146

Design and Control of a Closed-Loop Brushless Torque Activator

DTIC Science & Technology

1990-05-01

AD-A270 760 Technical Report 1244 Design and Control of a Closed-Loop Brushless Torque Activator Michael Dean Levi MIT Artificial Intelligence... Brushless N00014-86-K-0685 Torque Actuator 6. AUTHOR(S) Michael Dean Levin 7. PERFORMING ORGANIZATION NAME(S) AND ADORESS(ES) B. PERFORMING...200 words) This’report explores the design and control issues associated with a brushless actuator capable of achieving extremely high torque

Analysis of Vibration and Acoustic Noise in Permanent Magnet Motors.

NASA Astrophysics Data System (ADS)

Hwang, Sangmoon

The drive motor is a frequent source of vibration and acoustic noise in many precision spindle motors. One of the electromagnetic sources of vibration in permanent magnet motors is the torque ripple, consisting of the reluctance torque and electromagnetic torque fluctuation. This type of vibration is becoming more serious with the advent of new high-grade magnets with increased flux density. Acoustic noise of electromagnetic origin is difficult to predict and its exact mechanism is unclear. The mechanism of noise generation should be revealed to design a quieter motor which is the modern customer's demand. For motor operation at low speeds and loads, torque ripple due to the reluctance torque is often a source of vibration and control difficulty. The reluctance torque in a motor was calculated from the flux density by a finite element method and the Maxwell stress method. Effects of design parameters, such as stator slot width, permanent slot width, airgap length and magnetization direction, were investigated. Magnet pole shaping, by gradually decreasing the magnet thickness toward edges, yields a sinusoidal shape of the reluctance torque with reduced harmonics, thus reducing the vibration. This dissertation also presents two motor design techniques: stator tooth notching and rotor pole skewing with magnet pole shaping, and the effect of each method on the output torque. The analysis shows that the reluctance torque can be nearly eliminated by the suggested designs, with minimal sacrifice of the output torque. In permanent magnet DC motors, the most popular design type is the trapezoidal back electro-motive force (BEMF), for switched DC controllers. It is demonstrated that the output torque profile of one phase energized is qualitatively equivalent to the BEMF profile for motors with reduced reluctance torque. It implies that design of BEMF profile is possible by magnetic modeling of a motor, without expensive and time-consuming experiments for different designs. The effect of various design parameters on the output torque and torque ripple are discussed. Design parameters include winding patterns, magnetization direction, magnet arc length, number of segments in poles and magnet pole shaping. New designs of trapezoidal BEMF motors are proposed to reduce the electromagnetic torque ripple. Magnet stepping and magnet edge shaping with reduced arc length, significantly reduce torque ripple, with minimal sacrifice of the maximum output torque. Acoustic noise of electromagnetic origin is investigated using a magnetic frame which emulates a DC motor. The driving electromagnetic force is calculated using finite element analysis and the resulting vibration and acoustic noise is measured. Acoustic noise of purely electromagnetic origin was also tested with a DC brushless motor to confirm the results of the magnetic frame. The mechanism of noise generation in a DC motor is a quasi-static response of a stator not only at the fundamental frequency but also at higher harmonic frequencies of alternating switched DC, which is a current characteristic of a DC motor. Noise generation is significantly aggravated when some of those harmonics are close to the resonant frequencies of the stator. Therefore, acoustic noise is highly dependent upon the excitation current shape, as higher harmonics may match with resonant frequencies of the stator.

Electric motor designs for attenuating torque disturbance in sensitive space mechanisms

NASA Astrophysics Data System (ADS)

Marks, David B.; Fink, Richard A.

2003-09-01

When a motion control system introduces unwanted torque jitter and motion anomalies into sensitive space flight optical or positioning mechanisms, the pointing accuracy, positioning capability, or scanning resolution of the mission suffers. Special motion control technology must be employed to provide attenuation of the harmful torque disturbances. Brushless DC (BLDC) Motors with low torque disturbance characteristics have been successfully used on such notable missions as the Hubble Space Telescope when conventional approaches to motor design would not work. Motor designs for low disturbance mechanisms can include two and three phase sinusoidal BLDC motors, BLDC motors without iron teeth, and sometimes skewed or non-integral slot designs for motors commutated with Hall effect devices. The principal components of motor torque disturbance, successful BLDC motor designs for attenuating disturbances, and design trade-offs for optimum performance are examined.

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.

Comparison of design and torque measurements of various manual wrenches.

PubMed

Neugebauer, Jörg; Petermöller, Simone; Scheer, Martin; Happe, Arndt; Faber, Franz-Josef; Zoeller, Joachim E

2015-01-01

Accurate torque application and determination of the applied torque during surgical and prosthetic treatment is important to reduce complications. A study was performed to determine and compare the accuracy of manual wrenches, which are available in different designs with a large range of preset torques. Thirteen different wrench systems with a variety of preset torques ranging from 10 to 75 Ncm were evaluated. Three different designs were available, with a spring-in-coil or toggle design as an active mechanism or a beam as a passive mechanism, to select the preset torque. To provide a clinically relevant analysis, a total of 1,170 torque measurements in the range of 10 to 45 Ncm were made in vitro using an electronic torque measurement device. The absolute deviations in Ncm and percent deviations across all wrenches were small, with a mean of -0.24 ± 2.15 Ncm and -0.84% ± 11.72% as a shortfall relative to the preset value. The greatest overage was 8.2 Ncm (82.5%), and the greatest shortfall was 8.47 Ncm (46%). However, extreme values were rare, with 95th-percentile values of -1.5% (lower value) and -0.16% (upper value). A comparison with respect to wrench design revealed significantly higher deviations for coil and toggle-style wrenches than for beam wrenches. Beam wrenches were associated with a lower risk of rare extreme values thanks to their passive mechanism of achieving the selected preset torque, which minimizes the risk of harming screw connections.

Methodology for Determining Limit Torques for Threaded Fasteners

NASA Technical Reports Server (NTRS)

Hissam, Andy

2011-01-01

In aerospace design, where minimizing weight is always a priority, achieving the full capacity from fasteners is essential. To do so, the initial bolt preload must be maximized. The benefits of high preload are well documented and include improved fatigue resistance, a stiffer joint, and resistance to loosening. But many factors like elastic interactions and embedment tend to lower the initial preload placed on the bolt. These factors provide additional motivation to maximize the initial preload. But, to maximize bolt preload, you must determine what torque to apply. Determining this torque is greatly complicated by the large preload scatter generally seen with torque control. This paper presents a detailed methodology for generating limit torques for threaded fasteners. This methodology accounts for the large scatter in preload found with torque control, and therefore, addresses the statistical nature of the problem. It also addresses prevailing torque, a feature common in aerospace fasteners. Although prevailing torque provides a desired locking feature, it can also increase preload scatter. In addition, it can limit the amount of preload that can be generated due to the torsion it creates in the bolt. This paper discusses the complications of prevailing torque and how best to handle it. A wide range of torque-tension bolt testing was conducted in support of this research. The results from this research will benefit the design engineer as well as analyst involved in the design of bolted joints, leading to better, more optimized structural designs.

Load fatigue performance of four implant-abutment interface designs: effect of torque level and implant system.

PubMed

Quek, H C; Tan, Keson B; Nicholls, Jack I

2008-01-01

Biomechanical load-fatigue performance data on single-tooth implant systems with different implant-abutment interface designs is lacking in the literature. This study evaluated the load fatigue performance of 4 implant-abutment interface designs (Brånemark-CeraOne; 3i Osseotite-STA abutment; Replace Select-Easy abutment; and Lifecore Stage-1-COC abutment system). The number of load cycles to fatigue failure of 4 implant-abutment designs was tested with a custom rotational load fatigue machine. The effect of increasing and decreasing the tightening torque by 20% respectively on the load fatigue performance was also investigated. Three different tightening torque levels (recommended torque, -20% recommended torque, +20% recommended torque) were applied to the 4 implant systems. There were 12 test groups with 5 samples in each group. The rotational load fatigue machine subjected specimens to a sinusoidally applied 35 Ncm bending moment at a test frequency of 14 Hz. The number of cycles to failure was recorded. A cutoff of 5 x 10(6) cycles was applied as an upper limit. There were 2 implant failures and 1 abutment screw failure in the Brånemark group. Five abutment screw failures and 4 implant failures was recorded for the 3i system. The Replace Select system had 1 implant failure. Five cone screw failures were noted for the Lifecore system. Analysis of variance revealed no statistically significant difference in load cycles to failure for the 4 different implant-abutment systems torqued at recommended torque level. A statistically significant difference was found between the -20% torque group and the +20% torque group (P < .05) for the 3i system. Load fatigue performance and failure location is system specific and related to the design characteristics of the implant-abutment combination. It appeared that if the implant-abutment interface was maintained, load fatigue failure would occur at the weakest point of the implant. It is important to use the torque level recommended by the manufacturer.

Locking design affects the jamming of screws in locking plates.

PubMed

Sandriesser, Sabrina; Rupp, Markus; Greinwald, Markus; Heiss, Christian; Augat, Peter; Alt, Volker

2018-06-01

The seizing of locking screws is a frequently encountered clinical problem during implant removal of locking compression plates (LCP) after completion of fracture healing. The aim of this study was to investigate the effect of two different locking mechanisms on the seizing of locking screws. Specifically, the removal torques before and after cyclic dynamic loading were assessed for screws inserted at the manufacturer-recommended torque or at an increased insertion torque. The seizing of 3.5-mm angular stable screws was assessed as a function of insertion torque for two different locking mechanisms (Thread & Conus and Thread Only). Locking screws (n=10 for each configuration) were inserted either according to the manufacturer-recommended torque or at an increased torque of 150% to simulate an over-insertion of the screw. Half of the screws were removed directly after insertion and the remaining half was removed after a dynamic load protocol of 100,000 cycles. The removal torques of locking screws exceeded the insertion torques for all tested conditions confirming the adequacy of the test setup in mimicking screw seizing in locked plating. Screw seizing was more pronounced for Thread Only design (+37%) compared to Thread & Conus design (+14%; P<0.0001). Cyclic loading of the locking construct consistently resulted in an increased seizing of the locking screws (P<0.0001). Clinical observations from patients treated with the Thread & Conus locking design confirm the biomechanical findings of reduction in seizing effect by using a Thread & Conus design. In conclusion, both over-tightening and cyclic loading are potential causes for screw seizing in locking plate implants. Both effects were found to be less pronounced in the Thread & Conus design as compared to the traditional Thread Only design. © 2018 Elsevier Ltd. All rights reserved.

Imaging magnetisation dynamics in nano-contact spin-torque vortex oscillators exhibiting gyrotropic mode splitting

NASA Astrophysics Data System (ADS)

Keatley, Paul Steven; Redjai Sani, Sohrab; Hrkac, Gino; Majid Mohseni, Seyed; Dürrenfeld, Philipp; Åkerman, Johan; Hicken, Robert James

2017-04-01

Nano-contact spin-torque vortex oscillators (STVOs) are anticipated to find application as nanoscale sources of microwave emission in future technological applications. Presently the output power and phase stability of individual STVOs are not competitive with existing oscillator technologies. Synchronisation of multiple nano-contact STVOs via magnetisation dynamics has been proposed to enhance the microwave emission. The control of device-to-device variations, such as mode splitting of the microwave emission, is essential if multiple STVOs are to be successfully synchronised. In this work a combination of electrical measurements and time-resolved scanning Kerr microscopy (TRSKM) was used to demonstrate how mode splitting in the microwave emission of STVOs was related to the magnetisation dynamics that are generated. The free-running STVO response to a DC current only was used to identify devices and bias magnetic field configurations for which single and multiple modes of microwave emission were observed. Stroboscopic Kerr images were acquired by injecting a small amplitude RF current to phase lock the free-running STVO response. The images showed that the magnetisation dynamics of a multimode device with moderate splitting could be controlled by the injected RF current so that they exhibit similar spatial character to that of a single mode. Significant splitting was found to result from a complicated equilibrium magnetic state that was observed in Kerr images as irregular spatial characteristics of the magnetisation dynamics. Such dynamics were observed far from the nano-contact and so their presence cannot be detected in electrical measurements. This work demonstrates that TRSKM is a powerful tool for the direct observation of the magnetisation dynamics generated by STVOs that exhibit complicated microwave emission. Characterisation of such dynamics outside the nano-contact perimeter permits a deeper insight into the requirements for optimal phase-locking of multiple STVOs that share common magnetic layers. , which features invited work from the best early-career researchers working within the scope of J. Phys. D. This project is part of the Journal of Physics series' 50th anniversary celebrations in 2017. Paul Keatley was selected by the Editorial Board of J. Phys. D as an Emerging Leader.

Design and control of the phase current of a brushless dc motor to eliminate cogging torque

NASA Astrophysics Data System (ADS)

Jang, G. H.; Lee, C. J.

2006-04-01

This paper presents a design and control method of the phase current to reduce the torque ripple of a brushless dc (BLDC) motor by eliminating cogging torque. The cogging torque is the main source of torque ripple and consequently of speed error, and it is also the excitation source to generate the vibration and noise of a motor. This research proposes a modified current wave form, which is composed of main and auxiliary currents. The former is the conventional current to generate the commutating torque. The latter generates the torque with the same magnitude and opposite sign of the corresponding cogging torque at the given position in order to eliminate the cogging torque. Time-stepping finite element method simulation considering pulse-width-modulation switching method has been performed to verify the effectiveness of the proposed method, and it shows that this proposed method reduces torque ripple by 36%. A digital-signal-processor-based controller is also developed to implement the proposed method, and it shows that this proposed method reduces the speed ripple significantly.

14 CFR 25.361 - Engine torque.

Code of Federal Regulations, 2010 CFR

2010-01-01

... engine mount and its supporting structure must be designed for the effects of— (1) A limit engine torque.... (b) For turbine engine installations, the engine mounts and supporting structure must be designed to... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Engine torque. 25.361 Section 25.361...

14 CFR 25.361 - Engine torque.

Code of Federal Regulations, 2012 CFR

2012-01-01

... engine mount and its supporting structure must be designed for the effects of— (1) A limit engine torque.... (b) For turbine engine installations, the engine mounts and supporting structure must be designed to... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Engine torque. 25.361 Section 25.361...

14 CFR 25.361 - Engine torque.

Code of Federal Regulations, 2014 CFR

2014-01-01

... engine mount and its supporting structure must be designed for the effects of— (1) A limit engine torque.... (b) For turbine engine installations, the engine mounts and supporting structure must be designed to... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Engine torque. 25.361 Section 25.361...

14 CFR 25.361 - Engine torque.

Code of Federal Regulations, 2011 CFR

2011-01-01

... engine mount and its supporting structure must be designed for the effects of— (1) A limit engine torque.... (b) For turbine engine installations, the engine mounts and supporting structure must be designed to... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Engine torque. 25.361 Section 25.361...

14 CFR 25.361 - Engine torque.

Code of Federal Regulations, 2013 CFR

2013-01-01

... engine mount and its supporting structure must be designed for the effects of— (1) A limit engine torque.... (b) For turbine engine installations, the engine mounts and supporting structure must be designed to... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Engine torque. 25.361 Section 25.361...

Design, simulation and testing of a novel radial multi-pole multi-layer magnetorheological brake

NASA Astrophysics Data System (ADS)

Wu, Jie; Li, Hua; Jiang, Xuezheng; Yao, Jin

2018-02-01

This paper deals with design, simulation and experimental testing of a novel radial multi-pole multi-layer magnetorheological (MR) brake. This MR brake has an innovative structural design with superposition principle of two magnetic fields generated by the inner coils and the outer coils. The MR brake has several media layers of magnetorheological (MR) fluid located between the inner coils and the outer coils, and it can provide higher torque and higher torque density than conventional single-disk or multi-disk or multi-pole single-layer MR brakes can. In this paper, a brief introduction to the structure of the proposed MR brake was given first. Then, theoretical analysis of the magnetic circuit and the braking torque was conducted. In addition, a 3D electromagnetic model of the MR brake was developed to simulate and examine the magnetic flux intensity and corresponding braking torque. A prototype of the brake was fabricated and several tests were carried out to validate its torque capacity. The results show that the proposed MR brake can produce a maximum braking torque of 133 N m and achieve a high torque density of 25.0 kN m-2, a high torque range of 42 and a high torque-to-power ratio of 0.95 N m W-1.

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.

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.

Effects of tool handle dimension and workpiece orientation and size on wrist ulnar/radial torque strength, usability and discomfort in a wrench task.

PubMed

Dianat, Iman; Rahimi, Soleyman; Nedaei, Moein; Asghari Jafarabadi, Mohammad; Oskouei, Ali E

2017-03-01

The effects of tool handle dimension (three modified designs of wrenches with 30-50 mm diameter cylindrical handles and traditional design with rectangular cross-sectional (5 mm × 25 mm) handle), workpiece orientation (vertical/horizontal) and workpiece size (small/large) as well as user's hand size on wrist ulnar/radial (U/R) torque strength, usability and discomfort, and also the relationship between these variables were evaluated in a maximum torque task using wrenches. The highest and lowest levels of maximal wrist U/R torque strength were recorded for the 30 mm diameter handle and traditional wrench design, respectively. The prototype handle with 30 mm diameter, together with 40 mm diameter handle, was also better than other designs as they received higher usability ratings and caused less discomfort. The mean wrist torque strength exerted on a vertically oriented workpiece (in the sagittal plane) was 23.8% higher than that exerted on a horizontally oriented one (in the transverse plane). The user's hand size had no effect on torque exertions. The wrist torque strength and usability were negatively correlated with hand and finger discomfort ratings. The results are also discussed in terms of their implications for hand tool and workstation configuration in torque tasks involving wrenches. Copyright © 2016 Elsevier Ltd. All rights reserved.

Torque coordinating robust control of shifting process for dry dual clutch transmission equipped in a hybrid car

NASA Astrophysics Data System (ADS)

Zhao, Z.-G.; Chen, H.-J.; Yang, Y.-Y.; He, L.

2015-09-01

For a hybrid car equipped with dual clutch transmission (DCT), the coordination control problems of clutches and power sources are investigated while taking full advantage of the integrated starter generator motor's fast response speed and high accuracy (speed and torque). First, a dynamic model of the shifting process is established, the vehicle acceleration is quantified according to the intentions of the driver, and the torque transmitted by clutches is calculated based on the designed disengaging principle during the torque phase. Next, a robust H∞ controller is designed to ensure speed synchronisation despite the existence of model uncertainties, measurement noise, and engine torque lag. The engine torque lag and measurement noise are used as external disturbances to initially modify the output torque of the power source. Additionally, during the torque switch phase, the torque of the power sources is smoothly transitioned to the driver's demanded torque. Finally, the torque of the power sources is further distributed based on the optimisation of system efficiency, and the throttle opening of the engine is constrained to avoid sharp torque variations. The simulation results verify that the proposed control strategies effectively address the problem of coordinating control of clutches and power sources, establishing a foundation for the application of DCT in hybrid cars.

Special-Purpose High-Torque Permanent-Magnet Motors

NASA Technical Reports Server (NTRS)

Doane, George B., III

1995-01-01

Permanent-magnet brushless motors that must provide high commanded torques and satisfy unusual heat-removal requirement are developed. Intended for use as thrust-vector-control actuators in large rocket engines. Techniques and concepts used to design improved motors for special terrestrial applications. Conceptual motor design calls for use of rotor containing latest high-energy-product rare-earth permanent magnets so that motor produces required torque while drawing smallest possible currents from power supply. Torque generated by electromagnetic interaction between stator and permanent magnets in rotor when associated electronic circuits applied appropriately temporally and spatially phased currents to stator windings. Phase relationships needed to produce commanded torque computed in response to torque command and to electronically sensed angular position of rotor relative to stator.

Improving socket design to prevent difficult removal of locking screws.

PubMed

Lin, Chen-Huei; Chao, Ching-Kong; Tang, Yi-Hsuan; Lin, Jinn

2018-03-01

Reports of driver slippage leading to difficult locking screw removals have increased since the adoption of titanium for screw fabrication; the use of titanium is known to cause cross-threading and cold welding. Such problems occur most frequently in screws with hex sockets, and may cause serious surgical complications. This study aimed to improve screw socket design to prevent slippage and difficult screw removal. Three types of small sockets (hex, Torx, and cruciate) and six types of large sockets (hex, Torx, Octatorx, Torx+ I, Torx+ II, and Torx+ III) with screw head diameters of 5.5 mm were manufactured from titanium, and corresponding screwdrivers were manufactured from stainless steel. The screw heads and drivers were mounted on a material testing machine, and torsional tests were conducted to simulate screw usage in clinical settings at two insertion depths: 1 and 2 mm. Ten specimens were tested from each design, and the maximum torque and failure patterns were recorded and compared. For small sockets in 2 mm conditions, the hex with the largest driver core had the highest torque, followed by Torx and cruciate. In these tests, the drivers were twisted off in all specimens. However, under the 1 mm condition, the hex slipped and the torque decreased markedly. Overall, torque was higher for large sockets than for small sockets. The Octatorx, with a large core and simultaneous deformation of the driver and socket lobes, had the highest torque at almost twice that of the small hex. The hex had the lowest torque, a result of slippage in both the 1 and 2 mm conditions. Torx plus designs, with more designed degrees of freedom, were able to maintain a higher driving angle and larger core for higher torque. The hex design showed slipping tendencies with a marked decrease in torque, especially under conditions with inadequate driver engagement. Large sockets allowed for substantial increases in torque. The Torx, Octatorx, and Torx plus designs displayed better performance than the hexes. Improvements to the socket design could effectively prevent slippage and solve difficult screw removal problems. Copyright © 2018. Published by Elsevier Ltd.

Preparation Torque Limit for Composites Joined with Mechanical Fasteners

NASA Technical Reports Server (NTRS)

Thomas, Frank P.; Yi, Zhao

2005-01-01

Current design guidelines for determining torque ranges for composites are based on tests and analysis from isotropic materials. Properties of composites are not taken into account. No design criteria based upon a systematic analytical and test analyses is available. This paper is to study the maximum torque load a composite component could carry prior to any failure. Specifically, the torque-tension tests are conducted. NDT techniques including acoustic emission, thermography and photomicroscopy are also utilized to characterize the damage modes.

Experimental verification and practical application of torquewhirl theory of rotordynamic instability

NASA Technical Reports Server (NTRS)

Vance, J. M.; Noah, S. T.; Yim, K. B.

1985-01-01

A theory developed by Vance in 1978 to explain the destabilizing effect of torque on a whirling rotor was experimentally verified. The measurements made on a specially designed test apparatus are described. New computer models were also developed to investigate the effect of torque on rotordynamic stability of multidisk flexible rotor bearing systems. The effect of torque was found to be most pronounced when the system is already marginally stable from other influences. The modifications required to include torque in a typical shaft transfer matrix are described, and results are shown which identify the type of rotor design most sensitive to load torque.

Effect of microthreads on coronal bone healing of narrow-diameter implants with reverse-tapered design in beagle dogs.

PubMed

Chang, Yun-Young; Kim, Su-Hwan; Park, Keun-Oh; Yun, Jeong-Ho

2017-12-01

The objective of this study was to investigate the effect of microthreads on the coronal bone healing of narrow-diameter implants with reverse-tapered design. A total of 52 implants were classified into two groups according to presence or absence of coronal microthreads, the reverse-tapered narrow-diameter implant (RTN) group, and the reverse-tapered narrow-diameter implant with microthreads (RTNM) group. The implants were installed in split-mouth design in the edentulous mandible of six dogs. Three animals were sacrificed at 4 weeks and three at 8 weeks. Resonance frequency analysis, bone measurement using microcomputed tomography (micro-CT), removal torque test, and histometric analysis were performed. No significant differences in implant stability quotient value were observed between the groups at baseline, 4 weeks, or 8 weeks. Bone measurement using micro-CT showed that bone-implant contact volume (BICV) and bone-implant contact volume ratio (BICVR) in the coronal part of RTNM were statistically higher than those in RTN at 4 and 8 weeks. Histometric analysis showed statistically higher bone-implant contact length (BICL) in the coronal part of RTNM than in RTN at 4 weeks; however, bone-implant contact ratio (BICR) was not significantly different between the groups. At 8 weeks, the BICL and BICR did not differ significantly between the groups. Removal torque test showed no significant differences between the groups at 4 and 8 weeks. The microthreads might facilitate more coronal bone-implant contact due to increased surface areas at an early healing phase; however, they did not significantly affect coronal bone healing at 8 weeks. © 2017 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Minimization of torque ripple in ferrite-assisted synchronous reluctance motors by using asymmetric stator

NASA Astrophysics Data System (ADS)

Xu, Meimei; Liu, Guohai; Zhao, Wenxiang; Aamir, Nazir

2018-05-01

Torque ripple is one of the important issues for ferrite assisted synchronous reluctance motors (FASRMs). In this paper, an asymmetrical stator is proposed for the FASRM to reduce its torque ripple. In the proposed FASRM, an asymmetrical stator is designed by appropriately choosing the angle of the slot-opening shift. Meanwhile, its analytical torque expressions are derived. The results show that the proposed FASRM has an effective reduction in the cogging torque, reluctance torque ripple and total torque ripple. Moreover, it is easy to implement while the average torque is not sacrificed.

Optimal Spacecraft Attitude Control Using Aerodynamic Torques

DTIC Science & Technology

2007-03-01

His design resembles a badminton shuttlecock and “uses passive aerodynamic drag torques to stabilize pitch and yaw” and active magnetic torque...Ravindran’s and Hughes’ ‘arrow-like’ design. Psiaki notes that “this arrow concept has been modified to become a badminton shuttlecock-type design...panels were placed to the rear of the center-of-mass, similar to a badminton shuttlecock, to provide passive stability about the pitch and yaw axes

Design optimization of an axial-field eddy-current magnetic coupling based on magneto-thermal analytical model

NASA Astrophysics Data System (ADS)

Fontchastagner, Julien; Lubin, Thierry; Mezani, Smaïl; Takorabet, Noureddine

2018-03-01

This paper presents a design optimization of an axial-flux eddy-current magnetic coupling. The design procedure is based on a torque formula derived from a 3D analytical model and a population algorithm method. The main objective of this paper is to determine the best design in terms of magnets volume in order to transmit a torque between two movers, while ensuring a low slip speed and a good efficiency. The torque formula is very accurate and computationally efficient, and is valid for any slip speed values. Nevertheless, in order to solve more realistic problems, and then, take into account the thermal effects on the torque value, a thermal model based on convection heat transfer coefficients is also established and used in the design optimization procedure. Results show the effectiveness of the proposed methodology.

Optimal design of a hybrid MR brake for haptic wrist application

NASA Astrophysics Data System (ADS)

Nguyen, Quoc Hung; Nguyen, Phuong Bac; Choi, Seung-Bok

2011-03-01

In this work, a new configuration of a magnetorheological (MR) brake is proposed and an optimal design of the proposed MR brake for haptic wrist application is performed considering the required braking torque, the zero-field friction torque, the size and mass of the brake. The proposed MR brake configuration is a combination of disc-type and drum-type which is referred as a hybrid configuration in this study. After the MR brake with the hybrid configuration is proposed, braking torque of the brake is analyzed based on Bingham rheological model of the MR fluid. The zero-field friction torque of the MR brake is also obtained. An optimization procedure based on finite element analysis integrated with an optimization tool is developed for the MR brake. The purpose of the optimal design is to find the optimal geometric dimensions of the MR brake structure that can produce the required braking torque and minimize the uncontrollable torque (passive torque) of the haptic wrist. Based on developed optimization procedure, optimal solution of the proposed MR brake is achieved. The proposed optimized hybrid brake is then compared with conventional types of MR brake and discussions on working performance of the proposed MR brake are described.

High performance stepper motors for space mechanisms

NASA Technical Reports Server (NTRS)

Sega, Patrick; Estevenon, Christine

1995-01-01

Hybrid stepper motors are very well adapted to high performance space mechanisms. They are very simple to operate and are often used for accurate positioning and for smooth rotations. In order to fulfill these requirements, the motor torque, its harmonic content, and the magnetic parasitic torque have to be properly designed. Only finite element computations can provide enough accuracy to determine the toothed structures' magnetic permeance, whose derivative function leads to the torque. It is then possible to design motors with a maximum torque capability or with the most reduced torque harmonic content (less than 3 percent of fundamental). These later motors are dedicated to applications where a microstep or a synchronous mode is selected for minimal dynamic disturbances. In every case, the capability to convert electrical power into torque is much higher than on DC brushless motors.

High performance stepper motors for space mechanisms

NASA Astrophysics Data System (ADS)

Sega, Patrick; Estevenon, Christine

1995-05-01

Hybrid stepper motors are very well adapted to high performance space mechanisms. They are very simple to operate and are often used for accurate positioning and for smooth rotations. In order to fulfill these requirements, the motor torque, its harmonic content, and the magnetic parasitic torque have to be properly designed. Only finite element computations can provide enough accuracy to determine the toothed structures' magnetic permeance, whose derivative function leads to the torque. It is then possible to design motors with a maximum torque capability or with the most reduced torque harmonic content (less than 3 percent of fundamental). These later motors are dedicated to applications where a microstep or a synchronous mode is selected for minimal dynamic disturbances. In every case, the capability to convert electrical power into torque is much higher than on DC brushless motors.

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.

A Multiple Degree of Freedom Lower Extremity Isometric Device to Simultaneously Quantify Hip, Knee and Ankle Torques

PubMed Central

Sánchez, Natalia; Acosta, Ana Maria; Stienen, Arno H.A.

2015-01-01

Characterization of the joint torque coupling strategies used in the lower extremity to generate maximal and submaximal levels of torque at either the hip, knee or ankle is lacking. Currently, there are no available isometric devices that quantify all concurrent joint torques in the hip, knee and ankle of a single leg during maximum voluntary torque generation. Thus, joint-torque coupling strategies in the hip, knee and concurrent torques at ankle and/or coupling patterns at the hip and knee driven by the ankle have yet to be quantified. This manuscript describes the design, implementation and validation of a multiple degree of freedom, lower extremity isometric device (the MultiLEIT) that accurately quantifies simultaneous torques at the hip, knee and ankle. The system was mechanically validated and then implemented with two healthy control individuals and two post-stroke individuals to test usability and patient acceptance. Data indicated different joint torque coupling strategies used by both healthy individuals. In contrast, data showed the same torque coupling patterns in both post-stroke individuals, comparable to those described in the clinic. Successful implementation of the MultiLEIT can contribute to the understanding of the underlying mechanisms responsible for abnormal movement patterns and aid in the design of therapeutic interventions. PMID:25163064

Wind tunnel performance results of swirl recovery vanes as tested with an advanced high speed propeller

NASA Technical Reports Server (NTRS)

Gazzaniga, John A.; Rose, Gayle E.

1992-01-01

Tests of swirl recovery vanes designed for use in conjunction with advanced high speed propellers were carried out at the NASA Lewis Research Center. The eight bladed 62.23 cm vanes were tested with a 62.23 cm SR = 7A high speed propeller in the NASA Lewis 2.44 x 1.83 m Supersonic Wind Tunnel for a Mach number range of 0.60 to 0.80. At the design operating condition for cruise of Mach 0.80 at an advance ratio of 3.26, the vane contribution to the total efficiency approached 2 percent. At lower off-design Mach numbers, the vane efficiency is even higher, approaching 4.5 percent for the Mach 0.60 condition. Use of the swirl recovery vanes essentially shifts the peak of the high speed propeller efficiency to a higher operating speed. This allows a greater degree of freedom in the selection of rpm over a wider operating range. Another unique result of the swirl recovery vane configuration is their essentially constant torque split between the propeller and the swirl vanes over a wide range of operating conditions for the design vane angle.

A magneto-rheological fluid-based torque sensor for smart torque wrench application

NASA Astrophysics Data System (ADS)

Ahmadkhanlou, Farzad; Washington, Gregory N.

2013-04-01

In this paper, the authors have developed a new application where MR fluid is being used as a sensor. An MR-fluid based torque wrench has been developed with a rotary MR fluid-based damper. The desired set torque ranges from 1 to 6 N.m. Having continuously controllable yield strength, the MR fluid-based torque wrench presents a great advantage over the regular available torque wrenches in the market. This design is capable of providing continuous set toque from the lower limit to the upper limit while regular torque wrenches provide discrete set torques only at some limited points. This feature will be especially important in high fidelity systems where tightening torque is very critical and the tolerances are low.

A 23.2:1 ratio, 300-watt, 26 N-m output torque, planetary roller-gear robotic transmission: Design and evaluation

NASA Technical Reports Server (NTRS)

Newman, Wyatt S.; Anderson, William J.; Shipitalo, William; Rohn, Douglas

1992-01-01

The design philosophy and measurements performed on a new roller-gear transmission prototype for a robotic manipulator are described. The design incorporates smooth rollers in a planetary configuration integrated with conventional toothed gears. The rollers were designed to handle low torque with low backlash and friction while the complementary gears support higher torques and prevent accumulated creep or slip of the rollers. The introduction of gears with finite numbers of teeth to function in parallel with the rollers imposes severe limits on available designs. Solutions for two-planet row designs are discussed. A two-planet row, four-planet design was conceived, fabricated, and tested. Detailed calculations of cluster geometry, gear stresses, and gear geometry are given. Measurement data reported here include transmission linearity, static and dynamic friction, inertia, backlash, stiffness, and forward and reverse efficiency. Initial test results are reported describing performance of the transmission in a servomechanism with torque feedback.

Fabricated torque shaft

DOEpatents

Mashey, Thomas Charles

2002-01-01

A fabricated torque shaft is provided that features a bolt-together design to allow vane schedule revisions with minimal hardware cost. The bolt-together design further facilitates on-site vane schedule revisions with parts that are comparatively small. The fabricated torque shaft also accommodates stage schedules that are different one from another in non-linear inter-relationships as well as non-linear schedules for a particular stage of vanes.

AUTOMOTIVE DIESEL MAINTENANCE 2. UNIT V, AUTOMATIC TRANSMISSIONS--TORQUE CONVERTER.

ERIC Educational Resources Information Center

Human Engineering Inst., Cleveland, OH.

THIS MODULE OF A 25-MODULE COURSE IS DESIGNED TO DEVELOP AN UNDERSTANDING OF THE OPERATION AND MAINTENANCE OF TORQUE CONVERTERS USED ON DIESEL POWERED VEHICLES. TOPICS ARE (1) FLUID COUPLINGS (LOCATION AND PURPOSE), (2) PRINCIPLES OF OPERATION, (3) TORQUE CONVERRS, (4) TORQMATIC CONVERTER, (5) THREE STAGE, THREE ELEMENT TORQUE CONVERTER, AND (6)…

Extraneous torque and compensation control on the electric load simulator

NASA Astrophysics Data System (ADS)

Jiao, Zongxia; Li, Chenggong; Ren, Zhiting

2003-09-01

In this paper a novel motor-drive load simulator based on compensation control strategy is proposed and designed. Through analyzing the torque control system consisting of DC torque motor, PWM module and torque sensor, it is shown that performance of the motor-drive load simulator is possible to be as good as that of the electro-hydraulic load simulator in the range of small torque. In the course of loading, the rotation of the actuator would cause a strong disturbance torque through the motor back-EMF, which produces extraneous torque similar as in electro-hydraulic load simulator. This paper analyzes the cause of extraneous torque inside the torque motor in detail and presents an appropriate compensation control with which the extraneous torque can be compensated and the good performance of the torque control system can be obtained. The results of simulation indicate that the compensation is very effective and the track performance is according with the request.

Design of a Torque Current Generator for Strapdown Gyroscopes. Ph.D. Thesis; [and performance prediction

NASA Technical Reports Server (NTRS)

Mcknight, R. D.; Blalock, T. V.; Kennedy, E. J.

1974-01-01

The design, analysis, and experimental evaluation of an optimum performance torque current generator for use with strapdown gyroscopes, is presented. Among the criteria used to evaluate the design were the following: (1) steady-state accuracy; (2) margins of stability against self-oscillation; (3) temperature variations; (4) aging; (5) static errors drift errors, and transient errors, (6) classical frequency and time domain characteristics; and (7) the equivalent noise at the input of the comparater operational amplifier. The DC feedback loop of the torque current generator was approximated as a second-order system. Stability calculations for gain margins are discussed. Circuit diagrams are shown and block diagrams showing the implementation of the torque current generator are discussed.

Design and experimental evaluation of a lightweight, high-torque and compliant actuator for an active ankle foot orthosis.

PubMed

Moltedo, Marta; Bacek, Tomislav; Langlois, Kevin; Junius, Karen; Vanderborght, Bram; Lefeber, Dirk

2017-07-01

The human ankle joint plays a crucial role during walking. At the push-off phase the ankle plantarflexors generate the highest torque among the lower limb joints during this activity. The potential of the ankle plantarflexors is affected by numerous pathologies and injuries, which cause a decrease in the ability of the subject to achieve a natural gait pattern. Active orthoses have shown to have potential in assisting these subjects. The design of such robots is very challenging due to the contrasting design requirements of wearability (light weight and compact) and high torques capacity. This paper presents the development of a high-torque ankle actuator to assist the ankle joint in both dorsiflexion and plantarflexion. The compliant actuator is a spindle-driven MACCEPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator). The design of the actuator was made to keep its weight as low as possible, while being able to provide high torques. As a result of this novel design, the actuator weighs 1.18kg. Some static characterization tests were perfomed on the actuator and their results are shown in the paper.

Design, characterization and control of the Unique Mobility Corporation robot

NASA Technical Reports Server (NTRS)

Velasco, Virgilio B., Jr.; Newman, Wyatt S.; Steinetz, Bruce; Kopf, Carlo; Malik, John

1994-01-01

Space and mass are at a premium on any space mission, and thus any machinery designed for space use should be lightweight and compact, without sacrificing strength. It is for this reason that NASA/LeRC contracted Unique Mobility Corporation to exploit their novel actuator designs to build a robot that would advance the present state of technology with respect to these requirements. Custom-designed motors are the key feature of this robot. They are compact, high-performance dc brushless servo motors with a high pole count and low inductance, thus permitting high torque generation and rapid phase commutation. Using a custom-designed digital signal processor-based controller board, the pulse width modulation power amplifiers regulate the fast dynamics of the motor currents. In addition, the programmable digital signal processor (DSP) controller permits implementation of nonlinear compensation algorithms to account for motoring vs. regeneration, torque ripple, and back-EMF. As a result, the motors produce a high torque relative to their size and weight, and can do so with good torque regulation and acceptably high velocity saturation limits. This paper presents the Unique Mobility Corporation robot prototype: its actuators, its kinematic design, its control system, and its experimental characterization. Performance results, including saturation torques, saturation velocities and tracking accuracy tests are included.

The influence of the magnetic topology on the wind braking of sun-like stars.

NASA Astrophysics Data System (ADS)

Réville, V.; Brun, A. S.; Matt, S. P.; Strugarek, A.; Pinto, R.

2014-12-01

Stellar winds are thought to be the main process responsible for the spin down of main-sequence stars. The extraction of angular momentum by a magnetized wind has been studied for decades, leading to several formulations for the resulting torque. However, previous studies generally consider simple dipole or split monopole stellar magnetic topologies. Here we consider in addition to a dipolar stellar magnetic field, both quadrupolar and octupolar configurations, while also varying the rotation rate and the magnetic field strength. 60 simulations made with a 2.5D, cylindrical and axisymmetric set-up and computed with the PLUTO code were used to find torque formulations for each topology. We further succeed to give a unique law that fits the data for every topology by formulating the torque in terms of the amount of open magnetic flux in the wind. We also show that our formulation can be applied to even more realistic magnetic topologies, with examples of the Sun in its minimum and maximum phase as observed at the Wilcox Solar Observatory, and of a young K-star (TYC-0486-4943-1) whose topology has been obtained by Zeeman-Doppler Imaging (ZDI).

Experimental Observations for Determining the Maximum Torque Values to Apply to Composite Components Mechanically Joined With Fasteners (MSFC Center Director's Discretionary Fund Final Report, Proj. 03-13}

NASA Technical Reports Server (NTRS)

Thomas, F. P.

2006-01-01

Aerospace structures utilize innovative, lightweight composite materials for exploration activities. These structural components, due to various reasons including size limitations, manufacturing facilities, contractual obligations, or particular design requirements, will have to be joined. The common methodologies for joining composite components are the adhesively bonded and mechanically fastened joints and, in certain instances, both methods are simultaneously incorporated into the design. Guidelines and recommendations exist for engineers to develop design criteria and analyze and test composites. However, there are no guidelines or recommendations based on analysis or test data to specify a torque or torque range to apply to metallic mechanical fasteners used to join composite components. Utilizing the torque tension machine at NASA s Marshall Space Flight Center, an initial series of tests were conducted to determine the maximum torque that could be applied to a composite specimen. Acoustic emissions were used to nondestructively assess the specimens during the tests and thermographic imaging after the tests.

Resonance measurement of nonlocal spin torque in a three-terminal magnetic device.

PubMed

Xue, Lin; Wang, Chen; Cui, Yong-Tao; Liu, Luqiao; Swander, A; Sun, J Z; Buhrman, R A; Ralph, D C

2012-04-06

A pure spin current generated within a nonlocal spin valve can exert a spin-transfer torque on a nanomagnet. This nonlocal torque enables new design schemes for magnetic memory devices that do not require the application of large voltages across tunnel barriers that can suffer electrical breakdown. Here we report a quantitative measurement of this nonlocal spin torque using spin-torque-driven ferromagnetic resonance. Our measurement agrees well with the prediction of an effective circuit model for spin transport. Based on this model, we suggest strategies for optimizing the strength of nonlocal torque. © 2012 American Physical Society

Hybrid powertrain controller

DOEpatents

Jankovic, Miroslava; Powell, Barry Kay

2000-12-26

A hybrid powertrain for a vehicle comprising a diesel engine and an electric motor in a parallel arrangement with a multiple ratio transmission located on the torque output side of the diesel engine, final drive gearing connecting drivably the output shaft of transmission to traction wheels of the vehicle, and an electric motor drivably coupled to the final drive gearing. A powertrain controller schedules fuel delivered to the diesel engine and effects a split of the total power available, a portion of the power being delivered by the diesel and the balance of the power being delivered by the motor. A shifting schedule for the multiple ratio transmission makes it possible for establishing a proportional relationship between accelerator pedal movement and torque desired at the wheels. The control strategy for the powertrain maintains drivability of the vehicle that resembles drivability of a conventional spark ignition vehicle engine powertrain while achieving improved fuel efficiency and low exhaust gas emissions.

Why do galactic spins flip in the cosmic web? A Theory of Tidal Torques near saddles

NASA Astrophysics Data System (ADS)

Pichon, Christophe; Codis, Sandrine; Pogosyan, Dmitry; Dubois, Yohan; Desjacques, Vincent; Devriendt, Julien

2016-10-01

Filaments of the cosmic web drive spin acquisition of disc galaxies. The point process of filament-type saddle represent best this environment and can be used to revisit the Tidal Torque Theory in the context of an anisotropic peak (saddle) background split. The constrained misalignment between the tidal tensor and the Hessian of the density field generated in the vicinity of filament saddle points simply explains the corresponding transverse and longitudinal point-reflection symmetric geometry of spin distribution. It predicts in particular an azimuthal orientation of the spins of more massive galaxies and spin alignment with the filament for less massive galaxies. Its scale dependence also allows us to relate the transition mass corresponding to the alignment of dark matter halos' spin relative to the direction of their neighboring filament to this geometry, and to predict accordingly it's scaling with the mass of non linearity, as was measured in simulations.

Design of driving control strategy of torque distribution for two - wheel independent drive electric vehicle

NASA Astrophysics Data System (ADS)

Zhang, Chuanwei; Zhang, Dongsheng; Wen, Jianping

2018-02-01

In order to coordinately control the torque distribution of existing two-wheel independent drive electric vehicle, and improve the energy efficiency and control stability of the whole vehicle, the control strategies based on fuzzy control were designed which adopt the direct yaw moment control as the main line. For realizing the torque coordination simulation of the two-wheel independent drive vehicle, the vehicle model, motor model and tire model were built, including the vehicle 7 - DOF dynamics model, motion equation, torque equation. Finally, in the Carsim - Simulink joint simulation platform, the feasibility of the drive control strategy was verified.

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...

Increase of economy of torque flow pump with high specific speed

NASA Astrophysics Data System (ADS)

Gusak, A. G.; Krishtop, I. V.; German, V. F.; Baga, V. N.

2017-08-01

Torque flow pumps are widely spread types of energy machines, which are used in majority of modern branches of industry for pumping of dirty media. The main task of researchers of torque flow pumps is increase of such pumps effectiveness for higher feed. Hydraulic losses for torque flow pumps are caused by working process of such pumps and are inevitable. Decrease of losses can be obtained by means of optimization of hydraulic flow part geometry. Modern approach to design of pump outlet introduces new constructive solutions which can increase economy of torque flow pumps. The aim of this research is increase of economy of torque flow pumps by means of application of spatial outlet and investigation of its geometry on pump characteristics. Analytical and numerical methods of liquid flow research for hydraulic flow part of torque flow pump were used in this paper. Moreover, influence of hydraulic flow part geometry of different designs of “Turo” type torque flow pumps outlets on pump characteristics was investigated. Numerical research enabled to study process of energy transfer of torque flow pump and evaluate influence of geometrical dimensions of spatial spiral outlet on its characteristics. Besides numerical research confirmed introduced regularity of peripheral velocity distribution in outlet. Velocity moment distribution in outlet was obtained during implementation of numerical research. Implemented bench tests of torque flow pump prototypes enabled to obtain real characteristics of pump and confirm effectiveness of spatial geometry of outlet application for such pump.

Electromagnetic fields and torque for a rotating gyroscope with a superconducting shield

NASA Technical Reports Server (NTRS)

Ebner, C.; Sung, C. C.

1975-01-01

In a proposed experiment, a measurement is to be made of the angular precession of a rotating superconducting gyroscope for the purpose of testing different general-relativity theories. For various reasons having to do with the design of the experiment, the superconducting shield surrounding the gyroscope is not spherically symmetric and produces a torque. There are two distinct features of the shield which lead to a torque on the gyroscope. First, its shape is a sphere intersected by a plane. If the angular momentum of the gyroscope is not parallel to the rotational symmetry axis of the shield, there is a torque which is calculated. Second, there are small holes in the spherical portion of the shield. The earth's field can penetrate through these holes and give an additional torque which is also calculated. In the actual experiment, these torques must be accurately known or made very small in order to obtain meaningful results. The present calculation is sufficiently general for application over a wide range of experimental design parameters.

Ultrasonically assisted drilling of rocks

NASA Astrophysics Data System (ADS)

Mikhailova, N. V.; Onawumi, P. Y.; Roy, A.; Silberschmidt, V. V.

2018-05-01

Conventional drilling of rocks can generate significant damage in the drilled material; a material layer is often split off a back surface of a sample during drilling, negatively affecting its strength. To improve finish quality, ultrasonically assisted drilling (UAD) was employed in two rocks - sandstone and marble. Damage areas in both materials were reduced in UAD when compared to conventional drilling. Reductions in a thrust force and a torque reduction were observed only for UAD in marble; ultrasonic assistance in sandstone drilling did not result in improvements in this regard.

Cogging Torque Reduction in a Permanent Magnet Wind Turbine Generator: Preprint

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

Muljadi, E.; Green, J.

2002-01-01

In this paper, we investigate three design options to minimize cogging torque: uniformity of air gap, pole width, and skewing. Although the design improvement is intended for small wind turbines, it is also applicable to larger wind turbines.

Finite Element Analysis in the Estimation of Air-Gap Torque and Surface Temperature of Induction Machine

NASA Astrophysics Data System (ADS)

Mr., J. Ravi Kumar; Banakara, Basavaraja, Dr.

2017-08-01

This paper presents electromagnetic and thermal behavior of Induction Motor (IM) through the modeling and analysis by applying multiphysics coupled Finite Element Analysis (FEA). Therefore prediction of the magnetic flux, electromagnetic torque, stator and rotor losses and temperature distribution inside an operating electric motor are the most important issues during its design. Prediction and estimation of these parameters allows design engineers to decide capability of the machine for the proposed load, temperature rating and its application for which it is being designed ensuring normal motor operation at rated conditions. In this work, multiphysics coupled electromagnetic - thermal modeling and analysis of induction motor at rated and high frequency has carried out applying Arkkio’s torque method. COMSOL Multiphysics software is used for modeling and finite element analysis of IM. Transient electromagnetic torque, magnetic field distribution, speed-torque characteristics of IM were plotted and studied at different frequencies. This proposed work helps in the design and prediction of accurate performance of induction motor specific to various industrial drive applications. Results obtained are also validated with experimental analysis. The main purpose of this model is to use it as an integral part of the design aiming to system optimization of Variable Speed Drive (VSD) and its components using coupled simulations.

Design of a lightweight, tethered, torque-controlled knee exoskeleton.

PubMed

Witte, Kirby Ann; Fatschel, Andreas M; Collins, Steven H

2017-07-01

Lower-limb exoskeletons show promise for improving gait rehabilitation for those with chronic gait abnormalities due to injury, stroke or other illness. We designed and built a tethered knee exoskeleton with a strong lightweight frame and comfortable, four-point contact with the leg. The device is structurally compliant in select directions, instrumented to measure joint angle and applied torque, and is lightweight (0.76 kg). The exoskeleton is actuated by two off-board motors. Closed loop torque control is achieved using classical proportional feedback control with damping injection in conjunction with iterative learning. We tested torque measurement accuracy and found root mean squared (RMS) error of 0.8 Nm with a max load of 62.2 Nm. Bandwidth was measured to be phase limited at 45 Hz when tested on a rigid test stand and 23 Hz when tested on a person's leg. During bandwidth tests peak extension torques were measured up to 50 Nm. Torque tracking was tested during walking on a treadmill at 1.25 m/s with peak flexion torques of 30 Nm. RMS torque tracking error averaged over a hundred steps was 0.91 Nm. We intend to use this knee exoskeleton to investigate robotic assistance strategies to improve gait rehabilitation and enhance human athletic ability.

Design and analysis of a direct-drive wind power generator with ultra-high torque density

NASA Astrophysics Data System (ADS)

Jian, Linni; Shi, Yujun; Wei, Jin; Zheng, Yanchong

2015-05-01

In order to get rid of the nuisances caused by mechanical gearboxes, generators with low rated speed, which can be directly connected to wind turbines, are attracting increasing attention. The purpose of this paper is to propose a new direct-drive wind power generator (DWPG), which can offer ultra-high torque density. First, magnetic gear (MG) is integrated to achieve non-contact torque transmission and speed variation. Second, armature windings are engaged to achieve electromechanical energy conversion. Interior permanent magnet (PM) design on the inner rotor is adopted to boost the torque transmission capability of the integrated MG. Nevertheless, due to lack of back iron on the stator, the proposed generator does not exhibit prominent salient feature, which usually exists in traditional interior PM (IPM) machines. This makes it with good controllability and high power factor as the surface-mounted permanent magnet machines. The performance is analyzed using finite element method. Investigation on the magnetic field harmonics demonstrates that the permanent-magnetic torque offered by the MG can work together with the electromagnetic torque offered by the armature windings to balance the driving torque captured by the wind turbine. This allows the proposed generator having the potential to offer even higher torque density than its integrated MG.

Cogging Torque Minimization in Transverse Flux Machines

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

Husain, Tausif; Hasan, Iftekhar; Sozer, Yilmaz

2017-02-16

This paper presents the design considerations in cogging torque minimization in two types of transverse flux machines. The machines have a double stator-single rotor configuration with flux concentrating ferrite magnets. One of the machines has pole windings across each leg of an E-Core stator. Another machine has quasi-U-shaped stator cores and a ring winding. The flux in the stator back iron is transverse in both machines. Different methods of cogging torque minimization are investigated. Key methods of cogging torque minimization are identified and used as design variables for optimization using a design of experiments (DOE) based on the Taguchi method.more » A three-level DOE is performed to reach an optimum solution with minimum simulations. Finite element analysis is used to study the different effects. Two prototypes are being fabricated for experimental verification.« less

Design and characterization of a powered elbow prosthesis.

PubMed

Bennett, Daniel A; Mitchell, Jason; Goldfarb, Michael

2015-01-01

This paper describes the design of a powered elbow prosthesis, which incorporates a belt and cable drive transmission with a brushless DC motor to achieve an output torque of approximately 18.4 Nm, a backdrive torque of 1.5 Nm, and a speed of up to 360 deg/s while remaining within the anthropomorphic envelope with regard to mass and size. The measured torque and speed of the prosthesis is commensurate with nominal capability of the natural limb (for purposes of performing activities of daily living).

Split Fermi Surfaces of the Spin-Orbit-Coupled Metal Cd2Re2O7 Probed by de Haas-van Alphen Effect

NASA Astrophysics Data System (ADS)

Matsubayashi, Yasuhito; Sugii, Kaori; Hirose, Hishiro T.; Hirai, Daigorou; Sugiura, Shiori; Terashima, Taichi; Uji, Shinya; Hiroi, Zenji

2018-05-01

The superconducting pyrochlore oxide Cd2Re2O7 shows a structural transition with inversion symmetry breaking (ISB) at Ts1 = 200 K. A recent theory [L. Fu, Phys. Rev. Lett. 115, 026401 (2015)] suggests that the origin is an electronic instability that leads to a multipolar order in the spin-orbit-coupled metal. To observe the Fermi surface of the low-temperature phase of Cd2Re2O7, we perform de Haas-van Alphen effect measurements by means of magnetic torque. In reference to a calculated band structure, the spin-split Fermi surfaces with large cyclotron masses of 5-9m0 are revealed. The splitting is suggested to be due to an antisymmetric spin-orbit coupling induced by ISB, the strength of which is estimated to be approximately 67 K, which is rather smaller than those of typical non-centrosymmetric metals.

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

Experimental system for drilling simulated lunar rock in ultrahigh vacuum

NASA Technical Reports Server (NTRS)

Roepke, W. W.

1975-01-01

An experimental apparatus designed for studying drillability of hard volcanic rock in a simulated lunar vacuum of 5 x 10 to the minus 10th power torr is described. The engineering techniques used to provide suitable drilling torque inside the ultrahigh vacuum chamber while excluding all hydrocarbon are detailed. Totally unlubricated bearings and gears were used to better approximate the true lunar surface conditions within the ultrahigh vacuum system. The drilling system has a starting torque of 30 in-lb with an unloaded running torque of 4 in-lb. Nominal torque increase during drilling is 4.5 in-lb or a total drilling torque of 8.5 in-lb with a 100-lb load on the drill bit at 210 rpm. The research shows conclusively that it is possible to design operational equipment for moderate loads operating under UHV conditions without the use of sealed bearings or any need of lubricants whatsoever.

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.

Influence of the implant-abutment connection design and diameter on the screw joint stability.

PubMed

Shin, Hyon-Mo; Huh, Jung-Bo; Yun, Mi-Jeong; Jeon, Young-Chan; Chang, Brian Myung; Jeong, Chang-Mo

2014-04-01

This study was conducted to evaluate the influence of the implant-abutment connection design and diameter on the screw joint stability. Regular and wide-diameter implant systems with three different joint connection designs: an external butt joint, a one-stage internal cone, and a two-stage internal cone were divided into seven groups (n=5, in each group). The initial removal torque values of the abutment screw were measured with a digital torque gauge. The postload removal torque values were measured after 100,000 cycles of a 150 N and a 10 Hz cyclic load had been applied. Subsequently, the rates of the initial and postload removal torque losses were calculated to evaluate the effect of the joint connection design and diameter on the screw joint stability. Each group was compared using Kruskal-Wallis test and Mann-Whitney U test as post-hoc test (α=0.05). THE POSTLOAD REMOVAL TORQUE VALUE WAS HIGH IN THE FOLLOWING ORDER WITH REGARD TO MAGNITUDE: two-stage internal cone, one-stage internal cone, and external butt joint systems. In the regular-diameter group, the external butt joint and one-stage internal cone systems showed lower postload removal torque loss rates than the two-stage internal cone system. In the wide-diameter group, the external butt joint system showed a lower loss rate than the one-stage internal cone and two-stage internal cone systems. In the two-stage internal cone system, the wide-diameter group showed a significantly lower loss rate than the regular-diameter group (P<.05). The results of this study showed that the external butt joint was more advantageous than the internal cone in terms of the postload removal torque loss. For the difference in the implant diameter, a wide diameter was more advantageous in terms of the torque loss rate.

Influence of the implant-abutment connection design and diameter on the screw joint stability

PubMed Central

Shin, Hyon-Mo; Huh, Jung-Bo; Yun, Mi-Jeong; Jeon, Young-Chan; Chang, Brian Myung

2014-01-01

PURPOSE This study was conducted to evaluate the influence of the implant-abutment connection design and diameter on the screw joint stability. MATERIALS AND METHODS Regular and wide-diameter implant systems with three different joint connection designs: an external butt joint, a one-stage internal cone, and a two-stage internal cone were divided into seven groups (n=5, in each group). The initial removal torque values of the abutment screw were measured with a digital torque gauge. The postload removal torque values were measured after 100,000 cycles of a 150 N and a 10 Hz cyclic load had been applied. Subsequently, the rates of the initial and postload removal torque losses were calculated to evaluate the effect of the joint connection design and diameter on the screw joint stability. Each group was compared using Kruskal-Wallis test and Mann-Whitney U test as post-hoc test (α=0.05). RESULTS The postload removal torque value was high in the following order with regard to magnitude: two-stage internal cone, one-stage internal cone, and external butt joint systems. In the regular-diameter group, the external butt joint and one-stage internal cone systems showed lower postload removal torque loss rates than the two-stage internal cone system. In the wide-diameter group, the external butt joint system showed a lower loss rate than the one-stage internal cone and two-stage internal cone systems. In the two-stage internal cone system, the wide-diameter group showed a significantly lower loss rate than the regular-diameter group (P<.05). CONCLUSION The results of this study showed that the external butt joint was more advantageous than the internal cone in terms of the postload removal torque loss. For the difference in the implant diameter, a wide diameter was more advantageous in terms of the torque loss rate. PMID:24843398

Research on a new magnetic-field-modulated brushless double-rotor machine with sinusoidal-permeance modulating ring

NASA Astrophysics Data System (ADS)

Zheng, Ping; Liu, Jiaqi; Bai, Jingang; Song, Zhiyi; Liu, Yong

2017-05-01

The magnetic-field-modulated brushless double-rotor machine (MFM-BDRM), composed of a stator, a modulating ring rotor, and a PM rotor, is a kind of power-split device for hybrid electric vehicles (HEVs). In this paper, a new MFM-BDRM with sinusoidal-permeance modulating ring named Sinusoidal-Permeance-Modulating-Ring Brushless Double-Rotor Machine (SPMR-BDRM) is proposed to solve the problem of poor mechanical strength and large iron loss. The structure and the operating principle of the MFM-BDRM are introduced. The design principle of the sinusoidal-permeance modulating ring is analyzed and derived. The main idea of that is to minimize the harmonic permeance of air gap, thereby the harmonic magnetic fields can be restrained. There are comparisons between a MFM-BDRM with sinusoidal-permeance modulating ring and a same size MFM-BDRM with traditional modulating ring, including magnetic field distributions and electromagnetic performances. Most importantly, the iron losses are compared under six different conditions. The result indicates that the harmonic magnetic fields in the air gap are restrained; the electromagnetic torque and power factor are almost the same with same armature current; the torque ripples of the modulating ring rotor and the PM rotor are reduced; the stator loss is reduced by 13% at least and the PM loss is reduced by 20% at least compared with the same size traditional MFM-BDRM under the same operating conditions.

14 CFR 23.361 - Engine torque.

Code of Federal Regulations, 2011 CFR

2011-01-01

... Engine torque. (a) Each engine mount and its supporting structure must be designed for the effects of— (1... rational analysis, a factor of 1.6 must be used. (b) For turbine engine installations, the engine mounts... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Engine torque. 23.361 Section 23.361...

14 CFR 23.361 - Engine torque.

Code of Federal Regulations, 2014 CFR

2014-01-01

... Engine torque. (a) Each engine mount and its supporting structure must be designed for the effects of— (1... rational analysis, a factor of 1.6 must be used. (b) For turbine engine installations, the engine mounts... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Engine torque. 23.361 Section 23.361...

14 CFR 23.361 - Engine torque.

Code of Federal Regulations, 2013 CFR

2013-01-01

... Engine torque. (a) Each engine mount and its supporting structure must be designed for the effects of— (1... rational analysis, a factor of 1.6 must be used. (b) For turbine engine installations, the engine mounts... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Engine torque. 23.361 Section 23.361...

14 CFR 23.361 - Engine torque.

Code of Federal Regulations, 2012 CFR

2012-01-01

... Engine torque. (a) Each engine mount and its supporting structure must be designed for the effects of— (1... rational analysis, a factor of 1.6 must be used. (b) For turbine engine installations, the engine mounts... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Engine torque. 23.361 Section 23.361...

14 CFR 23.361 - Engine torque.

Code of Federal Regulations, 2010 CFR

2010-01-01

... Engine torque. (a) Each engine mount and its supporting structure must be designed for the effects of— (1... rational analysis, a factor of 1.6 must be used. (b) For turbine engine installations, the engine mounts... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Engine torque. 23.361 Section 23.361...

Two gimbal bearing case studies: Some lessons learned

NASA Technical Reports Server (NTRS)

Loewenthal, Stuart H.

1988-01-01

Two troublesome, torque related problems associated with gimbal actuators are discussed. Large, thin section angular contact bearings can have a surprisingly high torque sensitivity to radial thermal gradients. A predictive thermal-mechanical bearing analysis, as described, was helpful in establishing a safe temperature operating envelope. In the second example, end-of-travel torque limits of an oscillatory gimbal bearing appoached motor stall during limit cycling life tests. Bearing modifications required to restore acceptable torque performance are described. The lessons learned from these case studies should benefit designers of precision gimbals where singular bearing torque related problems are not uncommon.

Investigation of Dynamic Force/Vibration Transmission Characteristics of Four-Square Type Gear Durability Test Machines

NASA Technical Reports Server (NTRS)

Kahraman, Ahmet

2002-01-01

In this study, design requirements for a dynamically viable, four-square type gear test machine are investigated. Variations of four-square type gear test machines have been in use for durability and dynamics testing of both parallel- and cross-axis gear set. The basic layout of these machines is illustrated. The test rig is formed by two gear pairs, of the same reduction ratio, a test gear pair and a reaction gear pair, connected to each other through shafts of certain torsional flexibility to form an efficient, closed-loop system. A desired level of constant torque is input to the circuit through mechanical (a split coupling with a torque arm) or hydraulic (a hydraulic actuator) means. The system is then driven at any desired speed by a small DC motor. The main task in hand is the isolation of the test gear pair from the reaction gear pair under dynamic conditions. Any disturbances originated at the reaction gear mesh might potentially travel to the test gearbox, altering the dynamic loading conditions of the test gear mesh, and hence, influencing the outcome of the durability or dynamics test. Therefore, a proper design of connecting structures becomes a major priority. Also, equally important is the issue of how close the operating speed of the machine is to the resonant frequencies of the gear meshes. This study focuses on a detailed analysis of the current NASA Glenn Research Center gear pitting test machine for evaluation of its resonance and vibration isolation characteristics. A number of these machines as the one illustrated has been used over last 30 years to establish an extensive database regarding the influence of the gear materials, processes surface treatments and lubricants on gear durability. This study is intended to guide an optimum design of next generation test machines for the most desirable dynamic characteristics.

The effect of different screw-rod design on the anti-rotational torque: a biomechanical comparison of three conventional screw-rod constructs.

PubMed

Huang, Zifang; Wang, Chongwen; Fan, Hengwei; Sui, Wenyuan; Li, Xueshi; Wang, Qifei; Yang, Junlin

2017-07-28

Screw-rod constructs have been widely used to correct spinal deformities, but the effects of different screw-rod systems on anti-rotational torque have not been determined. This study aimed to analyze the biomechanical effect of different rod-screw constructs on anti-rotational torque. Three conventional spinal screw-rod systems (Legacy, RF-F-10 and USSII) were used to test the anti-rotational torque in the material test machine. ANOVA was performed to evaluate the anti-rotational capacity of different pedicle screws-rod constructs. The anti-rotational torque of Legacy group, RF-F-10 group and USSII group were 12.3 ± 1.9 Nm, 6.8 ± 0.4 Nm, and 3.9 ± 0.8 Nm, with a P value lower than 0.05. This results indicated that the Legacy screws-rod construct could provide a highest anti-rotation capacity, which is 68% and 210% greater than RF-F-10 screw-rod construct and USSII screw-rod respectively. The anti-rotational torque may be mainly affected by screw cap and groove design. Our result showed the anti-rotational torque are: Legacy system > RF-F-10 system > USSII system, suggesting that appropriate rod-screw constructs selection in surgery may be vital for anti-rotational torque improvement and preventing derotation correction loss.

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.

A High Performance Torque Sensor for Milling Based on a Piezoresistive MEMS Strain Gauge

PubMed Central

Qin, Yafei; Zhao, Yulong; Li, Yingxue; Zhao, You; Wang, Peng

2016-01-01

In high speed and high precision machining applications, it is important to monitor the machining process in order to ensure high product quality. For this purpose, it is essential to develop a dynamometer with high sensitivity and high natural frequency which is suited to these conditions. This paper describes the design, calibration and performance of a milling torque sensor based on piezoresistive MEMS strain. A detailed design study is carried out to optimize the two mutually-contradictory indicators sensitivity and natural frequency. The developed torque sensor principally consists of a thin-walled cylinder, and a piezoresistive MEMS strain gauge bonded on the surface of the sensing element where the shear strain is maximum. The strain gauge includes eight piezoresistances and four are connected in a full Wheatstone circuit bridge, which is used to measure the applied torque force during machining procedures. Experimental static calibration results show that the sensitivity of torque sensor has been improved to 0.13 mv/Nm. A modal impact test indicates that the natural frequency of torque sensor reaches 1216 Hz, which is suitable for high speed machining processes. The dynamic test results indicate that the developed torque sensor is stable and practical for monitoring the milling process. PMID:27070620

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.

Effect of environmental torques on short-term attitude prediction for a rolling-wheel spacecraft in a sun-synchronous orbit

NASA Technical Reports Server (NTRS)

Hodge, W. F.

1972-01-01

A numerical evaluation and an analysis of the effects of environmental disturbance torques on the attitude of a hexagonal cylinder rolling wheel spacecraft were performed. The resulting perturbations caused by five such torques were found to be very small and exhibited linearity such that linearized equations of motion yielded accurate results over short periods and the separate perturbations contributed by each torque were additive in the sense of superposition. Linearity of the torque perturbations was not affected by moderate system design changes and persisted for torque-to-angular momentum ratios up to 100 times the nominal expected value. As these conditions include many possible applications, similar linear behavior might be anticipated for other rolling-wheel spacecraft.

Feasibility study for convertible engine torque converter

NASA Technical Reports Server (NTRS)

1985-01-01

The feasibility study has shown that a dump/fill type torque converter has excellent potential for the convertible fan/shaft engine. The torque converter space requirement permits internal housing within the normal flow path of a turbofan engine at acceptable engine weight. The unit permits operating the engine in the turboshaft mode by decoupling the fan. To convert to turbofan mode, the torque converter overdrive capability bring the fan speed up to the power turbine speed to permit engagement of a mechanical lockup device when the shaft speed are synchronized. The conversion to turbofan mode can be made without drop of power turbine speed in less than 10 sec. Total thrust delivered to the aircraft by the proprotor, fan, and engine during tansient can be controlled to prevent loss of air speed or altitude. Heat rejection to the oil is low, and additional oil cooling capacity is not required. The turbofan engine aerodynamic design is basically uncompromised by convertibility and allows proper fan design for quiet and efficient cruise operation. Although the results of the feasibility study are exceedingly encouraging, it must be noted that they are based on extrapolation of limited existing data on torque converters. A component test program with three trial torque converter designs and concurrent computer modeling for fluid flow, stress, and dynamics, updated with test results from each unit, is recommended.

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.

Role of phase breaking processes on resonant spin transfer torque nano-oscillators

NASA Astrophysics Data System (ADS)

Sharma, Abhishek; Tulapurkar, Ashwin A.; Muralidharan, Bhaskaran

2018-05-01

Spin transfer torque nano-oscillators (STNOs) based on magnetoresistance and spin transfer torque effects find potential applications in miniaturized wireless communication devices. Using the non-coherent non-equilibrium Green's function spin transport formalism self-consistently coupled with the stochastic Landau-Lifshitz-Gilbert-Slonczewski's equation and the Poisson's equation, we elucidate the role of elastic phase breaking on the proposed STNO design featuring double barrier resonant tunneling. Demonstrating the immunity of our proposed design, we predict that despite the presence of elastic dephasing, the resonant tunneling magnetic tunnel junction structures facilitate oscillator designs featuring a large enhancement in microwave power up to 8μW delivered to a 50Ω load.

Peak insertion torque values of five mini-implant systems under different insertion loads.

PubMed

Quraishi, Erma; Sherriff, Martyn; Bister, Dirk

2014-06-01

To assess the effect of 1 and 3 kg insertion load on five makes of self-drilling mini-implants on peak insertion torque values to establish risk factors involved in the fracture of mini-implants. Two different loads were applied during insertion of 40 mini-implants from five different manufacturers (Dual Top(™) (1·6×8 mm), Infinitas(™) (1·5×9 mm), Ortho Easy(™) (1·7×8 mm), Spider Screw(™) (1·5×8 mm) and Vector TAS(™) (1·4×8 mm)) into acrylic blocks at 8 rev/min utilizing a Motorized Torque Measurement Stand. Peak insertion torque values for both loads were highest for Vector TAS followed by Ortho Easy and Dual Top and were nearly three times higher than Infinitas (original version) and Spider Screws(TM). The log-rank test showed statistically significant differences for both loads for Vector TAS, Ortho Easy and Spider Screws. Unlike other designs tested, both tapered mini-implant designs (Spider Screw and Infinitas) showed a tendency to buckle in the middle of the body but fractured at the tip. Non-tapered mini-implants fractured at significantly higher torque values compared to tapered designs under both loads. Increased pressure resulted in slightly higher maximum torque values at fracture for some of the mini-implant designs, although this is unlikely to be of clinical relevance. Tripling insertion pressure from 1 to 3 kg increased the risk of bending tapered mini-implants before fracture. © 2014 British Orthodontic Society.

Design and control of one precise tracking simulation bed for Chinese 20/30 meter optic/infrared telescope

NASA Astrophysics Data System (ADS)

Ren, Changzhi; Li, Xiaoyan; Song, Xiaoli; Niu, Yong; Li, Aihua; Zhang, Zhenchao

2012-09-01

Direct drive technology is the key to solute future 30-m and larger telescope motion system to guarantee a very high tracking accuracy, in spite of unbalanced and sudden loads such as wind gusts and in spite of a structure that, because of its size, can not be infinitely stiff. However, this requires the design and realization of unusually large torque motor that the torque slew rate must be extremely steep too. A conventional torque motor design appears inadequate. This paper explores one redundant unit permanent magnet synchronous motor and its simulation bed for 30-m class telescope. Because its drive system is one high integrated electromechanical system, one complexly electromechanical design method is adopted to improve the efficiency, reliability and quality of the system during the design and manufacture circle. This paper discusses the design and control of the precise tracking simulation bed in detail.

An Efficient Energy Management Strategy, Unique Power Split & Energy Distribution, Based on Calculated Vehicle Road Loads

DTIC Science & Technology

2012-08-01

HMMWV for the current given inputs based on the current vehicle speed, acceleration pedal , and brake pedal . From this driver requested power at the...HMMWV engine, b) base HMMWV gear ratios of the 4 speed transmission, c) acceleration and brake pedal pressed for the hybrid vehicle and d) Torque...coefficient. µb: Threshold for detecting brake pedal pressed ? 2 tanE4FGH 2 tanE4 I [K ρ: Air mass density, ρ = ma/Va where ma is mass of air

Modeling and Analysis of High Torque Density Transverse Flux Machines for Direct-Drive Applications

NASA Astrophysics Data System (ADS)

Hasan, Iftekhar

Commercially available permanent magnet synchronous machines (PMSM) typically use rare-earth-based permanent magnets (PM). However, volatility and uncertainty associated with the supply and cost of rare-earth magnets have caused a push for increased research into the development of non-rare-earth based PM machines and reluctance machines. Compared to other PMSM topologies, the Transverse Flux Machine (TFM) is a promising candidate to get higher torque densities at low speed for direct-drive applications, using non-rare-earth based PMs. The TFMs can be designed with a very small pole pitch which allows them to attain higher force density than conventional radial flux machines (RFM) and axial flux machines (AFM). This dissertation presents the modeling, electromagnetic design, vibration analysis, and prototype development of a novel non-rare-earth based PM-TFM for a direct-drive wind turbine application. The proposed TFM addresses the issues of low power factor, cogging torque, and torque ripple during the electromagnetic design phase. An improved Magnetic Equivalent Circuit (MEC) based analytical model was developed as an alternative to the time-consuming 3D Finite Element Analysis (FEA) for faster electromagnetic analysis of the TFM. The accuracy and reliability of the MEC model were verified, both with 3D-FEA and experimental results. The improved MEC model was integrated with a Particle Swarm Optimization (PSO) algorithm to further enhance the capability of the analytical tool for performing rigorous optimization of performance-sensitive machine design parameters to extract the highest torque density for rated speed. A novel concept of integrating the rotary transformer within the proposed TFM design was explored to completely eliminate the use of magnets from the TFM. While keeping the same machine envelope, and without changing the stator or rotor cores, the primary and secondary of a rotary transformer were embedded into the double-sided TFM. The proposed structure allowed for improved flux-weakening capabilities of the TFM for wide speed operations. The electromagnetic design feature of stator pole shaping was used to address the issue of cogging torque and torque ripple in 3-phase TFM. The slant-pole tooth-face in the stator showed significant improvements in cogging torque and torque ripple performance during the 3-phase FEA analysis of the TFM. A detailed structural analysis for the proposed TFM was done prior to the prototype development to validate the structural integrity of the TFM design at rated and maximum speed operation. Vibration performance of the TFM was investigated to determine the structural performance of the TFM under resonance. The prototype for the proposed TFM was developed at the Alternative Energy Laboratory of the University of Akron. The working prototype is a testament to the feasibility of developing and implementing the novel TFM design proposed in this research. Experiments were performed to validate the 3D-FEA electromagnetic and vibration performance result.

Cloud-based shaft torque estimation for electric vehicle equipped with integrated motor-transmission system

NASA Astrophysics Data System (ADS)

Zhu, Xiaoyuan; Zhang, Hui; Yang, Bo; Zhang, Guichen

2018-01-01

In order to improve oscillation damping control performance as well as gear shift quality of electric vehicle equipped with integrated motor-transmission system, a cloud-based shaft torque estimation scheme is proposed in this paper by using measurable motor and wheel speed signals transmitted by wireless network. It can help reduce computational burden of onboard controllers and also relief network bandwidth requirement of individual vehicle. Considering possible delays during signal wireless transmission, delay-dependent full-order observer design is proposed to estimate the shaft torque in cloud server. With these random delays modeled by using homogenous Markov chain, robust H∞ performance is adopted to minimize the effect of wireless network-induced delays, signal measurement noise as well as system modeling uncertainties on shaft torque estimation error. Observer parameters are derived by solving linear matrix inequalities, and simulation results using acceleration test and tip-in, tip-out test demonstrate the effectiveness of proposed shaft torque observer design.

14 CFR Appendix A to Part 23 - Simplified Design Load Criteria

Code of Federal Regulations, 2012 CFR

2012-01-01

... imposed when the particular items are installed in the airplane. The engine mount, however, must be.... (d) Supplementary conditions; rear lift truss; engine torque; side load on engine mount. Each of the... weight. (2) Each engine mount and its supporting structures must be designed for the maximum limit torque...

14 CFR Appendix A to Part 23 - Simplified Design Load Criteria

Code of Federal Regulations, 2014 CFR

2014-01-01

... imposed when the particular items are installed in the airplane. The engine mount, however, must be.... (d) Supplementary conditions; rear lift truss; engine torque; side load on engine mount. Each of the... weight. (2) Each engine mount and its supporting structures must be designed for the maximum limit torque...

14 CFR Appendix A to Part 23 - Simplified Design Load Criteria

Code of Federal Regulations, 2013 CFR

2013-01-01

... imposed when the particular items are installed in the airplane. The engine mount, however, must be.... (d) Supplementary conditions; rear lift truss; engine torque; side load on engine mount. Each of the... weight. (2) Each engine mount and its supporting structures must be designed for the maximum limit torque...

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.

Towards Scalable Strain Gauge-Based Joint Torque Sensors

PubMed Central

D’Imperio, Mariapaola; Cannella, Ferdinando; Caldwell, Darwin G.; Cuschieri, Alfred

2017-01-01

During recent decades, strain gauge-based joint torque sensors have been commonly used to provide high-fidelity torque measurements in robotics. Although measurement of joint torque/force is often required in engineering research and development, the gluing and wiring of strain gauges used as torque sensors pose difficulties during integration within the restricted space available in small joints. The problem is compounded by the need for a scalable geometric design to measure joint torque. In this communication, we describe a novel design of a strain gauge-based mono-axial torque sensor referred to as square-cut torque sensor (SCTS), the significant features of which are high degree of linearity, symmetry, and high scalability in terms of both size and measuring range. Most importantly, SCTS provides easy access for gluing and wiring of the strain gauges on sensor surface despite the limited available space. We demonstrated that the SCTS was better in terms of symmetry (clockwise and counterclockwise rotation) and more linear. These capabilities have been shown through finite element modeling (ANSYS) confirmed by observed data obtained by load testing experiments. The high performance of SCTS was confirmed by studies involving changes in size, material and/or wings width and thickness. Finally, we demonstrated that the SCTS can be successfully implementation inside the hip joints of miniaturized hydraulically actuated quadruped robot-MiniHyQ. This communication is based on work presented at the 18th International Conference on Climbing and Walking Robots (CLAWAR). PMID:28820446

Towards Scalable Strain Gauge-Based Joint Torque Sensors.

PubMed

Khan, Hamza; D'Imperio, Mariapaola; Cannella, Ferdinando; Caldwell, Darwin G; Cuschieri, Alfred; Semini, Claudio

2017-08-18

During recent decades, strain gauge-based joint torque sensors have been commonly used to provide high-fidelity torque measurements in robotics. Although measurement of joint torque/force is often required in engineering research and development, the gluing and wiring of strain gauges used as torque sensors pose difficulties during integration within the restricted space available in small joints. The problem is compounded by the need for a scalable geometric design to measure joint torque. In this communication, we describe a novel design of a strain gauge-based mono-axial torque sensor referred to as square-cut torque sensor (SCTS) , the significant features of which are high degree of linearity, symmetry, and high scalability in terms of both size and measuring range. Most importantly, SCTS provides easy access for gluing and wiring of the strain gauges on sensor surface despite the limited available space. We demonstrated that the SCTS was better in terms of symmetry (clockwise and counterclockwise rotation) and more linear. These capabilities have been shown through finite element modeling (ANSYS) confirmed by observed data obtained by load testing experiments. The high performance of SCTS was confirmed by studies involving changes in size, material and/or wings width and thickness. Finally, we demonstrated that the SCTS can be successfully implementation inside the hip joints of miniaturized hydraulically actuated quadruped robot- MiniHyQ . This communication is based on work presented at the 18th International Conference on Climbing and Walking Robots (CLAWAR).

Control system design for the MOD-5A 7.3 mW wind turbine generator

NASA Technical Reports Server (NTRS)

Barton, Robert S.; Hosp, Theodore J.; Schanzenbach, George P.

1995-01-01

This paper provides descriptions of the requirements analysis, hardware development and software development phases of the Control System design for the MOD-5A 7.3 mW Wind Turbine Generator. The system, designed by General Electric Company, Advanced Energy Programs Department, under contract DEN 3-153 with NASA Lewis Research Center and DOE, provides real time regulation of rotor speed by control of both generator torque and rotor torque. A variable speed generator system is used to provide both airgap torque control and reactive power control. The wind rotor is designed with segmented ailerons which are positioned to control blade torque. The central component of the control system, selected early in the design process, is a programmable controller used for sequencing, alarm monitoring, communication, and real time control. Development of requirements for use of aileron controlled blades and a variable speed generator required an analytical simulation that combined drivetrain, tower and blade elastic modes with wind disturbances and control behavior. An orderly two phase plan was used for controller software development. A microcomputer based turbine simulator was used to facilitate hardware and software integration and test.

Adaptive torque estimation of robot joint with harmonic drive transmission

NASA Astrophysics Data System (ADS)

Shi, Zhiguo; Li, Yuankai; Liu, Guangjun

2017-11-01

Robot joint torque estimation using input and output position measurements is a promising technique, but the result may be affected by the load variation of the joint. In this paper, a torque estimation method with adaptive robustness and optimality adjustment according to load variation is proposed for robot joint with harmonic drive transmission. Based on a harmonic drive model and a redundant adaptive robust Kalman filter (RARKF), the proposed approach can adapt torque estimation filtering optimality and robustness to the load variation by self-tuning the filtering gain and self-switching the filtering mode between optimal and robust. The redundant factor of RARKF is designed as a function of the motor current for tolerating the modeling error and load-dependent filtering mode switching. The proposed joint torque estimation method has been experimentally studied in comparison with a commercial torque sensor and two representative filtering methods. The results have demonstrated the effectiveness of the proposed torque estimation technique.

Split-plot designs for robotic serial dilution assays.

PubMed

Buzas, Jeffrey S; Wager, Carrie G; Lansky, David M

2011-12-01

This article explores effective implementation of split-plot designs in serial dilution bioassay using robots. We show that the shortest path for a robot to fill plate wells for a split-plot design is equivalent to the shortest common supersequence problem in combinatorics. We develop an algorithm for finding the shortest common supersequence, provide an R implementation, and explore the distribution of the number of steps required to implement split-plot designs for bioassay through simulation. We also show how to construct collections of split plots that can be filled in a minimal number of steps, thereby demonstrating that split-plot designs can be implemented with nearly the same effort as strip-plot designs. Finally, we provide guidelines for modeling data that result from these designs. © 2011, The International Biometric Society.

A Physics Experiment Concerning the Measurement of the Torque of a Rotating Body Using a Magnetoelectrical Technique

ERIC Educational Resources Information Center

Sakon, Takuo; Nakagawa, Keisuke

2016-01-01

A physical experiment concerning the moment of inertia of a rigid disk is described. Basic physical quantities such as the moment of inertia and torque are very important in elementary physics courses. This experiment was designed to improve students' understanding of the relation between the rigid moment of inertia and torque. The moment of…

Design of digital load torque observer in hybrid electric vehicle

NASA Astrophysics Data System (ADS)

Sun, Yukun; Zhang, Haoming; Wang, Yinghai

2008-12-01

In hybrid electric vehicle, engine begain to work only when motor was in high speed in order to decrease tail gas emission. However, permanent magnet motor was sensitive to its load, adding engine to the system always made its speed drop sharply, which caused engine to work in low efficiency again and produced much more environment pollution. Dynamic load torque model of permanent magnet synchronous motor is established on the basic of motor mechanical equation and permanent magnet synchronous motor vector control theory, Full- digital load torque observer and compensation control system is made based on TMS320F2407A. Experiment results prove load torque observer and compensation control system can detect and compensate torque disturbing effectively, which can solve load torque disturbing and decrease gas pollution of hybrid electric vehicle.

Spacecraft flight control system design selection process for a geostationary communication satellite

NASA Technical Reports Server (NTRS)

Barret, C.

1992-01-01

The Earth's first artificial satellite, Sputnik 1, slowly tumbled in orbit. The first U.S. satellite, Explorer 1, also tumbled out of control. Now, as we launch the Mars observer and the Cassini spacecraft, stability and control have become higher priorities. The flight control system design selection process is reviewed using as an example a geostationary communication satellite which is to have a life expectancy of 10 to 14 years. Disturbance torques including aerodynamic, magnetic, gravity gradient, solar, micrometeorite, debris, collision, and internal torques are assessed to quantify the disturbance environment so that the required compensating torque can be determined. Then control torque options, including passive versus active, momentum control, bias momentum, spin stabilization, dual spin, gravity gradient, magnetic, reaction wheels, control moment gyros, nutation dampers, inertia augmentation techniques, three-axis control, reactions control system (RCS), and RCS sizing, are considered. A flight control system design is then selected and preliminary stability criteria are met by the control gains selection.

Design of a 7-DOF haptic master using a magneto-rheological devices for robot surgery

NASA Astrophysics Data System (ADS)

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

2017-04-01

This paper presents a 7 degrees-of-freedom (7-DOF) haptic master which is applicable to the robot-assisted minimally invasive surgery (RMIS). By utilizing a controllable magneto-rheological (MR) fluid, the haptic master can provide force information to the surgeon during surgery. The proposed haptic master consists of three degrees motions of X, Y, Z and four degrees motions of the pitch, yaw, roll and grasping. All of them have force feedback capability. The proposed haptic master can generate the repulsive forces or torques by activating MR clutch and MR brake. Both MR clutch and MR brake are designed and manufactured with consideration of the size and output torque which is usable to the robotic surgery. A proportional-integral-derivative (PID) controller is then designed and implemented to achieve torque/force tracking trajectories. It is verified that the proposed haptic master can track well the desired torque and force occurred in the surgical place by controlling the input current applied to MR clutch and brake.

Planar Rotary Piezoelectric Motor Using Ultrasonic Horns

NASA Technical Reports Server (NTRS)

Sherrit, Stewart; Bao, Xiaoqi; Badescu, Mircea; Bar-Cohen, Yoseph; Geiyer, Daniel; Ostlund, Patrick N.; Allen, Phillip

2011-01-01

A motor involves a simple design that can be embedded into a plate structure by incorporating ultrasonic horn actuators into the plate. The piezoelectric material that is integrated into the horns is pre-stressed with flexures. Piezoelectric actuators are attractive for their ability to generate precision high strokes, torques, and forces while operating under relatively harsh conditions (temperatures at single-digit K to as high as 1,273 K). Electromagnetic motors (EM) typically have high rotational speed and low torque. In order to produce a useful torque, these motors are geared down to reduce the speed and increase the torque. This gearing adds mass and reduces the efficiency of the EM. Piezoelectric motors can be designed with high torques and lower speeds directly without the need for gears. Designs were developed for producing rotary motion based on the Barth concept of an ultrasonic horn driving a rotor. This idea was extended to a linear motor design by having the horns drive a slider. The unique feature of these motors is that they can be designed in a monolithic planar structure. The design is a unidirectional motor, which is driven by eight horn actuators, that rotates in the clockwise direction. There are two sets of flexures. The flexures around the piezoelectric material are pre-stress flexures and they pre-load the piezoelectric disks to maintain their being operated under compression when electric field is applied. The other set of flexures is a mounting flexure that attaches to the horn at the nodal point and can be designed to generate a normal force between the horn tip and the rotor so that to first order it operates independently and compensates for the wear between the horn and the rotor.

High torque DC motor fabrication and test program

NASA Technical Reports Server (NTRS)

Makus, P.

1976-01-01

The testing of a standard iron and standard alnico permanent magnet two-phase, brushless dc spin motor for potential application to the space telescope has been concluded. The purpose of this study was to determine spin motor power losses, magnetic drag, efficiency and torque speed characteristics of a high torque dc motor. The motor was designed and built to fit an existing reaction wheel as a test vehicle and to use existing brass-board commutation and torque command electronics. The results of the tests are included in this report.

Fermi level position, Coulomb gap, and Dresselhaus splitting in (Ga,Mn)As

NASA Astrophysics Data System (ADS)

Souma, S.; Chen, L.; Oszwałdowski, R.; Sato, T.; Matsukura, F.; Dietl, T.; Ohno, H.; Takahashi, T.

2016-06-01

Carrier-induced nature of ferromagnetism in a ferromagnetic semiconductor, (Ga,Mn)As, offers a great opportunity to observe novel spin-related phenomena as well as to demonstrate new functionalities of spintronic devices. Here, we report on low-temperature angle-resolved photoemission studies of the valence band in this model compound. By a direct determination of the distance of the split-off band to the Fermi energy EF we conclude that EF is located within the heavy/light hole band. However, the bands are strongly perturbed by disorder and disorder-induced carrier correlations that lead to the Coulomb gap at EF, which we resolve experimentally in a series of samples, and show that its depth and width enlarge when the Curie temperature decreases. Furthermore, we have detected surprising linear magnetic dichroism in photoemission spectra of the split-off band. By a quantitative theoretical analysis we demonstrate that it arises from the Dresselhaus-type spin-orbit term in zinc-blende crystals. The spectroscopic access to the magnitude of such asymmetric part of spin-orbit coupling is worthwhile, as they account for spin-orbit torque in spintronic devices of ferromagnets without inversion symmetry.

Fermi level position, Coulomb gap, and Dresselhaus splitting in (Ga,Mn)As

PubMed Central

Souma, S.; Chen, L.; Oszwałdowski, R.; Sato, T.; Matsukura, F.; Dietl, T.; Ohno, H.; Takahashi, T.

2016-01-01

Carrier-induced nature of ferromagnetism in a ferromagnetic semiconductor, (Ga,Mn)As, offers a great opportunity to observe novel spin-related phenomena as well as to demonstrate new functionalities of spintronic devices. Here, we report on low-temperature angle-resolved photoemission studies of the valence band in this model compound. By a direct determination of the distance of the split-off band to the Fermi energy EF we conclude that EF is located within the heavy/light hole band. However, the bands are strongly perturbed by disorder and disorder-induced carrier correlations that lead to the Coulomb gap at EF, which we resolve experimentally in a series of samples, and show that its depth and width enlarge when the Curie temperature decreases. Furthermore, we have detected surprising linear magnetic dichroism in photoemission spectra of the split-off band. By a quantitative theoretical analysis we demonstrate that it arises from the Dresselhaus-type spin-orbit term in zinc-blende crystals. The spectroscopic access to the magnitude of such asymmetric part of spin-orbit coupling is worthwhile, as they account for spin-orbit torque in spintronic devices of ferromagnets without inversion symmetry. PMID:27265402

Design and Performance Improvement of AC Machines Sharing a Common Stator

NASA Astrophysics Data System (ADS)

Guo, Lusu

With the increasing demand on electric motors in various industrial applications, especially electric powered vehicles (electric cars, more electric aircrafts and future electric ships and submarines), both synchronous reluctance machines (SynRMs) and interior permanent magnet (IPM) machines are recognized as good candidates for high performance variable speed applications. Developing a single stator design which can be used for both SynRM and IPM motors is a good way to reduce manufacturing and maintenance cost. SynRM can be used as a low cost solution for many electric driving applications and IPM machines can be used in power density crucial circumstances or work as generators to meet the increasing demand for electrical power on board. In this research, SynRM and IPM machines are designed sharing a common stator structure. The prototype motors are designed with the aid of finite element analysis (FEA). Machine performances with different stator slot and rotor pole numbers are compared by FEA. An 18-slot, 4-pole structure is selected based on the comparison for this prototype design. Sometimes, torque pulsation is the major drawback of permanent magnet synchronous machines. There are several sources of torque pulsations, such as back-EMF distortion, inductance variation and cogging torque due to presence of permanent magnets. To reduce torque pulsations in permanent magnet machines, all the efforts can be classified into two categories: one is from the design stage, the structure of permanent magnet machines can be optimized with the aid of finite element analysis. The other category of reducing torque pulsation is after the permanent magnet machine has been manufactured or the machine structure cannot be changed because of other reasons. The currents fed into the permanent magnet machine can be controlled to follow a certain profile which will make the machine generate a smoother torque waveform. Torque pulsation reduction methods in both categories will be discussed in this dissertation. In the design stage, an optimization method based on orthogonal experimental design will be introduced. Besides, a universal current profiling technique is proposed to minimize the torque pulsation along with the stator copper losses in modular interior permanent magnet motors. Instead of sinusoidal current waveforms, this algorithm will calculate the proper currents which can minimize the torque pulsation. Finite element analysis and Matlab programing will be used to develop this optimal current profiling algorithm. Permanent magnet machines are becoming more attractive in some modern traction applications, such as traction motors and generators for an electrified vehicle. The operating speed or the load condition in these applications may be changing all the time. Compared to electric machines used to operate at a constant speed and constant load, better control performance is required. In this dissertation, a novel model reference adaptive control (MRAC) used on five-phase interior permanent magnet motor drives is presented. The primary controller is designed based on artificial neural network (ANN) to simulate the nonlinear characteristics of the system without knowledge of accurate motor model or parameters. The proposed motor drive decouples the torque and flux components of five-phase IPM motors by applying a multiple reference frame transformation. Therefore, the motor can be easily driven below the rated speed with the maximum torque per ampere (MTPA) operation or above the rated speed with the flux weakening operation. The ANN based primary controller consists of a radial basis function (RBF) network which is trained on-line to adapt system uncertainties. The complete IPM motor drive is simulated in Matlab/Simulink environment and implemented experimentally utilizing dSPACE DS1104 DSP board on a five-phase prototype IPM motor. The proposed model reference adaptive control method has been applied on the commons stator SynRM and IPM machine as well.

A method for the measurement of extremely feeble torques on massive bodies.

NASA Technical Reports Server (NTRS)

Boyle, J. C.; Greyerbiehl, J. M.

1966-01-01

Single-axis meter design and development for measuring feeble torques on massive bodies, discussing calibration, testing results, evaluation of static dipole moments and spacecraft spin-rate control moments

Design and Simulation of a MEMS Control Moment Gyroscope for the Sub-Kilogram Spacecraft

PubMed Central

Chang, Honglong; Jiao, Wenlong; Fu, Qianyan; Xie, Jianbing; Yuan, Weizheng

2010-01-01

A novel design of a microelectromechanical systems (MEMS) control moment gyroscope (MCMG) was proposed in this paper in order to generate a torque output with a magnitude of 10−6 N·m. The MCMG consists of two orthogonal angular vibration systems, i.e., the rotor and gimbal; the coupling between which is based on the Coriolis effect and will cause a torque output in the direction perpendicular to the two vibrations. The angular rotor vibration was excited by the in-plane electrostatic rotary comb actuators, while the angular gimbal vibration was driven by an out-of-plane electrostatic parallel plate actuator. A possible process flow to fabricate the structure was proposed and discussed step by step. Furthermore, an array configuration using four MCMGs as an effective element, in which the torque was generated with a phase difference of 90 degrees between every two MCMGs, was proposed to smooth the inherent fluctuation of the torque output for a vibrational MCMG. The parasitic torque was cancelled by two opposite MCMGs with a phase difference of 180 degrees. The designed MCMG was about 1.1 cm × 1.1 cm × 0.04 cm in size and 0.1 g in weight. The simulation results showed that the maximum torque output of a MCMG, the resonant frequency of which was approximately 1,000 Hz, was about 2.5 × 10−8 N·m. The element with four MCMGs could generate a torque of 5 × 10−8 N·m. The torque output could reach a magnitude of 10−6 N·m when the frequency was improved from 1,000 Hz to 10,000 Hz. Using arrays of 4 × 4 effective elements on a 1 kg spacecraft with a standard form factor of 10 cm × 10 cm × 10 cm, a 10 degrees attitude change could be achieved in 26.96 s. PMID:22319346

Design and simulation of a MEMS control moment gyroscope for the sub-kilogram spacecraft.

PubMed

Chang, Honglong; Jiao, Wenlong; Fu, Qianyan; Xie, Jianbing; Yuan, Weizheng

2010-01-01

A novel design of a microelectromechanical systems (MEMS) control moment gyroscope (MCMG) was proposed in this paper in order to generate a torque output with a magnitude of 10(-6) N·m. The MCMG consists of two orthogonal angular vibration systems, i.e., the rotor and gimbal; the coupling between which is based on the Coriolis effect and will cause a torque output in the direction perpendicular to the two vibrations. The angular rotor vibration was excited by the in-plane electrostatic rotary comb actuators, while the angular gimbal vibration was driven by an out-of-plane electrostatic parallel plate actuator. A possible process flow to fabricate the structure was proposed and discussed step by step. Furthermore, an array configuration using four MCMGs as an effective element, in which the torque was generated with a phase difference of 90 degrees between every two MCMGs, was proposed to smooth the inherent fluctuation of the torque output for a vibrational MCMG. The parasitic torque was cancelled by two opposite MCMGs with a phase difference of 180 degrees. The designed MCMG was about 1.1 cm×1.1 cm×0.04 cm in size and 0.1 g in weight. The simulation results showed that the maximum torque output of a MCMG, the resonant frequency of which was approximately 1,000 Hz, was about 2.5×10(-8) N·m. The element with four MCMGs could generate a torque of 5×10(-8) N·m. The torque output could reach a magnitude of 10(-6) N·m when the frequency was improved from 1,000 Hz to 10,000 Hz. Using arrays of 4×4 effective elements on a 1 kg spacecraft with a standard form factor of 10 cm×10 cm×10 cm, a 10 degrees attitude change could be achieved in 26.96 s.

Comparing of cogging torque reduction methods in permanent magnet machines with fractional slot windings

NASA Astrophysics Data System (ADS)

Pristup, A. G.; Toporkov, D. M.

2017-10-01

The results of the investigation of the cogging torque in permanent magnet synchronous machines, which is caused by the stator slotting and the rotor eccentricity, are presented in the paper. A new design of the machine has been developed in the course of the investigation, and the value of the cogging torque in this construction is less considerably compared to other constructions. In contrast to the available methods of the cogging torque reduction, the solution suggested not only decreases the level of the cogging torque but also has negligibly small influence on characteristics of the machine with the rotor eccentricity which is typical of the mass production and long-term usage.

Hf thickness dependence of spin-orbit torques in Hf/CoFeB/MgO heterostructures

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

Ramaswamy, Rajagopalan; Qiu, Xuepeng; Dutta, Tanmay

We have studied the spin-orbit torques in perpendicularly magnetized Hf/CoFeB/MgO system, by systematically varying the thickness of Hf underlayer. We have observed a sign change of effective fields between Hf thicknesses of 1.75 and 2 nm, indicating that competing mechanisms, such as the Rashba and spin Hall effects, contribute to spin-orbit torques in our system. For larger Hf thicknesses (>2 nm), both the components of spin-orbit torques arise predominantly from the bulk spin Hall effect. We have also confirmed these results using spin-orbit torque induced magnetization switching measurements. Our results could be helpful in designing Hf based SOT devices.

Spacecraft stability and control

NASA Technical Reports Server (NTRS)

Barret, Chris

1992-01-01

The Earth's first artificial satellite, Sputnik 1, slowly tumbled in orbit. The first U.S. satellite, Explorer 1, also tumbled out of control. Today, satellite stability and control has become a higher priority. For a satellite design that is to have a life expectancy of 14 years, appropriate spacecraft flight control systems will be reviewed, stability requirements investigated, and an appropriate flight control system recommended in order to see the design process. Disturbance torques, including aerodynamic, magnetic, gravity gradient, solar, micrometeorite, debris, collision, and internal torques, will be assessed to quantify the disturbance environment so that the required compensating torques can be determined. The control torques, including passive versus active, momentum control, bias momentum, spin stabilization, dual spin, gravity gradient, magnetic, reaction wheels, control moment gyros, inertia augmentation techniques, three-axis control, and reaction control systems (RCSs), will be considered. Conditions for stability will also be considered.

Direct Torque Control of a Small Wind Turbine with a Sliding-Mode Speed Controller

NASA Astrophysics Data System (ADS)

Sri Lal Senanayaka, Jagath; Karimi, Hamid Reza; Robbersmyr, Kjell G.

2016-09-01

In this paper. the method of direct torque control in the presence of a sliding-mode speed controller is proposed for a small wind turbine being used in water heating applications. This concept and control system design can be expanded to grid connected or off-grid applications. Direct torque control of electrical machines has shown several advantages including very fast dynamics torque control over field-oriented control. Moreover. the torque and flux controllers in the direct torque control algorithms are based on hvsteretic controllers which are nonlinear. In the presence of a sliding-mode speed control. a nonlinear control system can be constructed which is matched for AC/DC conversion of the converter that gives fast responses with low overshoots. The main control objectives of the proposed small wind turbine can be maximum power point tracking and soft-stall power control. This small wind turbine consists of permanent magnet synchronous generator and external wind speed. and rotor speed measurements are not required for the system. However. a sensor is needed to detect the rated wind speed overpass events to activate proper speed references for the wind turbine. Based on the low-cost design requirement of small wind turbines. an available wind speed sensor can be modified. or a new sensor can be designed to get the required measurement. The simulation results will be provided to illustrate the excellent performance of the closed-loop control system in entire wind speed range (4-25 m/s).

Design and analysis of an MR rotary brake for self-regulating braking torques.

PubMed

Yun, Dongwon; Koo, Jeong-Hoi

2017-05-01

This paper presents a novel Magneto-rheological (MR) brake system that can self-regulate the output braking torques. The proposed MR brake can generate a braking torque at a critical rotation speed without an external power source, sensors, or controllers, making it a simple and cost-effective device. The brake system consists of a rotary disk, permanent magnets, springs, and MR fluid. The permanent magnets are attached to the rotary disk via the springs, and they move outward through grooves with two different gap distances along the radial direction of the stator due to the centrifugal force. Thus, the position of the magnets is dependent on the spin speed, and it can determine the magnetic fields applied to MR fluids. Proper design of the stator geometry gives the system unique torque characteristics. To show the performance of an MR brake system, the electromagnetic characteristics of the system are analyzed, and the torques generated by the brake are calculated using the result of the electromagnetic analysis. Using a baseline model, a parametric study is conducted to investigate how the design parameters (geometric shapes and material selection) affect the performance of the brake system. After the simulation study, a prototype brake system is constructed and its performance is experimentally evaluated. The experimental results show that the prototype produced the maximum torque of 1.2 N m at the rotational speed of 100 rpm. The results demonstrate the feasibility of the proposed MR brake as a speed regulator in rotating systems.

'Neo-Suterian' pump-turbine characteristics and their benefits

NASA Astrophysics Data System (ADS)

Dörfler, P. K.

2010-08-01

Conventional representations of the various operation modes of a pump-turbine (4-quadrant characteristics) have important disadvantages. While curves of Q11 vs n11 have singularities at E=0 and multiple values in the 'unstable' ranges, the curves EnD(QnD) get singular at n=0. As a remedy, one may split the characteristics into separate parts, and switch between them. Another approach introduced by P. Suter (1966, [1]) defines a different set of variables which avoids singularity and always remains unique-valued. Suter described this artifice for non-regulated pumps; but using it for regulated machines without modifications is not practical due to large distortions at small guide vane opening. A decisive improvement has been described by C.S. Martin [4]. It avoids the distortion of the head-vs-flow curves at low load. The present paper describes how further improvement is possible, in particular with regard to the representation of torque. A modified torque parameter is obtained by subtracting the shutoff torque; this parameter can be handled in the same practical way as the discharge. Other improvements concern the correction for leakage at small guide vane opening, and the treatment of very small and zero opening. These details are concerned with the problem of closed gate where Suter's concept does not work. Applications are demonstrated, not only how to represent the hydraulic performance (head vs. discharge and torque vs. discharge), but also for other characteristics, such as the development of pressure and pressure pulsation in various locations, or the steady-state and unsteady guide vane torque. The advantage of a set of continuous, single-valued functions for all those physical properties greatly simplifies computation of their behavior during transients. Moreover, the, Suterized' properties of pump-turbines of different specific speed are less different from each other than the conventional ones, a fact that facilitates application of available test data for later projects.

75 FR 35619 - Airworthiness Directives; Piper Aircraft, Inc. Models PA-32R-301T and PA-46-350P Airplanes

Federal Register 2010, 2011, 2012, 2013, 2014

2010-06-23

... tighten to an July 28, 2010 (the initial torque of effective date of 40 in. lbs. Tap the this AD... installation than by a change in clamp design. Their experience shows proper installation, torque techniques, and pre-torque alignments of components go a long way in preventing clamp failures down the road. We...

Fastener Design Manual

NASA Technical Reports Server (NTRS)

Barrett, Richard T.

1990-01-01

This manual was written for design engineers to enable them to choose appropriate fasteners for their designs. Subject matter includes fastener material selection, platings, lubricants, corrosion, locking methods, washers, inserts, thread types and classes, fatigue loading, and fastener torque. A section on design criteria covers the derivation of torque formulas, loads on a fastener group, combining simultaneous shear and tension loads, pullout load for tapped holes, grip length, head styles, and fastener strengths. The second half of this manual presents general guidelines and selection criteria for rivets and lockbolts.

The design and analysis of single flank transmission error tester for loaded gears

NASA Technical Reports Server (NTRS)

Bassett, Duane E.; Houser, Donald R.

1987-01-01

To strengthen the understanding of gear transmission error and to verify mathematical models which predict them, a test stand that will measure the transmission error of gear pairs under design loads has been investigated. While most transmission error testers have been used to test gear pairs under unloaded conditions, the goal of this report was to design and perform dynamic analysis of a unique tester with the capability of measuring the transmission error of gears under load. This test stand will have the capability to continuously load a gear pair at torques up to 16,000 in-lb at shaft speeds from 0 to 5 rpm. Error measurement will be accomplished with high resolution optical encoders and the accompanying signal processing unit from an existing unloaded transmission error tester. Input power to the test gear box will be supplied by a dc torque motor while the load will be applied with a similar torque motor. A dual input, dual output control system will regulate the speed and torque of the system. This control system's accuracy and dynamic response were analyzed and it was determined that proportional plus derivative speed control is needed in order to provide the precisely constant torque necessary for error-free measurement.

Torque Sensor Based on Tunnel-Diode Oscillator

NASA Technical Reports Server (NTRS)

Chui, Talso; Young, Joseph

2008-01-01

A proposed torque sensor would be capable of operating over the temperature range from 1 to 400 K, whereas a typical commercially available torque sensor is limited to the narrower temperature range of 244 to 338 K. The design of this sensor would exploit the wide temperature range and other desirable attributes of differential transducers based on tunnel-diode oscillators as described in "Multiplexing Transducers Based on Tunnel-Diode Oscillators". The proposed torque sensor would include three flexural springs that would couple torque between a hollow outer drive shaft and a solid inner drive shaft. The torque would be deduced from the torsional relative deflection of the two shafts, which would be sensed via changes in capacitances of two capacitors defined by two electrodes attached to the inner shaft and a common middle electrode attached to the outer shaft.

Quantifying the magnitude of torque physiotherapists apply when stretching the hamstring muscles of people with spinal cord injury.

PubMed

Harvey, Lisa A; McQuade, Lea; Hawthorne, Scott; Byak, Adrian

2003-07-01

To quantify the magnitude of stretch that physiotherapists apply to the hamstring muscles of people with spinal cord injury (SCI). Repeated-measures design. SCI unit in Australia. Fifteen individuals with motor complete paraplegia or tetraplegia. Twelve physiotherapists manually administered a stretch to the hamstring muscles of each subject. The stretch was applied by flexing the hip with the knee extended. Applied hip flexor torque. Therapists applied median hip flexor torques of between 30 and 68Nm, although some torques were as large as 121Nm. The stretch applied by different therapists to any 1 subject varied as much as 40-fold. There is a large range of stretch torques provided by physiotherapists to patients with SCI. Some therapists provide stretch torques well in excess of those tolerated by individuals with intact sensation.

The Accuracy of New and Aged Mechanical Torque Devices Employed in Five Dental Implant Systems.

PubMed

Erdem, Mehmet Ali; Karatasli, Burcin; Dinçer Kose, Onur; Kose, Taha Emre; Çene, Erhan; Aydın Aya, Serhan; Cankaya, Abdulkadir Burak

2017-01-01

Friction-style and spring-style torque wrenches are used to tighten implant abutments and prosthetic screws. The mechanical stability of these torque wrenches is crucial for the implant-abutment connection. The purposes of this study were to assess the performance of five brands (Straumann, Zimmer, Implant KA, Bredent, and Biohorizons) of wrench and to evaluate possible changes in applied torque values of aged wrenches. Five new and aged wrenches that had been used approximately 250 times in a 1-year period were tested. The torque applied by friction- and spring-style wrenches was measured with a specially designed strain gauge indicator. Descriptive statistics, the one-sample t -test, and the independent-samples t -test were used to analyze values obtained from all torque wrenches. The accuracy of new and aged torque devices of all brands except Bredent differed significantly from the target values, but the mean values for aged and new wrenches did not differ significantly from each other ( p > 0.05). Values for the spring- and friction-type torque wrenches deviated from the target values by 11.6% and 10.2%, respectively. The accuracy of aged torque wrenches is adequate for prosthetic screw tightening, but that of new torque wrenches is unsatisfactory and must be examined carefully before delivery.

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.

Receding horizon online optimization for torque control of gasoline engines.

PubMed

Kang, Mingxin; Shen, Tielong

2016-11-01

This paper proposes a model-based nonlinear receding horizon optimal control scheme for the engine torque tracking problem. The controller design directly employs the nonlinear model exploited based on mean-value modeling principle of engine systems without any linearizing reformation, and the online optimization is achieved by applying the Continuation/GMRES (generalized minimum residual) approach. Several receding horizon control schemes are designed to investigate the effects of the integral action and integral gain selection. Simulation analyses and experimental validations are implemented to demonstrate the real-time optimization performance and control effects of the proposed torque tracking controllers. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Design and characterization of a torque-controllable actuator for knee assistance during sit-to-stand.

PubMed

Shepherd, Max K; Rouse, Elliott J

2016-08-01

Individuals with post-stroke hemiparesis often have difficulty standing out of a chair. One way to potentially improve sit-to-stand is to provide knee extension assistance using a powered knee exoskeleton. An exoskeleton providing unilateral, partial assistance during sit-to-stand would need to be torque-controllable. There are no knee exoskeletons on the market suitable for conducting experiments assisting stroke patients with sit-to-stand, so to enable such experiments a research device was developed. The purpose of this report is to present the design of a novel knee exoskeleton actuator that uses a fiberglass leaf spring in series to improve torque-controllability, and present a characterization of the actuator performance. The actuator is capable of the required torque and speed for sit-to-stand, has high bandwidth (25 Hz), low output impedance at low frequencies (<;0.5 Nm), and excellent torque tracking. An orthotic brace built upon this actuator will enable an in-depth study on the biomechanical effects of providing stroke subjects with knee extension assistance during sit-to-stand.

Evaluation of early bone response to fluoride-modified and anodically oxidized titanium implants through continuous removal torque analysis.

PubMed

Kwon, Taek-Ka; Lee, Hyo-Jung; Min, Seung-Ki; Yeo, In-Sung

2012-10-01

To compare between a bioactive and a bioinert implant with different geometries by continuous measurement of the removal torque and calculation of the angular momentum of each surfaced implant. Six New Zealand white rabbits were used in the study. Each rabbit received 2 implants. A bioactive fluoride-modified implant with a conical connection and microthread design was inserted into one tibia, and a bioinert anodically oxidized implant with an external connection design was inserted into the other. After 2 weeks of implant insertion, the removal torque values were continuously measured according to time. Using the time-torque curve resulting from the measurements, the maximum values were determined, and the angular momenta were calculated. The anodically oxidized implant had significantly higher peak removal torque and angular momentum values than the fluoride-modified implant (P < 0.05). The impact of the fluoride-modified bioactive implant on early bone response remains unclear. Considering the angular momentum of dental implants may assist in the elucidation of the effect of implant geometry on bone response.

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.

Manipulating femtosecond spin-orbit torques with laser pulse sequences to control magnetic memory states and ringing

NASA Astrophysics Data System (ADS)

Lingos, P. C.; Wang, J.; Perakis, I. E.

2015-05-01

Femtosecond (fs) coherent control of collective order parameters is important for nonequilibrium phase dynamics in correlated materials. Here, we propose such control of ferromagnetic order based on using nonadiabatic optical manipulation of electron-hole (e -h ) photoexcitations to create fs carrier-spin pulses with controllable direction and time profile. These spin pulses are generated due to the time-reversal symmetry breaking arising from nonperturbative spin-orbit and magnetic exchange couplings of coherent photocarriers. By tuning the nonthermal populations of exchange-split, spin-orbit-coupled semiconductor band states, we can excite fs spin-orbit torques that control complex magnetization pathways between multiple magnetic memory states. We calculate the laser-induced fs magnetic anisotropy in the time domain by using density matrix equations of motion rather than the quasiequilibrium free energy. By comparing to pump-probe experiments, we identify a "sudden" out-of-plane magnetization canting displaying fs magnetic hysteresis, which agrees with switchings measured by the static Hall magnetoresistivity. This fs transverse spin-canting switches direction with magnetic state and laser frequency, which distinguishes it from the longitudinal nonlinear optical and demagnetization effects. We propose that sequences of clockwise or counterclockwise fs spin-orbit torques, photoexcited by shaping two-color laser-pulse sequences analogous to multidimensional nuclear magnetic resonance (NMR) spectroscopy, can be used to timely suppress or enhance magnetic ringing and switching rotation in magnetic memories.

Stability comparison between commercially available mini-implants and a novel design: part 1.

PubMed

Hong, Christine; Lee, Haofu; Webster, Richard; Kwak, Jinny; Wu, Benjamin M; Moon, Won

2011-07-01

To compare mechanical stability among five mini-implant designs--a newly invented design and four commercially available designs that vary by shape and threading; to calculate external surface area of each design using high-resolution micro-computed tomography; and to evaluate the relationship between surface area and stability results. The four commercially available mini-implants--single-threaded and cylindrical (SC), single-threaded and tapered (ST), double-threaded and cylindrical (DC), double-threaded and tapered (DT)--and a new implant that is designed to engage mostly in cortical bone with shorter and wider dimensions (N1) were inserted in simulated bone with cortical and trabecular bone layers. The mechanical study consisted of torque measurements and lateral displacement tests. External surface area was computed using a 25-µm micro-CT. Maximum insertion torque, maximum removal torque, and force levels for displacements were the highest in N1, followed by DT, ST, DC, and SC (α  =  .05). The surface area was largest in DT, followed by N1, ST, DC, and SC. Surface area engaged in cortical bone, however, was the greatest in N1. The surface area of mini-implants had positive correlation with stability. Among commercial designs, both added tapering and double threading improved stability. N1 was the most stable design within this research design. The new design has the potential to be clinically superior; it has enhanced stability and there is diminished risk of endangering nearby anatomic structures during placement and orthodontic treatment, but the design requires refinements to reduce insertion torque to avoid clinical difficulty and patient discomfort.

A structurally decoupled mechanism for measuring wrist torque in three degrees of freedom

NASA Astrophysics Data System (ADS)

Pan, Lizhi; Yang, Zhen; Zhang, Dingguo

2015-10-01

The wrist joint is a critical part of the human body for movement. Measuring the torque of the wrist with three degrees of freedom (DOFs) is important in some fields, including rehabilitation, biomechanics, ergonomics, and human-machine interfacing. However, the particular structure of the wrist joint makes it difficult to measure the torque in all three directions simultaneously. This work develops a structurally decoupled instrument for measuring and improving the measurement accuracy of 3-DOF wrist torque during isometric contraction. Three single-axis torque sensors were embedded in a customized mechanical structure. The dimensions and components of the instrument were designed based on requirement of manufacturability. A prototype of the instrument was machined, assembled, integrated, and tested. The results show that the structurally decoupled mechanism is feasible for acquiring wrist torque data in three directions either independently or simultaneously. As a case study, we use the device to measure wrist torques concurrently with electromyography signal acquisition in preparation for simultaneous and proportional myoelectric control of prostheses.

A structurally decoupled mechanism for measuring wrist torque in three degrees of freedom.

PubMed

Pan, Lizhi; Yang, Zhen; Zhang, Dingguo

2015-10-01

The wrist joint is a critical part of the human body for movement. Measuring the torque of the wrist with three degrees of freedom (DOFs) is important in some fields, including rehabilitation, biomechanics, ergonomics, and human-machine interfacing. However, the particular structure of the wrist joint makes it difficult to measure the torque in all three directions simultaneously. This work develops a structurally decoupled instrument for measuring and improving the measurement accuracy of 3-DOF wrist torque during isometric contraction. Three single-axis torque sensors were embedded in a customized mechanical structure. The dimensions and components of the instrument were designed based on requirement of manufacturability. A prototype of the instrument was machined, assembled, integrated, and tested. The results show that the structurally decoupled mechanism is feasible for acquiring wrist torque data in three directions either independently or simultaneously. As a case study, we use the device to measure wrist torques concurrently with electromyography signal acquisition in preparation for simultaneous and proportional myoelectric control of prostheses.

BIOMECHANICAL EVALUATION OF THE INFLUENCE OF CERVICAL SCREWS TAPPING AND DESIGN.

PubMed

Silva, Patricia; Rosa, Rodrigo César; Shimano, Antonio Carlos; Albuquerque de Paula, Francisco José; Volpon, José Batista; Aparecido Defino, Helton Luiz

2009-01-01

To assess if the screw design (self-drilling/self-tapping) and the pilot hole tapping could affect the insertion torque and screw pullout strength of the screw used in anterior fixation of the cervical spine. Forty self-tapping screws and 20 self-drilling screws were inserted into 10 models of artificial bone and 10 cervical vertebrae of sheep. The studied parameters were the insertion torque and pullout strength. The following groups were created: Group I-self-tapping screw insertion after pilot hole drilling and tapping; Group II-self-tapping screw insertion after pilot hole drilling without tapping; Group III-self-drilling screw insertion without drilling and tapping. In Groups I and II, the pilot hole had 14.0 mm in depth and was made with a 3mmn drill, while tapping was made with a 4mm tap. The insertion torque was measured and the pullout test was performed. The comparison between groups was made considering the mean insertion torque and the maximum mean pullout strength with the variance analysis (ANOVA; p≤ 0.05). Previous drilling and tapping of pilot hole significantly decreased the insertion torque and the pullout strength. The insertion torque and pullout strength of self-drilling screws were significantly higher when compared to self-tapping screws inserted after pilot hole tapping.

Rotational and peak torque stiffness of rugby shoes.

PubMed

Ballal, Moez S; Usuelli, Federico Giuseppe; Montrasio, Umberto Alfieri; Molloy, Andy; La Barbera, Luigi; Villa, Tomaso; Banfi, Giuseppe

2014-09-01

Sports people always strive to avoid injury. Sports shoe designs in many sports have been shown to affect traction and injury rates. The aim of this study is to demonstrate the differing stiffness and torque in rugby boots that are designed for the same effect. Five different types of rugby shoes commonly worn by scrum forwards were laboratory tested for rotational stiffness and peak torque on a natural playing surface generating force patterns that would be consistent with a rugby scrum. The overall internal rotation peak torque was 57.75±6.26 Nm while that of external rotation was 56.55±4.36 Nm. The Peak internal and external rotational stiffness were 0.696±0.1 and 0.708±0.06 Nm/deg respectively. Our results, when compared to rotational stiffness and peak torques of football shoes published in the literature, show that shoes worn by rugby players exert higher rotational and peak torque stiffness compared to football shoes when tested on the same natural surfaces. There was significant difference between the tested rugby shoes brands. In our opinion, to maximize potential performance and lower the potential of non-contact injury, care should be taken in choosing boots with stiffness appropriate to the players main playing role. Copyright © 2014 Elsevier Ltd. All rights reserved.

Assessment of cold welding properties of the internal conical interface of two commercially available implant systems.

PubMed

Norton, M R

1999-02-01

The cone-screw abutment has been shown to diminish micromovement by reducing the burden of component loosening and fracture. However, anecdotal concern for cold welding of cone-screw joints in implant design has been identified as a potential source for lack of retrievability. This comparative study evaluated the loosening torque, as a percentage of tightening torque, for the ITI Straumann and Astra Tech (3.5 and 4.0 mm diameters) implant systems, which use an 8-degree and 11-degree internal cone, respectively. Implants and abutments from each system were mounted in a torque device, and a range of tightening torques was applied. Loosening torques were then measured, and the influence of conus angle, interfacial surface area, saliva contamination, and time delay to loosening were all assessed. The loosening torque only exceeded tightening torque at the highest levels, just before component failure, when plastic deformation was expected. For all clinically relevant levels of torque, both in a dry environment and with components bathed in artificial saliva at 37 degrees C, loosening torque was always seen to be 80% to 90% of tightening torque, demonstrating that cold welding does not occur. There was a high correlation between loosening and tightening torque for all systems tested, but no statistical difference when comparing wet versus dry or comparing individual data for each system. It can be concluded that for clinically relevant levels of tightening torque, no problems are anticipated with respect to retrievability.

Reusable Solid Rocket Motor Nozzle Joint 5 Redesign

NASA Technical Reports Server (NTRS)

Lui, R. C.; Stratton, T. C.; LaMont, D. T.

2003-01-01

Torque tension testing of a newly designed Reusable Solid Rocket Motor nozzle bolted assembly was successfully completed. Test results showed that the 3-sigma preload variation was as expected at the required input torque level and the preload relaxation were within the engineering limits. A shim installation technique was demonstrated as a simple process to fill a shear lip gap between nozzle housings in the joint region. A new automated torque system was successfully demonstrated in this test. This torque control tool was found to be very precise and accurate. The bolted assembly performance was further evaluated using the Nozzle Structural Test Bed. Both current socket head cap screw and proposed multiphase alloy bolt configurations were tested. Results indicated that joint skip and bolt bending were significantly reduced with the new multiphase alloy bolt design. This paper summarizes all the test results completed to date.

Investigation of possible causes of the additional torque on the yacht's rudder

NASA Astrophysics Data System (ADS)

Lubomir, Soukup; Jaroslav, Stigler; Abdellah, Kharicha

2016-03-01

The present article deals with investigation of possible causes of the additional torque on the yacht's rudder. One of the most important aspect for design of yachts are the symmetric conditions of all parts, which are located under water level and concentricity of the ship's screw, rudder and keel relative to the hull. These symmetric and concentricity conditions have a major impact on the resulting dynamic properties of the ships. They have either substantial impact on the overall efficiency of installed engine and ship's screw. As the result of poorly designed above mentioned parts, there can be an unsolicited additional torque on the yacht's rudder and higher consumption of the fuel. Last but not least of these problems leads to poor controllability and discomfort within steering. This article is focused on the investigation of possible causes of the additional torque on the yacht's rudder.

Torque Characteristics Analysis of Hybrid Stepping Motor Using 3-D Finite Element Method

NASA Astrophysics Data System (ADS)

Kawase, Yoshihiro; Yamaguchi, Tadashi; Masuda, Tatsuya; Domeki, Hideo; Kobori, Masaru

Hybrid stepping motors are widely used for various electric instruments because of high torque, high accuracy and small step angle. It is necessary for the optimum design of hybrid stepping motors to analyze torque characteristics accurately. In this paper, a hybrid stepping motor is analyzed using the 3-D finite element method taking into account the rotation of the armature. The effects of the interlaminar gap in the core on the torque characteristics are clarified using the gap elements. The validity of our method is clarified by comparison between the calculated results and measured ones.

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.

Variation of Electric Properties Between Surface Permanent Magnet and Interior Permanent Magnet Motor

NASA Astrophysics Data System (ADS)

Woo, Byung-Chul; Hong, Do-Kwan; Lee, Ji-Young

The most distinctive advantage of transverse flux motor(TFM) is high torque density which has prompted many researches into studying various design variants. TFM is well suited for low speed direct drive applications due to its high torque density. This paper deals with simulation based comparisons between a surface permanent magnet transverse flux motor(SPM-TFM) and an interior permanent magnet transverse flux motor(IPM-TFM). A commercial finite element analysis(FEA) software Maxwell 3D is used for electromagnetic field computation to fully analyze complex geometry of the TFMs. General characteristics, such as cogging torque, rated torque and torque ripple characteristics of the two TFMs are analyzed and compared by extensive 3D FEA.

A mechanical jig for measuring ankle supination and pronation torque in vitro and in vivo.

PubMed

Fong, Daniel Tik-Pui; Chung, Mandy Man-Ling; Chan, Yue-Yan; Chan, Kai-Ming

2012-07-01

This study presents the design of a mechanical jig for evaluating the ankle joint torque on both cadaver and human ankles. Previous study showed that ankle sprain motion was a combination of plantarflexion and inversion. The device allows measurement of ankle supination and pronation torque with one simple axis in a single step motion. More importantly, the ankle orientation allows rotation starting from an anatomical position. Six cadaveric specimens and six human subjects were tested with simulated and voluntary rotation respectively. The presented mechanical jig makes possible the determination of supination torque for studying ankle sprain injury and the estimation of pronation torque for examining peroneal muscle response. Copyright © 2012 IPEM. Published by Elsevier Ltd. All rights reserved.

Drilling dimension effects in early stages of osseointegration and implant stability in a canine model

PubMed Central

Baires-Campos, Felipe-Eduardo; Jimbo, Ryo; Fonseca-Oliveira, Maiolino-Thomaz; Moura, Camila; Zanetta-Barbosa, Darceny; Coelho, Paulo-Guilherme

2015-01-01

Background This study histologically evaluated two implant designs: a classic thread design versus another specifically designed for healing chamber formation placed with two drilling protocols. Material and Methods Forty dental implants (4.1 mm diameter) with two different macrogeometries were inserted in the tibia of 10 Beagle dogs, and maximum insertion torque was recorded. Drilling techniques were: until 3.75 mm (regular-group); and until 4.0 mm diameter (overdrilling-group) for both implant designs. At 2 and 4 weeks, samples were retrieved and processed for histomorphometric analysis. For torque and BIC (bone-to-implant contact) and BAFO (bone area fraction occupied), a general-linear model was employed including instrumentation technique and time in vivo as independent. Results The insertion torque recorded for each implant design and drilling group significantly decreased as a function of increasing drilling diameter for both implant designs (p<0.001). No significant differences were detected between implant designs for each drilling technique (p>0.18). A significant increase in BIC was observed from 2 to 4 weeks for both implants placed with the overdrilling technique (p<0.03) only, but not for those placed in the 3.75 mm drilling sites (p>0.32). Conclusions Despite the differences between implant designs and drilling technique an intramembranous-like healing mode with newly formed woven bone prevailed. Key words: Histomorphometry, biomechanical, in vivo, initial stability, insertion torque, osseointegration. PMID:25858087

Low Handicap Golfers Generate More Torque at the Shoe-Natural Grass Interface When Using a Driver

PubMed Central

Worsfold, Paul; Smith, Neal A.; Dyson, Rosemary J.

2008-01-01

The aim was to determine the rotational torque occurring at the shoe-natural grass interface during golf swing performance with different clubs, and to determine the influence of handicap and golf shoe design. Twenty-four golfers (8 low 0-7; 8 medium 8-14; and 8 high 15+) performed 5 shots with a driver, 3-iron and 7-iron when 3 shoes were worn: a modern 8 mm metal 7-spike shoe, an alternative 7-spike shoe and a flat soled shoe. Torque was measured at the front and back foot by grass covered force platforms in an outdoor field. Torque at the shoe- natural turf interface was similar at the front foot when using a driver, 3-iron and 7-iron with maximum mean torque (Tzmax 17-19 Nm) and torque generation in the entire backswing and downswing approximately 40 Nm. At the back foot, torque was less than at the front foot when using the driver, 3-iron and 7-iron. At the back foot Tzmax was 6-7 Nm, and torque generation was 10-16 Nm, with a trend for greater torque generation when using the driver rather than the irons. The metal spike shoe allowed significantly more back foot torque generation when using a driver than a flat- soled shoe (p < 0.05). There was no significant difference between the metal and alternative spike shoes for any torque measure (p > 0.05), although back foot mean torques generated tended to be greater for the metal spike shoe. The golf shot outcomes were similar for low, medium and high handicappers in both metal and alternative spike shoes (metal: 87%; 76%; 54%; alternative: 85%; 74%; 54% respectively). The better, low handicap golfers generated significantly more back foot torque (metal spike: 18.2 Nm; alternative: 15.8 Nm; p < 0.05) when using a driver. Further research should consider back foot shoe-grass interface demands during driver usage by low handicap and lighter body-weight golfers. Key pointsShoe to natural turf torque generation is an important component in performing a golf swing with a driver club.Torque at the shoe to natural turf interface was similar at the front foot when using a driver, 3-iron and 7-iron with Tzmax (17-19 Nm approx) and torque generation in the entire backswing and downswing of 40 Nm.Torque at the back foot was less than at the front foot when using the driver, 3-iron and 7-iron; Tzmax was 6-7 Nm, and torque generation 10-16 Nm with a trend to be greater when the driver was used.Low handicap golfers generated significantly more torque at the back foot than the medium or high handicappers (P<0.05) when using a driver.The metal spike shoe on natural turf allowed significantly more torque generation at the back foot than a flat-soled golf shoe when using a driver. Results have implications for golf shoe design. PMID:24149910

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

Husain, Tausif; Hasan, Iftekhar; Sozer, Yilmaz

This paper presents the design considerations in cogging torque minimization in two types of transverse flux machines. The machines have a double stator-single rotor configuration with flux concentrating ferrite magnets. One of the machines has pole windings across each leg of an E-Core stator. Another machine has quasi-U-shaped stator cores and a ring winding. The flux in the stator back iron is transverse in both machines. Different methods of cogging torque minimization are investigated. Key methods of cogging torque minimization are identified and used as design variables for optimization using a design of experiments (DOE) based on the Taguchi method.more » A three-level DOE is performed to reach an optimum solution with minimum simulations. Finite element analysis is used to study the different effects. Two prototypes are being fabricated for experimental verification.« less

The Simulation Study of Horizontal Axis Water Turbine Using Flow Simulation Solidworks Application

NASA Astrophysics Data System (ADS)

Prasetyo, H.; Budiana, EP; Tjahjana, DDDP; Hadi, S.

2018-02-01

The design of Horizontal Axis Water Turbine in pico hydro power plants involves many parameters. To simplify that, usually using computer simulation is applied. This research performs simulation process variation on turbine blade number, turbine blade curvature angle, turbine bucket angle and blocking system tilt angle. Those four variations were combined in order to obtain the best design of turbine. The study used Flow Simulation Solidworks application, and obtain data on turbine speed, pressure, force, and torque. However, this research focused on turbine torque value. The best design of turbine was obtained in the turbine with 6 blades, blade curvature angle of 65° and bucket angle of 10°, and blocking system tilt angle of 40°. In the best turbine, the produced torque value was 8.464 Nm.

Effectiveness of the surgical torque limiter: a model comparing drill- and hand-based screw insertion into locking plates.

PubMed

Ioannou, Christopher; Knight, Matthew; Daniele, Luca; Flueckiger, Lee; Tan, Ezekiel S L

2016-10-17

The objective of this study is to analyse the effectiveness of the surgical torque limiter during operative use. The study also investigates the potential differences in torque between hand and drill-based screw insertion into locking plates using a standardised torque limiter. Torque for both hand and power screw insertion was measured through a load cell, registering 6.66 points per second. This was performed in a controlled environment using synthetic bone, a locking plate and locking screws to simulate plate fixation. Screws were inserted by hand and by drill with torque values measured. The surgical torque limiter (1.5 Nm) was effective as the highest recorded reading in the study was 1.409 Nm. Comparatively, there is a statistically significant difference between screw insertion methods. Torque produced for manually driven screw insertion into locking plates was 1.289 Nm (95 % CI 1.269-1.308) with drill-powered screw insertion at 0.740 Nm (95 % CI 0.723-0.757). The surgical torque limiter proved to be effective as per product specifications. Screws inserted under power produce significantly less torque when compared to manual insertion by hand. This is likely related to the mechanism of the torque limiter when being used at higher speeds for which it was designed. We conclude that screws may be inserted using power to the plate with the addition of a torque limiter. It is recommended that all screws inserted by drill be hand tightened to achieve adequate torque values.

Design and experimental validation for direct-drive fault-tolerant permanent-magnet vernier machines.

PubMed

Liu, Guohai; Yang, Junqin; Chen, Ming; Chen, Qian

2014-01-01

A fault-tolerant permanent-magnet vernier (FT-PMV) machine is designed for direct-drive applications, incorporating the merits of high torque density and high reliability. Based on the so-called magnetic gearing effect, PMV machines have the ability of high torque density by introducing the flux-modulation poles (FMPs). This paper investigates the fault-tolerant characteristic of PMV machines and provides a design method, which is able to not only meet the fault-tolerant requirements but also keep the ability of high torque density. The operation principle of the proposed machine has been analyzed. The design process and optimization are presented specifically, such as the combination of slots and poles, the winding distribution, and the dimensions of PMs and teeth. By using the time-stepping finite element method (TS-FEM), the machine performances are evaluated. Finally, the FT-PMV machine is manufactured, and the experimental results are presented to validate the theoretical analysis.

A novel configuration for a brushless DC motor with an integrated planetary gear train

NASA Astrophysics Data System (ADS)

Yan, Hong-Sen; Wu, Yi-Chang

2006-06-01

This paper presents a novel configuration of a brushless DC (BLDC) motor with an integrated planetary gear train, which provides further functional and structural integrations to overcome inherent drawbacks of traditional designs. The effects of gear teeth on the magnetic field and performance of the BLDC motor are investigated. Two standard gear profile systems integrated on the stator with feasible numbers of gear teeth are introduced to reduce the cogging torque. An equivalent magnetic circuit model and an air-gap permeance model are applied to analytically analyze the magnetic field, while the validity is verified by 2-D finite-element method (FEM). Furthermore, the motor performance is discussed and compared with an existing design. The results show that the present design has the characteristics of lower cogging torque and torque ripple than the conventional design, which is of benefit to the widely applications on accurate motion and position control for BLDC motors.

Comparison of fit accuracy and torque maintenance of zirconia and titanium abutments for internal tri-channel and external-hex implant connections.

PubMed

Siadat, Hakimeh; Beyabanaki, Elaheh; Mousavi, Niloufar; Alikhasi, Marzieh

2017-08-01

This in vitro study aimed to evaluate the effect of implant connection design (external vs. internal) on the fit discrepancy and torque loss of zirconia and titanium abutments. Two regular platform dental implants, one with external connection (Brånemark, Nobel Biocare AB) and the other with internal connection (Noble Replace, Nobel Biocare AB), were selected. Seven titanium and seven customized zirconia abutments were used for each connection design. Measurements of geometry, marginal discrepancy, and rotational freedom were done using video measuring machine. To measure the torque loss, each abutment was torqued to 35 Ncm and then opened by means of a digital torque wrench. Data were analyzed with two-way ANOVA and t-test at α=0.05 of significance. There were significant differences in the geometrical measurements and rotational freedom between abutments of two connection groups ( P <.001). Also, the results showed significant differences between titanium abutments of internal and external connection implants in terms of rotational freedom ( P <.001). Not only customized internal abutments but also customized external abutments did not have the exact geometry of prefabricated abutments ( P <.001). However, neither connection type ( P =.15) nor abutment material ( P =.38) affected torque loss. Abutments with internal connection showed less rotational freedom. However, better marginal fit was observed in externally connected abutments. Also, customized abutments with either connection could not duplicate the exact geometry of their corresponding prefabricated abutment. However, neither abutment connection nor material affected torque loss values.

A model predictive current control of flux-switching permanent magnet machines for torque ripple minimization

NASA Astrophysics Data System (ADS)

Huang, Wentao; Hua, Wei; Yu, Feng

2017-05-01

Due to high airgap flux density generated by magnets and the special double salient structure, the cogging torque of the flux-switching permanent magnet (FSPM) machine is considerable, which limits the further applications. Based on the model predictive current control (MPCC) and the compensation control theory, a compensating-current MPCC (CC-MPCC) scheme is proposed and implemented to counteract the dominated components in cogging torque of an existing three-phase 12/10 FSPM prototyped machine, and thus to alleviate the influence of the cogging torque and improve the smoothness of electromagnetic torque as well as speed, where a comprehensive cost function is designed to evaluate the switching states. The simulated results indicate that the proposed CC-MPCC scheme can suppress the torque ripple significantly and offer satisfactory dynamic performances by comparisons with the conventional MPCC strategy. Finally, experimental results validate both the theoretical and simulated predictions.

Biomechanical design of escalading lower limb exoskeleton with novel linkage joints.

PubMed

Zhang, Guoan; Liu, Gangfeng; Ma, Sun; Wang, Tianshuo; Zhao, Jie; Zhu, Yanhe

2017-07-20

In this paper, an obstacle-surmounting-enabled lower limb exoskeleton with novel linkage joints that perfectly mimicked human motions was proposed. Currently, most lower exoskeletons that use linear actuators have a direct connection between the wearer and the controlled part. Compared to the existing joints, the novel linkage joint not only fitted better into compact chasis, but also provided greater torque when the joint was at a large bend angle. As a result, it extended the angle range of joint peak torque output. With any given power, torque was prioritized over rotational speed, because instead of rotational speed, sufficiency of torque is the premise for most joint actions. With insufficient torque, the exoskeleton will be a burden instead of enhancement to its wearer. With optimized distribution of torque among the joints, the novel linkage method may contribute to easier exoskeleton movements.

Weight-Handling Equipment. Design Manual 38.1.

DTIC Science & Technology

1982-06-01

Contact Rails ....... ................... 38.1-153 B-1. Torque-Speed Curves of Wound- Rotor Motor with Single-Phase Dynamic Braking Control...38.1-B-4 B-2. Torque-Speed Curves for Wound- Rotor Motor with DC Dynamic -Braking Lowering Control ... ........... . 38.1-B-6 B-3. Torque-Speed Curves...AC hoist and DC dynamic -braking lowering). (b) Wound- rotor motors. (i) Heavy-duty cranes using AC motors should have motors of the wound- rotor (slip

The Accuracy of New and Aged Mechanical Torque Devices Employed in Five Dental Implant Systems

PubMed Central

Karatasli, Burcin; Dinçer Kose, Onur; Kose, Taha Emre; Çene, Erhan; Aydın Aya, Serhan

2017-01-01

Purpose Friction-style and spring-style torque wrenches are used to tighten implant abutments and prosthetic screws. The mechanical stability of these torque wrenches is crucial for the implant–abutment connection. The purposes of this study were to assess the performance of five brands (Straumann, Zimmer, Implant KA, Bredent, and Biohorizons) of wrench and to evaluate possible changes in applied torque values of aged wrenches. Materials and Methods Five new and aged wrenches that had been used approximately 250 times in a 1-year period were tested. The torque applied by friction- and spring-style wrenches was measured with a specially designed strain gauge indicator. Descriptive statistics, the one-sample t-test, and the independent-samples t-test were used to analyze values obtained from all torque wrenches. Results The accuracy of new and aged torque devices of all brands except Bredent differed significantly from the target values, but the mean values for aged and new wrenches did not differ significantly from each other (p > 0.05). Values for the spring- and friction-type torque wrenches deviated from the target values by 11.6% and 10.2%, respectively. Conclusion The accuracy of aged torque wrenches is adequate for prosthetic screw tightening, but that of new torque wrenches is unsatisfactory and must be examined carefully before delivery. PMID:29238725

Controlled enhancement of spin-current emission by three-magnon splitting.

PubMed

Kurebayashi, Hidekazu; Dzyapko, Oleksandr; Demidov, Vladislav E; Fang, Dong; Ferguson, A J; Demokritov, Sergej O

2011-07-03

Spin currents--the flow of angular momentum without the simultaneous transfer of electrical charge--play an enabling role in the field of spintronics. Unlike the charge current, the spin current is not a conservative quantity within the conduction carrier system. This is due to the presence of the spin-orbit interaction that couples the spin of the carriers to angular momentum in the lattice. This spin-lattice coupling acts also as the source of damping in magnetic materials, where the precessing magnetic moment experiences a torque towards its equilibrium orientation; the excess angular momentum in the magnetic subsystem flows into the lattice. Here we show that this flow can be reversed by the three-magnon splitting process and experimentally achieve the enhancement of the spin current emitted by the interacting spin waves. This mechanism triggers angular momentum transfer from the lattice to the magnetic subsystem and modifies the spin-current emission. The finding illustrates the importance of magnon-magnon interactions for developing spin-current based electronics.

New Cogging Torque Reduction Methods for Permanent Magnet Machine

NASA Astrophysics Data System (ADS)

Bahrim, F. S.; Sulaiman, E.; Kumar, R.; Jusoh, L. I.

2017-08-01

Permanent magnet type motors (PMs) especially permanent magnet synchronous motor (PMSM) are expanding its limbs in industrial application system and widely used in various applications. The key features of this machine include high power and torque density, extending speed range, high efficiency, better dynamic performance and good flux-weakening capability. Nevertheless, high in cogging torque, which may cause noise and vibration, is one of the threat of the machine performance. Therefore, with the aid of 3-D finite element analysis (FEA) and simulation using JMAG Designer, this paper proposed new method for cogging torque reduction. Based on the simulation, methods of combining the skewing with radial pole pairing method and skewing with axial pole pairing method reduces the cogging torque effect up to 71.86% and 65.69% simultaneously.

Determining a Method of Enabling and Disabling the Integral Torque in the SDO Science and Inertial Mode Controllers

NASA Technical Reports Server (NTRS)

Vess, Melissa F.; Starin, Scott R.

2007-01-01

During design of the SDO Science and Inertial mode PID controllers, the decision was made to disable the integral torque whenever system stability was in question. Three different schemes were developed to determine when to disable or enable the integral torque, and a trade study was performed to determine which scheme to implement. The trade study compared complexity of the control logic, risk of not reenabling the integral gain in time to reject steady-state error, and the amount of integral torque space used. The first scheme calculated a simplified Routh criterion to determine when to disable the integral torque. The second scheme calculates the PD part of the torque and looked to see if that torque would cause actuator saturation. If so, only the PD torque is used. If not, the integral torque is added. Finally, the third scheme compares the attitude and rate errors to limits and disables the integral torque if either of the errors is greater than the limit. Based on the trade study results, the third scheme was selected. Once it was decided when to disable the integral torque, analysis was performed to determine how to disable the integral torque and whether or not to reset the integrator once the integral torque was reenabled. Three ways to disable the integral torque were investigated: zero the input into the integrator, which causes the integral part of the PID control torque to be held constant; zero the integral torque directly but allow the integrator to continue integrating; or zero the integral torque directly and reset the integrator on integral torque reactivation. The analysis looked at complexity of the control logic, slew time plus settling time between each calibration maneuver step, and ability to reject steady-state error. Based on the results of the analysis, the decision was made to zero the input into the integrator without resetting it. Throughout the analysis, a high fidelity simulation was used to test the various implementation methods.

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.

Biomechanical evaluation of dental implants with three different designs: Removal torque and resonance frequency analysis in rabbits.

PubMed

Gehrke, Sergio Alexandre; Marin, Giovanni Wiel

2015-05-01

The objective of this study was to investigate the effect of implant design on stability and resistance to reverse torque in the tibia of rabbits. Three test groups were prepared using the different characteristics of each implant model: square threads with progressive depth to the apex, a cervical portion without threads and a self-tapping system that is quite pronounced and aggressive (Group 1); triangular threads with flat tips with increasing thread depth from the cervical portion to the apex and a small self-tapping portion with a short thread pitch (Group 2); long thread pitch, progressive thread depth, an apical area with a small self-tapping portion (Group 3). For the two last groups, a final single-use drill was provided for each implant. Nine rabbits received 54 conical implants with a same surface treatment. The resonance frequency was analysed four times (0, 6, 8 and 12 weeks), and removal torque values were measured at three time intervals after the implantations (6, 8 and 12 weeks). In comparing the implant stability quotient at the four time points, highly significant statistic differences were found (p = 1.29(-10)). The reverse torque at the three time points was also significantly different among the groups (p = 0.00015). The implants of Group 2, with seemingly less aggressive design, more quickly reached high values of stability and removal torque. Under the limitations of this study, however, it is possible that in cases in which there may be low osseointegration response, the implant design should be evaluated. Copyright © 2014 Elsevier GmbH. All rights reserved.

Simulation-Based Design for Wearable Robotic Systems: An Optimization Framework for Enhancing a Standing Long Jump.

PubMed

Ong, Carmichael F; Hicks, Jennifer L; Delp, Scott L

2016-05-01

Technologies that augment human performance are the focus of intensive research and development, driven by advances in wearable robotic systems. Success has been limited by the challenge of understanding human-robot interaction. To address this challenge, we developed an optimization framework to synthesize a realistic human standing long jump and used the framework to explore how simulated wearable robotic devices might enhance jump performance. A planar, five-segment, seven-degree-of-freedom model with physiological torque actuators, which have variable torque capacity depending on joint position and velocity, was used to represent human musculoskeletal dynamics. An active augmentation device was modeled as a torque actuator that could apply a single pulse of up to 100 Nm of extension torque. A passive design was modeled as rotational springs about each lower limb joint. Dynamic optimization searched for physiological and device actuation patterns to maximize jump distance. Optimization of the nominal case yielded a 2.27 m jump that captured salient kinematic and kinetic features of human jumps. When the active device was added to the ankle, knee, or hip, jump distance increased to between 2.49 and 2.52 m. Active augmentation of all three joints increased the jump distance to 3.10 m. The passive design increased jump distance to 3.32 m by adding torques of 135, 365, and 297 Nm to the ankle, knee, and hip, respectively. Dynamic optimization can be used to simulate a standing long jump and investigate human-robot interaction. Simulation can aid in the design of performance-enhancing technologies.

Tool for Torquing Circular Electrical-Connector Collars

NASA Technical Reports Server (NTRS)

Gaulke, Kathryn; Werneth, Russell; Grunsfeld, John; O'Neill, Patrick; Snyder, Russ

2006-01-01

An improved tool has been devised for applying torque to lock and unlock knurled collars on circular electrical connectors. The tool was originally designed for, and used by, astronauts working in outer space on the Hubble Space Telescope (HST). The tool is readily adaptable to terrestrial use in installing and removing the same or similar circular electrical connectors as well as a wide variety of other cylindrical objects, the tightening and loosening of which entail considerable amounts of torque.

The role of shoe design on the prediction of free torque at the shoe-surface interface using pressure insole technology.

PubMed

Weaver, Brian Thomas; Fitzsimons, Kathleen; Braman, Jerrod; Haut, Roger

2016-09-01

The goal of the current study was to expand on previous work to validate the use of pressure insole technology in conjunction with linear regression models to predict the free torque at the shoe-surface interface that is generated while wearing different athletic shoes. Three distinctly different shoe designs were utilised. The stiffness of each shoe was determined with a material's testing machine. Six participants wore each shoe that was fitted with an insole pressure measurement device and performed rotation trials on an embedded force plate. A pressure sensor mask was constructed from those sensors having a high linear correlation with free torque values. Linear regression models were developed to predict free torques from these pressure sensor data. The models were able to accurately predict their own free torque well (RMS error 3.72 ± 0.74 Nm), but not that of the other shoes (RMS error 10.43 ± 3.79 Nm). Models performing self-prediction were also able to measure differences in shoe stiffness. The results of the current study showed the need for participant-shoe specific linear regression models to insure high prediction accuracy of free torques from pressure sensor data during isolated internal and external rotations of the body with respect to a planted foot.

Key-and-keyway coupling for transmitting torque

DOEpatents

Blue, S.C.; Curtis, M.T.; Orthwein, W.C.; Stitt, D.H.

1975-11-18

The design of an improved key-and-keyway coupling for the transmission of torque is given. The coupling provides significant reductions in stress concentrations in the vicinity of the key and keyway. The keyway is designed with a flat-bottomed u-shaped portion whose inboard end terminates in a ramp which is dished transversely, so that the surface of the ramp as viewed in transverse section defines an outwardly concave arc.

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 testing machine for dental air-turbine handpiece characteristics: free-running speed, stall torque, bearing resistance.

PubMed

Darvell, Brain W; Dyson, J E

2005-01-01

The measurement of performance characteristics of dental air turbine handpieces is of interest with respect to product comparisons, standards specifications and monitoring of bearing longevity in clinical service. Previously, however, bulky and expensive laboratory equipment was required. A portable test machine is described for determining three key characteristics of dental air-turbine handpieces: free-running speed, stall torque and bearing resistance. It relies on a special circuit design for performing a hardware integration of a force signal with respect to rotational position, independent of the rate at which the turbine is allowed to turn during both stall torque and bearing resistance measurements. Free-running speed without the introduction of any imbalance can be readily monitored. From the essential linear relationship between torque and speed, dynamic torque and, hence, power, can then be calculated. In order for these measurements to be performed routinely with the necessary precision of location on the test stage, a detailed procedure for ensuring proper gripping of the handpiece is described. The machine may be used to verify performance claims, standard compliance checks should this be established as appropriate, monitor deterioration with time and usage in the clinical environment and for laboratory investigation of design development.

Numerical optimization of perturbative coils for tokamaks

NASA Astrophysics Data System (ADS)

Lazerson, Samuel; Park, Jong-Kyu; Logan, Nikolas; Boozer, Allen; NSTX-U Research Team

2014-10-01

Numerical optimization of coils which apply three dimensional (3D) perturbative fields to tokamaks is presented. The application of perturbative 3D magnetic fields in tokamaks is now commonplace for control of error fields, resistive wall modes, resonant field drive, and neoclassical toroidal viscosity (NTV) torques. The design of such systems has focused on control of toroidal mode number, with coil shapes based on simple window-pane designs. In this work, a numerical optimization suite based on the STELLOPT 3D equilibrium optimization code is presented. The new code, IPECOPT, replaces the VMEC equilibrium code with the IPEC perturbed equilibrium code, and targets NTV torque by coupling to the PENT code. Fixed boundary optimizations of the 3D fields for the NSTX-U experiment are underway. Initial results suggest NTV torques can be driven by normal field spectrums which are not pitch-resonant with the magnetic field lines. Work has focused on driving core torque with n = 1 and edge torques with n = 3 fields. Optimizations of the coil currents for the planned NSTX-U NCC coils highlight the code's free boundary capability. This manuscript has been authored by Princeton University under Contract Number DE-AC02-09CH11466 with the U.S. Department of Energy.

Comparative Analysis of Screw Loosening With Prefabricated Abutments and Customized CAD/CAM Abutments.

PubMed

Paek, Janghyun; Woo, Yi-Hyung; Kim, Hyeong-Seob; Pae, Ahran; Noh, Kwantae; Lee, Hyeonjong; Kwon, Kung-Rock

2016-12-01

The aim of this study was to determine the stability of computer-aided design and manufacturing (CAD/CAM) and prefabricated abutment by measuring removal torque before and after cyclic loading. Three types of fixture and 2 types of abutments were used. Removable torque was measured after cyclic loading for 5000 cycles between 25 and 250 N for each group. The same procedure was performed twice. First, removal torque values (Newton centimeter) were measured for stock versus custom abutments as follows: group 1: 27.17 versus 26.67, group 2: 26.27 versus 26.33, and group 3: 37.33 versus 36.67. Second removal torque values (Newton centimeter) were also measured: group 1: 23 versus 23.5, group 2: 22.5 versus 22.33, and group 3: 32.67 versus 32.5. There was no significant difference between the stock and custom abutments in either the first or second removal torque values and also no significant difference among initial tightening torque, first or second removal torque (P > 0.05). With precise control of CAD/CAM abutments, good screw joint stability can be achieved.

An Efficient Power Regeneration and Drive Method of an Induction Motor by Means of an Optimal Torque Derived by Variational Method

NASA Astrophysics Data System (ADS)

Inoue, Kaoru; Ogata, Kenji; Kato, Toshiji

When the motor speed is reduced by using a regenerative brake, the mechanical energy of rotation is converted to the electrical energy. When the regenerative torque is large, the corresponding current increases so that the copper loss also becomes large. On the other hand, the damping effect of rotation increases according to the time elapse when the regenerative torque is small. In order to use the limited energy effectively, an optimal regenerative torque should be discussed in order to regenerate electrical energy as much as possible. This paper proposes a design methodology of a regenerative torque for an induction motor to maximize the regenerative electric energy by means of the variational method. Similarly, an optimal torque for acceleration is derived in order to minimize the energy to drive. Finally, an efficient motor drive system with the proposed optimal torque and the power storage system stabilizing the DC link voltage will be proposed. The effectiveness of the proposed methods are illustrated by both simulations and experiments.

Comparison of fit accuracy and torque maintenance of zirconia and titanium abutments for internal tri-channel and external-hex implant connections

PubMed Central

Siadat, Hakimeh; Beyabanaki, Elaheh; Mousavi, Niloufar

2017-01-01

PURPOSE This in vitro study aimed to evaluate the effect of implant connection design (external vs. internal) on the fit discrepancy and torque loss of zirconia and titanium abutments. MATERIALS AND METHODS Two regular platform dental implants, one with external connection (Brånemark, Nobel Biocare AB) and the other with internal connection (Noble Replace, Nobel Biocare AB), were selected. Seven titanium and seven customized zirconia abutments were used for each connection design. Measurements of geometry, marginal discrepancy, and rotational freedom were done using video measuring machine. To measure the torque loss, each abutment was torqued to 35 Ncm and then opened by means of a digital torque wrench. Data were analyzed with two-way ANOVA and t-test at α=0.05 of significance. RESULTS There were significant differences in the geometrical measurements and rotational freedom between abutments of two connection groups (P<.001). Also, the results showed significant differences between titanium abutments of internal and external connection implants in terms of rotational freedom (P<.001). Not only customized internal abutments but also customized external abutments did not have the exact geometry of prefabricated abutments (P<.001). However, neither connection type (P=.15) nor abutment material (P=.38) affected torque loss. CONCLUSION Abutments with internal connection showed less rotational freedom. However, better marginal fit was observed in externally connected abutments. Also, customized abutments with either connection could not duplicate the exact geometry of their corresponding prefabricated abutment. However, neither abutment connection nor material affected torque loss values. PMID:28874994

Control of electro-rheological fluid-based torque generation components for use in active rehabilitation devices

NASA Astrophysics Data System (ADS)

Nikitczuk, Jason; Weinberg, Brian; Mavroidis, Constantinos

2006-03-01

In this paper we present the design and control algorithms for novel electro-rheological fluid based torque generation elements that will be used to drive the joint of a new type of portable and controllable Active Knee Rehabilitation Orthotic Device (AKROD) for gait retraining in stroke patients. The AKROD is composed of straps and rigid components for attachment to the leg, with a central hinge mechanism where a gear system is connected. The key features of AKROD include: a compact, lightweight design with highly tunable torque capabilities through a variable damper component, full portability with on board power, control circuitry, and sensors (encoder and torque), and real-time capabilities for closed loop computer control for optimizing gait retraining. The variable damper component is achieved through an electro-rheological fluid (ERF) element that connects to the output of the gear system. Using the electrically controlled rheological properties of ERFs, compact brakes capable of supplying high resistive and controllable torques, are developed. A preliminary prototype for AKROD v.2 has been developed and tested in our laboratory. AKROD's v.2 ERF resistive actuator was tested in laboratory experiments using our custom made ERF Testing Apparatus (ETA). ETA provides a computer controlled environment to test ERF brakes and actuators in various conditions and scenarios including emulating the interaction between human muscles involved with the knee and AKROD's ERF actuators / brakes. In our preliminary results, AKROD's ERF resistive actuator was tested in closed loop torque control experiments. A hybrid (non-linear, adaptive) Proportional-Integral (PI) torque controller was implemented to achieve this goal.

Near Earth Asteroid Scout Solar Sail Thrust and Torque Model

NASA Technical Reports Server (NTRS)

Heaton, Andy; Ahmad, Naeem; Miller, Kyle

2017-01-01

The Near Earth Asteroid (NEA) Scout is a solar sail mission whose objective is to scout at least one Near Earth Asteroid to help prepare for human missions to Near Earth Asteroids. NEA Scout will launch as a secondary payload on the first SLS-Orion mission. NEA Scout will perform a small trim maneuver shortly after deploy from the spent SLS upper stage using a cold gas propulsion system, but from that point on will depend entirely on the solar sail for thrust. As such, it is important to accurately characterize the thrust of the sail in order to achieve mission success. Additionally, the solar sail creates a relatively large solar disturbance torque that must be mitigated. For early mission design studies a flat plate model of the solar sail with a fixed center of pressure was adequate, but as mission concepts and the sail design matured, greater fidelity was required. Here we discuss the progress to a three-dimensional sail model that includes the effects of tension and thermal deformation that has been derived from a large structural Finite Element Model (FEM) developed by the Langley Research Center. We have found that the deformed sail membrane affects torque relatively much more than thrust; a flat plate model could potentially model thrust well enough to close mission design studies, but a three-dimensional solar sail is essential to control system design. The three-dimensional solar sail model revealed that thermal deformations of unshielded booms would create unacceptably large solar disturbance torques. The original large FEM model was used in control and mission simulations, but was resulted in simulations with prohibitive run times. This led us to adapt the Generalized Sail Model (GSM) of Rios-Reyes. A design reference sail model has been baselined for NEA Scout and has been used to design the mission and control system for the sailcraft. Additionally, since NEA Scout uses reaction wheels for attitude pointing and control, the solar torque model is essentially to successfully design the NEA Scout momentum management control system. We have also updated the estimate of diffusivity used for the aluminized sail material based on optical testing of wrinkled sail material. The model presented here represents the current state of the art of NASA's ability to model solar sail thrust and torque.

The effects of loading on the preload and dimensions of the abutment screw for a 3-unit cantilever-fixed prosthesis design.

PubMed

Setia, Gaurav; Yousef, Hoda; Ehrenberg, David; Luke, Allyn; Weiner, Saul

2013-08-01

The purpose of this study was to use an in vitro model system to compare the effects on the screw torque and screw dimensions within 2 commercially available implant systems from occlusal loading on a cantilevered-fixed partial denture. Cantilevered implant-supported 3-unit prostheses with 2 premolar abutments and 1 premolar pontic (7.3 mm in length) were made on resin casts containing 2 implant analogs for 2 implant systems: BioLok Silhouette Tapered Implant System (Birmingham, AL) and Zimmer Tapered Screw-Vent Implant System (Carlsbad, CA) with 10 samples in each group. Each sample was loaded with either of 2 protocols: (1) a load of 50 N on the cantilevered pontic unit and (2) a loading of 150 N on all 3 units. The outcome measures were (1) changes in residual torque of the abutment screws and (2) changes in screw dimension. The BioLok Silhouette Tapered Implant group demonstrated slight but statistically significant torque loss 18.8% to 28.5% in both abutment screws for both protocols, P ≤ 0.05, without any changes in screw dimension. In the Zimmer Tapered Screw-Vent Implant group, there was a significant elongation of the abutment screws and a markedly significant 44.4%, (P ≤ 0.01) loss in torque in the mesial screw and a 28.5%, (P ≤ 0.05) loss in torque in the distal screw when the cantilever alone was loaded. Differences in screw design influence the maintenance of preload and distortion of the shank. The influence of the interface design, namely an internal hex of 1 mm versus an external hex did not influence the preload. Cantilevered prostheses can cause loss of torque and dimensional changes in abutment screws.

Preliminary results on noncollocated torque control of space robot actuators

NASA Technical Reports Server (NTRS)

Tilley, Scott W.; Francis, Colin M.; Emerick, Ken; Hollars, Michael G.

1989-01-01

In the Space Station era, more operations will be performed robotically in space in the areas of servicing, assembly, and experiment tending among others. These robots may have various sets of requirements for accuracy, speed, and force generation, but there will be design constraints such as size, mass, and power dissipation limits. For actuation, a leading motor candidate is a dc brushless type, and there are numerous potential drive trains each with its own advantages and disadvantages. This experiment uses a harmonic drive and addresses some inherent limitations, namely its backdriveability and low frequency structural resonances. These effects are controlled and diminished by instrumenting the actuator system with a torque transducer on the output shaft. This noncollocated loop is closed to ensure that the commanded torque is accurately delivered to the manipulator link. The actuator system is modelled and its essential parameters identified. The nonlinear model for simulations will include inertias, gearing, stiction, flexibility, and the effects of output load variations. A linear model is extracted and used for designing the noncollocated torque and position feedback loops. These loops are simulated with the structural frequency encountered in the testbed system. Simulation results are given for various commands in position. The use of torque feedback is demonstrated to yield superior performance in settling time and positioning accuracy. An experimental setup being finished consists of a bench mounted motor and harmonic drive actuator system. A torque transducer and two position encoders, each with sufficient resolution and bandwidth, will provide sensory information. Parameters of the physical system are being identified and matched to analytical predictions. Initial feedback control laws will be incorporated in the bench test equipment and various experiments run to validate the designs. The status of these experiments is given.

The Efficiency of Split Panel Designs in an Analysis of Variance Model

PubMed Central

Wang, Wei-Guo; Liu, Hai-Jun

2016-01-01

We consider split panel design efficiency in analysis of variance models, that is, the determination of the cross-sections series optimal proportion in all samples, to minimize parametric best linear unbiased estimators of linear combination variances. An orthogonal matrix is constructed to obtain manageable expression of variances. On this basis, we derive a theorem for analyzing split panel design efficiency irrespective of interest and budget parameters. Additionally, relative estimator efficiency based on the split panel to an estimator based on a pure panel or a pure cross-section is present. The analysis shows that the gains from split panel can be quite substantial. We further consider the efficiency of split panel design, given a budget, and transform it to a constrained nonlinear integer programming. Specifically, an efficient algorithm is designed to solve the constrained nonlinear integer programming. Moreover, we combine one at time designs and factorial designs to illustrate the algorithm’s efficiency with an empirical example concerning monthly consumer expenditure on food in 1985, in the Netherlands, and the efficient ranges of the algorithm parameters are given to ensure a good solution. PMID:27163447

Superconductor-Magnet Bearings With Inherent Stability and Velocity-Independent Drag Torque

NASA Technical Reports Server (NTRS)

Lee, Eun-Jeong; Ma, Ki Bui; Wilson, Thomas L.; Chu, Wei-Kan

1999-01-01

A hybrid superconductor magnet bearing system has been developed based on passive magnetic levitation and the flux pinning effect of high-temperature superconductivity. The rationale lies in the unique capability of a high-temperature superconductor (HTS) to enhance system stability passively without power consumption. Characterization experiments have been conducted to understand its dynamic behavior and to estimate the required motor torque for its driving system design. These experiments show that the hybrid HTS-magnet bearing system has a periodic oscillation of drag torque due mainly to the nonuniform magnetic field density of permanent magnets. Furthermore, such a system also suffers from a small superimposed periodic oscillation introduced by the use of multiple HTS disks rather than a uniform annulus of HTS material. The magnitude of drag torque is velocity independent and very small. These results make this bearing system appealing for high-speed application. Finally, design guidelines for superconducting bearing systems are suggested based on these experimental results.

A predictive control framework for torque-based steering assistance to improve safety in highway driving

NASA Astrophysics Data System (ADS)

Ercan, Ziya; Carvalho, Ashwin; Tseng, H. Eric; Gökaşan, Metin; Borrelli, Francesco

2018-05-01

Haptic shared control framework opens up new perspectives on the design and implementation of the driver steering assistance systems which provide torque feedback to the driver in order to improve safety. While designing such a system, it is important to account for the human-machine interactions since the driver feels the feedback torque through the hand wheel. The controller should consider the driver's impact on the steering dynamics to achieve a better performance in terms of driver's acceptance and comfort. In this paper we present a predictive control framework which uses a model of driver-in-the-loop steering dynamics to optimise the torque intervention with respect to the driver's neuromuscular response. We first validate the system in simulations to compare the performance of the controller in nominal and model mismatch cases. Then we implement the controller in a test vehicle and perform experiments with a human driver. The results show the effectiveness of the proposed system in avoiding hazardous situations under different driver behaviours.

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.

Accuracy and precision of as-received implant torque wrenches.

PubMed

Britton-Vidal, Eduardo; Baker, Philip; Mettenburg, Donald; Pannu, Darshanjit S; Looney, Stephen W; Londono, Jimmy; Rueggeberg, Frederick A

2014-10-01

Previous implant torque evaluation did not determine if the target value fell within a confidence interval for the population mean of the test groups, disallowing determination of whether a specific type of wrench met a standardized goal value. The purpose of this study was to measure both the accuracy and precision of 2 different configurations (spring style and peak break) of as-received implant torque wrenches and compare the measured values to manufacturer-stated values. Ten wrenches from 4 manufacturers, representing a variety of torque-limiting mechanisms and specificity of use (with either a specific brand or universally with any brand of implant product). Drivers were placed into the wrench, and tightening torque was applied to reach predetermined values using a NIST-calibrated digital torque wrench. Five replications of measurement were made for each wrench and averaged to provide a single value from that instrument. The target torque value for each wrench brand was compared to the 95% confidence interval for the true population mean of measured values to see if it fell within the measured range. Only 1 wrench brand (Nobel Biocare) demonstrated the target torque value falling within the 95% confidence interval for the true population mean. For others, the targeted torque value fell above the 95% confidence interval (Straumann and Imtec) or below (Salvin Torq). Neither type of torque-limiting mechanism nor designation of a wrench to be used as a dedicated brand-only product or to be used as a universal product on many brands affected the ability of a wrench to deliver torque values where the true population mean included the target torque level. Copyright © 2014 Editorial Council for the Journal of Prosthetic Dentistry. Published by Elsevier Inc. All rights reserved.

Can maximal and rapid isometric torque characteristics predict playing level in division I American collegiate football players?

PubMed

Thompson, Brennan J; Ryan, Eric D; Sobolewski, Eric J; Smith, Doug B; Conchola, Eric C; Akehi, Kazuma; Buckminster, Tyler

2013-03-01

The purpose of this study was to determine if maximal and rapid isometric torque characteristics could discriminate starters from nonstarters in elite Division I American collegiate football players. Sixteen starters (mean ± SD: age = 20.81 ± 1.28 years; height = 184.53 ± 6.58 cm; and mass = 108.69 ± 22.16 kg) and 15 nonstarters (20.40 ± 1.68 years; 182.27 ± 10.52 cm; and 104.60 ± 22.44 kg) performed isometric maximal voluntary contractions (MVCs) of the leg flexor and extensor muscle groups. Peak torque (PT), rate of torque development (RTD), the time to peak RTD (TTRTDpeak), contractile impulse (IMPULSE), and absolute torque values (TORQUE) at specific time intervals were calculated from a torque-time curve. The results indicated significant and nonsignificant differences between starters and nonstarters for the early rapid leg flexion torque characteristics that included RTD, IMPULSE, and TORQUE at 30 and 50 milliseconds, and TTRTDpeak. These variables also demonstrated the largest effect sizes of all the variables examined (0.71-0.82). None of the leg extensor variables, leg flexion PT, or later leg flexion rapid torque variables (≥ 100 milliseconds) were significant discriminators of playing level. These findings suggest that the early rapid leg flexion torque variables may provide an effective and sensitive muscle performance measurement in the identification of collegiate football talent. Further, coaches and practitioners may use these findings when designing training programs for collegiate football players with the intent to maximize rapid leg flexion characteristics.

Cogging Torque Reduction Techniques for Spoke-type IPMSM

NASA Astrophysics Data System (ADS)

Bahrim, F. S.; Sulaiman, E.; Kumar, R.; Jusoh, L. I.

2017-08-01

A spoke-type interior permanent magnet synchronous motor (IPMSM) is extending its tentacles in industrial arena due to good flux-weakening capability and high power density. In many of the application, high strength of permanent magnet causes the undesirable effects of high cogging torque that can aggravate performance of the motor. High cogging torque is significantly produced by IPMSM due to the similar length and the effectiveness of the magnetic air-gap. The address of this study is to analyze and compare the cogging torque effect and performance of four common techniques for cogging torque reduction such as skewing, notching, pole pairing and rotor pole pairing. With the aid of 3-D finite element analysis (FEA) by JMAG software, a 6S-4P Spoke-type IPMSM with various rotor-PM configurations has been designed. As a result, the cogging torque effect reduced up to 69.5% for skewing technique, followed by 31.96%, 29.6%, and 17.53% by pole pairing, axial pole pairing and notching techniques respectively.

Drag Reduction and Performance Improvement of Hydraulic Torque Converters with Multiple Biological Characteristics.

PubMed

Chunbao, Liu; Li, Li; Yulong, Lei; Changsuo, Liu; Yubo, Zhang

2016-01-01

Fish-like, dolphin-like, and bionic nonsmooth surfaces were employed in a hydraulic torque converter to achieve drag reduction and performance improvement, which were aimed at reducing profile loss, impacting loss and friction loss, respectively. YJSW335, a twin turbine torque converter, was bionically designed delicately. The biological characteristics consisted of fish-like blades in all four wheels, dolphin-like structure in the first turbine and the stator, and nonsmooth surfaces in the pump. The prediction performance of bionic YJSW335, obtained by computational fluid dynamics simulation, was improved compared with that of the original model, and then it could be proved that drag reduction had been achieved. The mechanism accounting for drag reduction of three factors was also investigated. After bionic design, the torque ratio and the highest efficiencies of YJSW335 were both advanced, which were very difficult to achieve through traditional design method. Moreover, the highest efficiency of the low speed area and high speed area is 85.65% and 86.32%, respectively. By economic matching analysis of the original and bionic powertrains, the latter can significantly reduce the fuel consumption and improve the operating economy of the loader.

Drag Reduction and Performance Improvement of Hydraulic Torque Converters with Multiple Biological Characteristics

PubMed Central

Chunbao, Liu; Changsuo, Liu; Yubo, Zhang

2016-01-01

Fish-like, dolphin-like, and bionic nonsmooth surfaces were employed in a hydraulic torque converter to achieve drag reduction and performance improvement, which were aimed at reducing profile loss, impacting loss and friction loss, respectively. YJSW335, a twin turbine torque converter, was bionically designed delicately. The biological characteristics consisted of fish-like blades in all four wheels, dolphin-like structure in the first turbine and the stator, and nonsmooth surfaces in the pump. The prediction performance of bionic YJSW335, obtained by computational fluid dynamics simulation, was improved compared with that of the original model, and then it could be proved that drag reduction had been achieved. The mechanism accounting for drag reduction of three factors was also investigated. After bionic design, the torque ratio and the highest efficiencies of YJSW335 were both advanced, which were very difficult to achieve through traditional design method. Moreover, the highest efficiency of the low speed area and high speed area is 85.65% and 86.32%, respectively. By economic matching analysis of the original and bionic powertrains, the latter can significantly reduce the fuel consumption and improve the operating economy of the loader. PMID:27752220

Optimization of Interior Permanent Magnet Motor by Quality Engineering and Multivariate Analysis

NASA Astrophysics Data System (ADS)

Okada, Yukihiro; Kawase, Yoshihiro

This paper has described the method of optimization based on the finite element method. The quality engineering and the multivariable analysis are used as the optimization technique. This optimizing method consists of two steps. At Step.1, the influence of parameters for output is obtained quantitatively, at Step.2, the number of calculation by the FEM can be cut down. That is, the optimal combination of the design parameters, which satisfies the required characteristic, can be searched for efficiently. In addition, this method is applied to a design of IPM motor to reduce the torque ripple. The final shape can maintain average torque and cut down the torque ripple 65%. Furthermore, the amount of permanent magnets can be reduced.

A drive unit for the instrument pointing system

NASA Technical Reports Server (NTRS)

Birner, R.; Roth, M.

1981-01-01

The requirements, capabilities, and unique design features of the instrument pointing system drive units (DU) are presented. The DU's are identical for all three gimbal axes (elevation, cross elevation, and azimuth) and provide alternating rotation of shaft versus the housing of + or - 180 deg. The design features include: two ball bearing cartridges using cemented carbide balls coated with TiC a layer; redundant brushless torque motors and resolvers; a load by-pass mechanism driven by a dc torque motor to off-load the bearings during ascent/descent, ground transportation, and to provide an emergency breaking capability; and cabling over each gimbal axis by means of cable follow-up consisting of 13 signal and 15 power flat band cable loops. Test results of disturbance torque characteristics are presented.

Design and Experimental Validation for Direct-Drive Fault-Tolerant Permanent-Magnet Vernier Machines

PubMed Central

Liu, Guohai; Yang, Junqin; Chen, Ming; Chen, Qian

2014-01-01

A fault-tolerant permanent-magnet vernier (FT-PMV) machine is designed for direct-drive applications, incorporating the merits of high torque density and high reliability. Based on the so-called magnetic gearing effect, PMV machines have the ability of high torque density by introducing the flux-modulation poles (FMPs). This paper investigates the fault-tolerant characteristic of PMV machines and provides a design method, which is able to not only meet the fault-tolerant requirements but also keep the ability of high torque density. The operation principle of the proposed machine has been analyzed. The design process and optimization are presented specifically, such as the combination of slots and poles, the winding distribution, and the dimensions of PMs and teeth. By using the time-stepping finite element method (TS-FEM), the machine performances are evaluated. Finally, the FT-PMV machine is manufactured, and the experimental results are presented to validate the theoretical analysis. PMID:25045729

Experimental Robot Position Sensor Fault Tolerance Using Accelerometers and Joint Torque Sensors

NASA Technical Reports Server (NTRS)

Aldridge, Hal A.; Juang, Jer-Nan

1997-01-01

Robot systems in critical applications, such as those in space and nuclear environments, must be able to operate during component failure to complete important tasks. One failure mode that has received little attention is the failure of joint position sensors. Current fault tolerant designs require the addition of directly redundant position sensors which can affect joint design. The proposed method uses joint torque sensors found in most existing advanced robot designs along with easily locatable, lightweight accelerometers to provide a joint position sensor fault recovery mode. This mode uses the torque sensors along with a virtual passive control law for stability and accelerometers for joint position information. Two methods for conversion from Cartesian acceleration to joint position based on robot kinematics, not integration, are presented. The fault tolerant control method was tested on several joints of a laboratory robot. The controllers performed well with noisy, biased data and a model with uncertain parameters.

Design and analysis of magneto rheological fluid brake for an all terrain vehicle

NASA Astrophysics Data System (ADS)

George, Luckachan K.; Tamilarasan, N.; Thirumalini, S.

2018-02-01

This work presents an optimised design for a magneto rheological fluid brake for all terrain vehicles. The actuator consists of a disk which is immersed in the magneto rheological fluid surrounded by an electromagnet. The braking torque is controlled by varying the DC current applied to the electromagnet. In the presence of a magnetic field, the magneto rheological fluid particle aligns in a chain like structure, thus increasing the viscosity. The shear stress generated causes friction in the surfaces of the rotating disk. Electromagnetic analysis of the proposed system is carried out using finite element based COMSOL multi-physics software and the amount of magnetic field generated is calculated with the help of COMSOL. The geometry is optimised and performance of the system in terms of braking torque is carried out. Proposed design reveals better performance in terms of braking torque from the existing literature.

Ironless armature torque motor

NASA Technical Reports Server (NTRS)

Fisher, R. L.

1972-01-01

Four iron-less armature torque motors, four Hall device position sensor assemblies, and two test fixtures were fabricated. The design approach utilized samarium cobalt permanent magnets, a large airgap, and a three-phase winding in a stationary ironless armature. Hall devices were employed to sense rotor position. An ironless armature torque motor having an outer diameter of 4.25 inches was developed to produce a torque constant of 65 ounce-inches per ampere with a resistance of 20.5 ohms. The total weight, including structural elements, was 1.58 pounds. Test results indicated that all specifications were met except for generated voltage waveform. It is recommended that investigations be made concerning the generated voltage waveform to determine if it may be improved.

Design of an Orthodontic Torque Simulator for Measurement of Bracket Deformation

NASA Astrophysics Data System (ADS)

Melenka, G. W.; Nobes, D. S.; Major, P. W.; Carey, J. P.

2013-12-01

The design and testing of an orthodontic torque simulator that reproduces the effect of archwire rotation on orthodontic brackets is described. This unique device is capable of simultaneously measuring the deformation and loads applied to an orthodontic bracket due to archwire rotation. Archwire rotation is used by orthodontists to correct the inclination of teeth within the mouth. This orthodontic torque simulator will provide knowledge of the deformation and loads applied to orthodontic bracket that will aide clinicians by describing the effect of archwire rotation on brackets. This will also impact that design on new archwirebracket systems by providing an assessment of performance. Deformation of the orthodontic bracket tie wings is measured using a digital image correlation process to measure elastic and plastic deformation. The magnitude of force and moments applied to the bracket though the archwire is also measured using a six-axis load cell. Initial tests have been performed on two orthodontic brackets of varying geometry to demonstrate the measurement capability of the orthodontic torque simulator. The demonstration experiment shows that a Damon Q bracket had a final plastic deformation after a single loading of 0.022 mm while the Speed bracket deformed 0.071 mm. This indicates that the Speed bracket plastically deforms 3.2 times more than the Damon Q bracket for similar magnitude of applied moment. The demonstration experiment demonstrates that bracket geometry affect the deformation of orthodontic brackets and this difference can be detected using the orthodontic torque simulator.

Simulation-Based Design for Wearable Robotic Systems: An Optimization Framework for Enhancing a Standing Long Jump

PubMed Central

Ong, Carmichael F.; Hicks, Jennifer L.; Delp, Scott L.

2017-01-01

Goal Technologies that augment human performance are the focus of intensive research and development, driven by advances in wearable robotic systems. Success has been limited by the challenge of understanding human–robot interaction. To address this challenge, we developed an optimization framework to synthesize a realistic human standing long jump and used the framework to explore how simulated wearable robotic devices might enhance jump performance. Methods A planar, five-segment, seven-degree-of-freedom model with physiological torque actuators, which have variable torque capacity depending on joint position and velocity, was used to represent human musculoskeletal dynamics. An active augmentation device was modeled as a torque actuator that could apply a single pulse of up to 100 Nm of extension torque. A passive design was modeled as rotational springs about each lower limb joint. Dynamic optimization searched for physiological and device actuation patterns to maximize jump distance. Results Optimization of the nominal case yielded a 2.27 m jump that captured salient kinematic and kinetic features of human jumps. When the active device was added to the ankle, knee, or hip, jump distance increased to between 2.49 and 2.52 m. Active augmentation of all three joints increased the jump distance to 3.10 m. The passive design increased jump distance to 3.32 m by adding torques of 135 Nm, 365 Nm, and 297 Nm to the ankle, knee, and hip, respectively. Conclusion Dynamic optimization can be used to simulate a standing long jump and investigate human-robot interaction. Significance Simulation can aid in the design of performance-enhancing technologies. PMID:26258930

Achievable accuracy of hip screw holding power estimation by insertion torque measurement.

PubMed

Erani, Paolo; Baleani, Massimiliano

2018-02-01

To ensure stability of proximal femoral fractures, the hip screw must firmly engage into the femoral head. Some studies suggested that screw holding power into trabecular bone could be evaluated, intraoperatively, through measurement of screw insertion torque. However, those studies used synthetic bone, instead of trabecular bone, as host material or they did not evaluate accuracy of predictions. We determined prediction accuracy, also assessing the impact of screw design and host material. We measured, under highly-repeatable experimental conditions, disregarding clinical procedure complexities, insertion torque and pullout strength of four screw designs, both in 120 synthetic and 80 trabecular bone specimens of variable density. For both host materials, we calculated the root-mean-square error and the mean-absolute-percentage error of predictions based on the best fitting model of torque-pullout data, in both single-screw and merged dataset. Predictions based on screw-specific regression models were the most accurate. Host material impacts on prediction accuracy: the replacement of synthetic with trabecular bone decreased both root-mean-square errors, from 0.54 ÷ 0.76 kN to 0.21 ÷ 0.40 kN, and mean-absolute-percentage errors, from 14 ÷ 21% to 10 ÷ 12%. However, holding power predicted on low insertion torque remained inaccurate, with errors up to 40% for torques below 1 Nm. In poor-quality trabecular bone, tissue inhomogeneities likely affect pullout strength and insertion torque to different extents, limiting the predictive power of the latter. This bias decreases when the screw engages good-quality bone. Under this condition, predictions become more accurate although this result must be confirmed by close in-vitro simulation of the clinical procedure. Copyright © 2018 Elsevier Ltd. All rights reserved.

Momentum Management Tool for Low-Thrust Missions

NASA Technical Reports Server (NTRS)

Swenka, Edward R.; Smith, Brett A.; Vanelli, Charles A.

2010-01-01

A momentum management tool was designed for the Dawn low-thrust interplanetary spacecraft en route to the asteroids Vesta and Ceres, in an effort to better understand the early creation of the solar system. Momentum must be managed to ensure the spacecraft has enough control authority to perform necessary turns and hold a fixed inertial attitude against external torques. Along with torques from solar pressure and gravity-gradients, ion-propulsion engines produce a torque about the thrust axis that must be countered by the four reaction wheel assemblies (RWA). MomProf is a ground operations tool built to address these concerns. The momentum management tool was developed during initial checkout and early cruise, and has been refined to accommodate a wide range of momentum-management issues. With every activity or sequence, wheel speeds and momentum state must be checked to avoid undesirable conditions and use of consumables. MomProf was developed to operate in the MATLAB environment. All data are loaded into MATLAB as a structure to provide consistent access to all inputs by individual functions within the tool. Used in its most basic application, the Dawn momentum tool uses the basic principle of angular momentum conservation, computing momentum in the body frame, and RWA wheel speeds, for all given orientations in the input file. MomProf was designed specifically to be able to handle the changing external torques and frequent de - saturations. Incorporating significant external torques adds complexity since there are various external torques that act under different operational modes.

The Passive Series Stiffness That Optimizes Torque Tracking for a Lower-Limb Exoskeleton in Human Walking

PubMed Central

Zhang, Juanjuan; Collins, Steven H.

2017-01-01

This study uses theory and experiments to investigate the relationship between the passive stiffness of series elastic actuators and torque tracking performance in lower-limb exoskeletons during human walking. Through theoretical analysis with our simplified system model, we found that the optimal passive stiffness matches the slope of the desired torque-angle relationship. We also conjectured that a bandwidth limit resulted in a maximum rate of change in torque error that can be commanded through control input, which is fixed across desired and passive stiffness conditions. This led to hypotheses about the interactions among optimal control gains, passive stiffness and desired quasi-stiffness. Walking experiments were conducted with multiple angle-based desired torque curves. The observed lowest torque tracking errors identified for each combination of desired and passive stiffnesses were shown to be linearly proportional to the magnitude of the difference between the two stiffnesses. The proportional gains corresponding to the lowest observed errors were seen inversely proportional to passive stiffness values and to desired stiffness. These findings supported our hypotheses, and provide guidance to application-specific hardware customization as well as controller design for torque-controlled robotic legged locomotion. PMID:29326580

Leveraging Disturbance Observer Based Torque Control for Improved Impedance Rendering with Series Elastic Actuators

NASA Technical Reports Server (NTRS)

Mehling, Joshua S.; Holley, James; O'Malley, Marcia K.

2015-01-01

The fidelity with which series elastic actuators (SEAs) render desired impedances is important. Numerous approaches to SEA impedance control have been developed under the premise that high-precision actuator torque control is a prerequisite. Indeed, the design of an inner torque compensator has a significant impact on actuator impedance rendering. The disturbance observer (DOB) based torque control implemented in NASA's Valkyrie robot is considered here and a mathematical model of this torque control, cascaded with an outer impedance compensator, is constructed. While previous work has examined the impact a disturbance observer has on torque control performance, little has been done regarding DOBs and impedance rendering accuracy. Both simulation and a series of experiments are used to demonstrate the significant improvements possible in an SEA's ability to render desired dynamic behaviors when utilizing a DOB. Actuator transparency at low impedances is improved, closed loop hysteresis is reduced, and the actuator's dynamic response to both commands and interaction torques more faithfully matches that of the desired model. All of this is achieved by leveraging DOB based control rather than increasing compensator gains, thus making improved SEA impedance control easier to achieve in practice.

Predicting cancellous bone failure during screw insertion.

PubMed

Reynolds, Karen J; Cleek, Tammy M; Mohtar, Aaron A; Hearn, Trevor C

2013-04-05

Internal fixation of fractures often requires the tightening of bone screws to stabilise fragments. Inadequate application of torque can leave the fracture unstable, while over-tightening results in the stripping of the thread and loss of fixation. The optimal amount of screw torque is specific to each application and in practice is difficult to attain due to the wide variability in bone properties including bone density. The aim of the research presented in this paper is to investigate the relationships between motor torque and screw compression during powered screw insertion, and to evaluate whether the torque during insertion can be used to predict the ultimate failure torque of the bone. A custom test rig was designed and built for bone screw experiments. By inserting cancellous bone screws into synthetic, ovine and human bone specimens, it was established that variations related to bone density could be automatically detected through the effects of the bone on the rotational characteristics of the screw. The torque measured during screw insertion was found to be directly related to bone density and can be used, on its own, as a good predictor of ultimate failure torque of the bone. Crown Copyright © 2013. Published by Elsevier Ltd. All rights reserved.

Efficacy of kinesio taping on isokinetic quadriceps torque in knee osteoarthritis: a double blinded randomized controlled study.

PubMed

Anandkumar, Sudarshan; Sudarshan, Shobhalakshmi; Nagpal, Pratima

2014-08-01

Double blind pre-test post-test control group design. To compare the isokinetic quadriceps torque, standardized stair-climbing task (SSCT) and pain during SSCT between subjects diagnosed with knee osteoarthritis pre and post kinesio tape (KT) application with and without tension. Strength of the quadriceps and torque producing capability is frequently found to be compromised in knee osteoarthritis. The efficacy of KT in improving isokinetic quadriceps torque in knee osteoarthritis is unknown, forming the basis for this study. Forty subjects were randomly allocated to either the experimental (therapeutic KT with tension) or control group (sham KT without tension) with the allocation being concealed. Pre and post test measurements of isokinetic quadriceps torque, SSCT and pain during SSCT were carried out by a blinded assessor. A large effect size with significant improvements in the peak quadriceps torque (concentric and eccentric at angular velocities of 90° per second and 120° per second), SSCT and pain were obtained in the experimental group when compared to the control group. Application of therapeutic KT is effective in improving isokinetic quadriceps torque, SSCT and reducing pain in knee osteoarthritis.

A Study of a Handrim-Activated Power-Assist Wheelchair Based on a Non-Contact Torque Sensor

PubMed Central

Nam, Ki-Tae; Jang, Dae-Jin; Kim, Yong Chol; Heo, Yoon; Hong, Eung-Pyo

2016-01-01

Demand for wheelchairs is increasing with growing numbers of aged and disabled persons. Manual wheelchairs are the most commonly used assistive device for mobility because they are convenient to transport. Manual wheelchairs have several advantages but are not easy to use for the elderly or those who lack muscular strength. Therefore, handrim-activated power-assist wheelchairs (HAPAW) that can aid driving power with a motor by detecting user driving intentions through the handrim are being researched. This research will be on HAPAW that judge user driving intentions by using non-contact torque sensors. To deliver the desired motion, which is sensed from handrim rotation relative to a fixed controller, a new driving wheel mechanism is designed by applying a non-contact torque sensor, and corresponding torques are simulated. Torques are measured by a driving wheel prototype and compared with simulation results. The HAPAW prototype was developed using the wheels and a driving control algorithm that uses left and right input torques and time differences are used to check if the non-contact torque sensor can distinguish users’ driving intentions. Through this procedure, it was confirmed that the proposed sensor can be used effectively in HAPAW. PMID:27509508

International Space Station Attitude Control and Energy Storage Experiment: Effects of Flywheel Torque

NASA Technical Reports Server (NTRS)

Roithmayr, Carlos M.

1999-01-01

The Attitude Control and Energy Storage Experiment is currently under development for the International Space Station; two counter-rotating flywheels will be levitated with magnetic bearings and placed in vacuum housings. The primary objective of the experiment is to store and discharge energy, in combination with existing batteries, into the electrical power system. The secondary objective is to use the flywheels to exert torque on the Station; a simple torque profile has been designed so that the Station's Control Moment Gyroscopes will be assisted in maintaining torque equilibrium attitude. Two energy storage contingencies could result in the inadvertent application of torque by the flywheels to the Station: an emergency shutdown of one flywheel rotor while the other remains spinning, and energy storage with only one rotor instead of the counterrotating pair. Analysis of these two contingencies shows that attitude control and the microgravity environment will not be adversely affected.

Spin-torque diode frequency tuning via soft exchange pinning of both magnetic layers

NASA Astrophysics Data System (ADS)

Khudorozhkov, A. A.; Skirdkov, P. N.; Zvezdin, K. A.; Vetoshko, P. M.; Popkov, A. F.

2017-12-01

A spin-torque diode, which is a magnetic tunnel junction with magnetic layers softly pinned at some tilt to each other, is proposed. The resonance operating frequency of such a dual exchange-pinned spin-torque diode can be significantly higher (up to 9.5 GHz) than that of a traditional free layer spin-torque diode, and, at the same time, the sensitivity remains rather high. Using micromagnetic modeling we show that the maximum microwave sensitivity of the considered diode is reached at the bias current densities slightly below the self-sustained oscillations initiating. The dependence of the resonance frequency and the sensitivity on the angle between pinning exchange fields is presented. Thus, a way of designing spin-torque diode with a given resonance response frequency in the microwave region in the absence of an external magnetic field is proposed.

Modulation of spin transfer torque amplitude in double barrier magnetic tunnel junctions

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

Clément, P.-Y.; Baraduc, C., E-mail: claire.baraduc@cea.fr; Chshiev, M.

2015-09-07

Magnetization switching induced by spin transfer torque is used to write magnetic memories (Magnetic Random Access Memory, MRAM) but can be detrimental to the reading process. It would be quite convenient therefore to modulate the efficiency of spin transfer torque. A solution is adding an extra degree of freedom by using double barrier magnetic tunnel junctions with two spin-polarizers, with controllable relative magnetic alignment. We demonstrate, for these structures, that the amplitude of in-plane spin transfer torque on the middle free layer can be efficiently tuned via the magnetic configuration of the electrodes. Using the proposed design could thus pavemore » the way towards more reliable read/write schemes for MRAM. Moreover, our results suggest an intriguing effect associated with the out-of-plane (field-like) spin transfer torque, which has to be further investigated.« less

Magnification of starting torques of dc motors by maximum power point trackers in photovoltaic systems

NASA Technical Reports Server (NTRS)

Appelbaum, Joseph; Singer, S.

1989-01-01

Direct current (dc) motors are used in terrestrial photovoltaic (PV) systems such as in water-pumping systems for irrigation and water supply. Direct current motors may also be used for space applications. Simple and low weight systems including dc motors may be of special interest in space where the motors are directly coupled to the solar cell array (with no storage). The system will operate only during times when sufficient insolation is available. An important performance characteristic of electric motors is the starting to rated torque ratio. Different types of dc motors have different starting torque ratios. These ratios are dictated by the size of solar cell array, and the developed motor torque may not be sufficient to overcome the load starting torque. By including a maximum power point tracker (MPPT) in the PV system, the starting to rated torque ratio will increase, the amount of which depends on the motor type. The starting torque ratio is calculated for the permanent magnet, series and shunt excited dc motors when powered by solar cell arrays for two cases: with and without MPPT's. Defining a motor torque magnification by the ratio of the motor torque with an MPPT to the motor torque without an MPPT, a magnification of 3 was obtained for the permanent magnet motor and a magnification of 7 for both the series and shunt motors. The effect of the variation of solar insolation on the motor starting torque was covered. All motor types are less sensitive to insolation variation in systems including MPPT's as compared to systems with MPPT's. The analysis of this paper will assist the PV system designed to determine whether or not to include an MPPT in the system for a specific motor type.

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.

Knee Extensor Rate of Torque Development Before and After Arthroscopic Partial Meniscectomy, With Analysis of Neuromuscular Mechanisms.

PubMed

Cobian, Daniel G; Koch, Cameron M; Amendola, Annunziato; Williams, Glenn N

2017-12-01

Study Design Descriptive, prospective single-cohort longitudinal study. Background Though rapid torque development is essential in activities of daily living and sports, it hasn't been specifically tested by most physical therapists or incorporated into rehabilitation programs until late in the treatment process. Little evidence is available on quadriceps torque development capacity before and after arthroscopic knee surgery. Objectives To study knee extensor rate of torque development, contributing mechanisms, and associations with strength and patient-reported outcomes before and during the first 6 weeks after arthroscopic partial meniscectomy. Methods Twenty subjects (mean ± SD age, 42.3 ± 13.7 years; body mass index, 26.6 ± 3.1 kg/m 2 ) were tested before surgery, and at 2 and 5 weeks after surgery. Quadriceps muscle volume, strength, activation, rate of torque development, and patient-reported outcomes were evaluated across the study period. Results Significant side-to-side differences in quadriceps strength and voluntary rate of torque development were observed at each time point (P<.05). Changes in muscle activity were associated with changes in rapid torque development capacity. Side-to-side rate of torque development deficits after surgery were associated with lower patient-reported outcomes scores. Conclusion Diminished rapid torque development capacity is common in arthroscopic meniscal debridement patients. This reduced capacity is associated with an inability to quickly recruit and drive the quadriceps muscles (neural mechanisms) and not muscle atrophy or other peripheral factors tested. Patient-reported outcomes are associated with quadriceps rate of torque development, but not strength or muscle size. Rapid torque development warrants greater attention in rehabilitation. J Orthop Sports Phys Ther 2017;47(12):945-956. Epub 9 Oct 2017. doi:10.2519/jospt.2017.7310.

Design, simulation and modelling of auxiliary exoskeleton to improve human gait cycle.

PubMed

Ashkani, O; Maleki, A; Jamshidi, N

2017-03-01

Exoskeleton is a walking assistance device that improves human gait cycle through providing auxiliary force and transferring physical load to the stronger muscles. This device takes the natural state of organ and follows its natural movement. Exoskeleton functions as an auxiliary device to help those with disabilities in hip and knee such as devotees, elderly farmers and agricultural machinery operators who suffer from knee complications. In this research, an exoskeleton designed with two screw jacks at knee and hip joints. To simulate extension and flexion movements of the leg joints, bearings were used at the end of hip and knee joints. The generated torque and motion angles of these joints obtained as well as the displacement curves of screw jacks in the gait cycle. Then, the human gait cycle was simulated in stance and swing phases and the obtained torque curves were compared. The results indicated that they followed the natural circle of the generated torque in joints with a little difference from each other. The maximum displacement obtained 4 and 6 cm in hip and knee joints jack respectively. The maximum torques in hip and knee joints were generated in foot contact phase. Also the minimum torques in hip and knee joints were generated in toe off and heel off phases respectively.

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.

An Intuitive Graphical Approach to Understanding the Split-Plot Experiment

ERIC Educational Resources Information Center

Robinson, Timothy J.; Brenneman, William A.; Myers, William R.

2009-01-01

While split-plot designs have received considerable attention in the literature over the past decade, there seems to be a general lack of intuitive understanding of the error structure of these designs and the resulting statistical analysis. Typically, students learn the proper error terms for testing factors of a split-plot design via "expected…

Design, Development and Test Challenges: Separation Mechanisms for the Orion Pad Abort-1 Flight Test

NASA Technical Reports Server (NTRS)

Dinsel, Alison; Morrey, Jeremy M.; OMalley, Patrick; Park, Samuel

2011-01-01

On May 6, 2010, NASA launched the first successful integrated flight test, Pad Abort-1, of the Orion Project from the White Sands Missile Range in Las Cruces, New Mexico. This test demonstrated the ability to perform an emergency pad abort of a full-scale 4.8 m diameter, 8200 kg crew capsule. During development of the critical separation mechanisms for this flight test, various challenges were overcome related to environments definition, installation complications, separation joint retraction speed, thruster ordnance development issues, load path validation and significant design loads increases. The Launch Abort System retention and release (LAS R&R) mechanism consisted of 6 discrete structural connections between the LAS and the crew module (CM) simulator, each of which had a preloaded tension tie, Superbolt torque-nut and frangible nut. During the flight test, the frangible nuts were pyrotechnically split, permitting the CM to separate from the LAS. The LAS separation event was the driving case in the shock environment for many co-located hardware items. During development testing, it was necessary to measure the source shock during the separation event so the predicted shock environment could be validated and used for certification testing of multiple hardware items. The Lockheed Martin test team measured the source separation shock due to the LAS R&R function, which dramatically decreased the predicted environment by 90% at 100 Hz. During development testing a hydraulic tensioner was used to preload the joint; however, the joint relaxation with the tensioner proved unsatisfactory so the design was modified to include a Superbolt torque-nut. The observed preload creep during lab testing was 4% after 30 days, with 2.5% occurring in the first 24 hours. The conversion of strain energy (preload) to kinetic energy (retraction) was measured to be 50-75%. Design features and careful monitoring of multiple strain gauges on each tension tie allowed a pure tensile load to be applied after stacking at the launch pad. Following installation, preload in each joint was monitored for 24 hours. Due to unforeseen complications and the influence of temperature on the portable data acquisition system, the team encountered difficulty in tracking the joint relaxation. In some cases, bond-line failure of the strain gauges occurred.

Design and test of a four channel motor for electromechanical flight control actuation

NASA Technical Reports Server (NTRS)

1984-01-01

To provide a suitable electromagnetic torque summing approach to flight control system redundancy, a four channel motor capable of sustaining full performance after any two credible failures was designed, fabricated, and tested. The design consists of a single samarium cobalt permanent magnet rotor with four separate three phase windings arrayed in individual stator quadrants around the periphery. Trade studies established the sensitivities of weight and performance to such parameters as design speed, winding pattern, number of poles, magnet configuration, and strength. The motor electromagnetically sums the torque of the individual channels on a single rotor and eliminate complex mechanical gearing arrangements.

Design of spoke type motor and magnetizer for improving efficiency based rare-earth-free permanent-magnet motor

NASA Astrophysics Data System (ADS)

Kim, Young Hyun; Cheon, Byung Chul; Lee, Jung Ho

2018-05-01

This study proposes criteria for both optimal-shape and magnetizer-system designs to be used for a high-output spoke-type motor. The study also examines methods of reducing high-cogging torque and torque ripple, to prevent noise and vibration. The optimal design of the stator and rotor can be enhanced using both a response surface method and finite element method. In addition, a magnetizer system is optimally designed for the magnetization of permanent magnets for use in the motor. Finally, this study verifies that the proposed motor can efficiently replace interior permanent magnet synchronous motor in many industries.

Impact of implant design on primary stability of orthodontic mini-implants.

PubMed

Wilmes, Benedict; Ottenstreuer, Stephanie; Su, Yu-Yu; Drescher, Dieter

2008-01-01

Skeletal anchorage with mini-implants has greatly broadened the treatment possibilities in orthodontics over the last few years. To reduce implant failure rates, it is advisable to obtain adequate primary stability. The aim of this study was to quantitatively analyze the impact of implant design and dimension on primary stability. Forty-two porcine iliac bone segments were prepared and embedded in resin. To evaluate the primary stability, we documented insertion torques of the following mini-implants: Aarhus Screw, AbsoAnchor, LOMAS, Micro-Anchorage-System, ORLUS and Spider Screw. In each bone, five Dual Top Screws were inserted for reference purposes to achieve comparability among the specimens. We observed wide variation in insertion torques and hence primary stability, depending on mini-implant design and dimension; the great impact that mini-implant diameter has on insertion torques was particularly conspicuous. Conical mini-implants achieved higher primary stabilities than cylindrical designs. The diameter and design of the mini-implant thread have a distinctive impact on primary stability. Depending on the region of insertion and local bone quality, the choice of the mini-implant design and size is crucial to establish sufficient primary stability.

Torque Loss After Miniscrew Placement: An In-Vitro Study Followed by a Clinical Trial.

PubMed

Migliorati, Marco; Drago, Sara; Barberis, Fabrizio; Schiavetti, Irene; Dalessandri, Domenico; Benedicenti, Stefano; Biavati, Armando Silvestrini

2016-01-01

To evaluate torque loss a week after insertion, both in an in vivo and an in vitro experimental setup were designed. In the in vivo setup a total of 29 miniscrews were placed in 20 patients who underwent orthodontic treatment. Maximum insertion torque (MIT) was evaluated at insertion time (T1). A week later, insertion torque was measured again by applying a quarter turn (T2); no load was applied on the screw during the first week. In the in vitro setup a total of 20 miniscrews were placed in pig rib bone samples. MIT was evaluated at insertion time (T1). Bone samples were kept in saline solution and controlled environment for a week during which the solution was refreshed every day. Afterwards, torque was measured again by applying a quarter turn (T2). The comparison of MIT over time was done calculating the percentage difference of the torque values between pre- and post-treatment and using the parametric two independent samples t-test or the non-parametric Mann-Whitney test. After a week unloaded miniscrews showed a mean loss of rotational torque of 36.3% and 40.9% in in vitro and in in vivo conditions, respectively. No statistical differences were found between the two different setups. Torque loss was observed after the first week in both study models; in vitro experimental setup provided a reliable study model for studying torque variation during the first week after insertion.

Torque Loss After Miniscrew Placement: An In-Vitro Study Followed by a Clinical Trial

PubMed Central

Migliorati, Marco; Drago, Sara; Barberis, Fabrizio; Schiavetti, Irene; Dalessandri, Domenico; Benedicenti, Stefano; Biavati, Armando Silvestrini

2016-01-01

To evaluate torque loss a week after insertion, both in an in vivo and an in vitro experimental setup were designed. In the in vivo setup a total of 29 miniscrews were placed in 20 patients who underwent orthodontic treatment. Maximum insertion torque (MIT) was evaluated at insertion time (T1). A week later, insertion torque was measured again by applying a quarter turn (T2); no load was applied on the screw during the first week. In the in vitro setup a total of 20 miniscrews were placed in pig rib bone samples. MIT was evaluated at insertion time (T1). Bone samples were kept in saline solution and controlled environment for a week during which the solution was refreshed every day. Afterwards, torque was measured again by applying a quarter turn (T2). The comparison of MIT over time was done calculating the percentage difference of the torque values between pre- and post-treatment and using the parametric two independent samples t-test or the non-parametric Mann–Whitney test. After a week unloaded miniscrews showed a mean loss of rotational torque of 36.3% and 40.9% in in vitro and in in vivo conditions, respectively. No statistical differences were found between the two different setups. Torque loss was observed after the first week in both study models; in vitro experimental setup provided a reliable study model for studying torque variation during the first week after insertion. PMID:27386011

Novel swing-assist un-motorized exoskeletons for gait training.

PubMed

Mankala, Kalyan K; Banala, Sai K; Agrawal, Sunil K

2009-07-03

Robotics is emerging as a promising tool for functional training of human movement. Much of the research in this area over the last decade has focused on upper extremity orthotic devices. Some recent commercial designs proposed for the lower extremity are powered and expensive - hence, these could have limited affordability by most clinics. In this paper, we present a novel un-motorized bilateral exoskeleton that can be used to assist in treadmill training of motor-impaired patients, such as with motor-incomplete spinal cord injury. The exoskeleton is designed such that the human leg will have a desirable swing motion, once it is strapped to the exoskeleton. Since this exoskeleton is un-motorized, it can potentially be produced cheaply and could reduce the physical demand on therapists during treadmill training. A swing-assist bilateral exoskeleton was designed and fabricated at the University of Delaware having the following salient features: (i) The design uses torsional springs at the hip and the knee joints to assist the swing motion. The springs get charged by the treadmill during stance phase of the leg and provide propulsion forces to the leg during swing. (ii) The design of the exoskeleton uses simple dynamic models of sagittal plane walking, which are used to optimize the parameters of the springs so that the foot can clear the ground and have a desirable forward motion during walking. The bilateral exoskeleton was tested on a healthy subject during treadmill walking for a range of walking speeds between 1.0 mph and 4.0 mph. Joint encoders and interface force-torque sensors mounted on the exoskeleton were used to evaluate the effectiveness of the exoskeleton in terms of the hip and knee joint torques applied by the human during treadmill walking. We compared two different cases. In case 1, we estimated the torque applied by the human joints when walking with the device using the joint kinematic data and interface force-torque sensors. In case 2, we calculated the required torque to perform a similar gait only using the kinematic data collected from joint motion sensors. On analysis, we found that at 2.0 mph, the device was effective in reducing the maximum hip torque requirement and the knee joint torque during the beginning of the swing. These behaviors were retained as the treadmill speed was changed between 1-4 mph. These results were remarkable considering the simplicity of the dynamic model, model uncertainty, non-ideal spring behavior, and friction in the joints. We believe that the results can be further improved in the future. Nevertheless, this promises to provide a useful and effective methodology for design of un-motorized exoskeletons to assist and train swing of motor-impaired patients.

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.

AX-5 space suit bearing torque investigation

NASA Technical Reports Server (NTRS)

Loewenthal, Stuart; Vykukal, Vic; Mackendrick, Robert; Culbertson, Philip, Jr.

1990-01-01

The symptoms and eventual resolution of a torque increase problem occurring with ball bearings in the joints of the AX-5 space suit are described. Starting torques that rose 5 to 10 times initial levels were observed in crew evaluation tests of the suit in a zero-g water tank. This bearing problem was identified as a blocking torque anomaly, observed previously in oscillatory gimbal bearings. A large matrix of lubricants, ball separator designs and materials were evaluated. None of these combinations showed sufficient tolerance to lubricant washout when repeatedly cycled in water. The problem was resolved by retrofitting a pressure compensated, water exclusion seal to the outboard side of the bearing cavity. The symptoms and possible remedies to blocking are discussed.

Design and testing of an electromagnetic coupling

NASA Technical Reports Server (NTRS)

Anderson, William J.

1986-01-01

Hostile environments such as the hard vacuum of space, and exposure to water or caustic fluids have fostered the development of devices which allow mechanical rotary feed throughs with positive sealing without the use of conventional dynamic seals. One such device is an electromagnetic coupling which transfers motion across a hermetic seal by means of a rotating magnetic field. Static pull-out torque and dynamic heat build-up and pull-out torque tests of a synchronous reluctance homopolar coupling are reported herein. Coupling efficiencies are estimated for a range of speeds and torques.

Computations of Torque-Balanced Coaxial Rotor Flows

NASA Technical Reports Server (NTRS)

Yoon, Seokkwan; Chan, William M.; Pulliam, Thomas H.

2017-01-01

Interactional aerodynamics has been studied for counter-rotating coaxial rotors in hover. The effects of torque balancing on the performance of coaxial-rotor systems have been investigated. The three-dimensional unsteady Navier-Stokes equations are solved on overset grids using high-order accurate schemes, dual-time stepping, and a hybrid turbulence model. Computational results for an experimental model are compared to available data. The results for a coaxial quadcopter vehicle with and without torque balancing are discussed. Understanding interactions in coaxial-rotor flows would help improve the design of next-generation autonomous drones.

Membrane-based torque magnetometer: Enhanced sensitivity by optical readout of the membrane displacement

NASA Astrophysics Data System (ADS)

Blankenhorn, M.; Heintze, E.; Slota, M.; van Slageren, J.; Moores, B. A.; Degen, C. L.; Bogani, L.; Dressel, M.

2017-09-01

The design and realization of a torque magnetometer is reported that reads the deflection of a membrane by optical interferometry. The compact instrument allows for low-temperature measurements of tiny crystals less than a microgram with a significant improvement in sensitivity, signal-to-noise ratio as well as data acquisition time compared with conventional magnetometry and offers an enormous potential for further improvements and future applications in different fields. Magnetic measurements on single-molecule magnets demonstrate the applicability of the membrane-based torque magnetometer.

Membrane-based torque magnetometer: Enhanced sensitivity by optical readout of the membrane displacement.

PubMed

Blankenhorn, M; Heintze, E; Slota, M; van Slageren, J; Moores, B A; Degen, C L; Bogani, L; Dressel, M

2017-09-01

The design and realization of a torque magnetometer is reported that reads the deflection of a membrane by optical interferometry. The compact instrument allows for low-temperature measurements of tiny crystals less than a microgram with a significant improvement in sensitivity, signal-to-noise ratio as well as data acquisition time compared with conventional magnetometry and offers an enormous potential for further improvements and future applications in different fields. Magnetic measurements on single-molecule magnets demonstrate the applicability of the membrane-based torque magnetometer.

Resonant Spin-Transfer-Torque Nano-Oscillators

NASA Astrophysics Data System (ADS)

Sharma, Abhishek; Tulapurkar, Ashwin A.; Muralidharan, Bhaskaran

2017-12-01

Spin-transfer-torque nano-oscillators are potential candidates for replacing the traditional inductor-based voltage-controlled oscillators in modern communication devices. Typical oscillator designs are based on trilayer magnetic tunnel junctions, which have the disadvantages of low power outputs and poor conversion efficiencies. We theoretically propose using resonant spin filtering in pentalayer magnetic tunnel junctions as a possible route to alleviate these issues and present viable device designs geared toward a high microwave output power and an efficient conversion of the dc input power. We attribute these robust qualities to the resulting nontrivial spin-current profiles and the ultrahigh tunnel magnetoresistance, both of which arise from resonant spin filtering. The device designs are based on the nonequilibrium Green's-function spin-transport formalism self-consistently coupled with the stochastic Landau-Lifshitz-Gilbert-Slonczewski equation and Poisson's equation. We demonstrate that the proposed structures facilitate oscillator designs featuring a large enhancement in microwave power of around 1150% and an efficiency enhancement of over 1100% compared to typical trilayer designs. We rationalize the optimum operating regions via an analysis of the dynamic and static device resistances. We also demonstrate the robustness of our structures against device design fluctuations and elastic dephasing. This work sets the stage for pentalyer spin-transfer-torque nano-oscillator device designs that ameliorate major issues associated with typical trilayer designs.

Unbalanced and Minimal Point Equivalent Estimation Second-Order Split-Plot Designs

NASA Technical Reports Server (NTRS)

Parker, Peter A.; Kowalski, Scott M.; Vining, G. Geoffrey

2007-01-01

Restricting the randomization of hard-to-change factors in industrial experiments is often performed by employing a split-plot design structure. From an economic perspective, these designs minimize the experimental cost by reducing the number of resets of the hard-to- change factors. In this paper, unbalanced designs are considered for cases where the subplots are relatively expensive and the experimental apparatus accommodates an unequal number of runs per whole-plot. We provide construction methods for unbalanced second-order split- plot designs that possess the equivalence estimation optimality property, providing best linear unbiased estimates of the parameters; independent of the variance components. Unbalanced versions of the central composite and Box-Behnken designs are developed. For cases where the subplot cost approaches the whole-plot cost, minimal point designs are proposed and illustrated with a split-plot Notz design.

Design Evaluation of Wind Turbine Spline Couplings Using an Analytical Model: Preprint

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

Guo, Y.; Keller, J.; Wallen, R.

2015-02-01

Articulated splines are commonly used in the planetary stage of wind turbine gearboxes for transmitting the driving torque and improving load sharing. Direct measurement of spline loads and performance is extremely challenging because of limited accessibility. This paper presents an analytical model for the analysis of articulated spline coupling designs. For a given torque and shaft misalignment, this analytical model quickly yields insights into relationships between the spline design parameters and resulting loads; bending, contact, and shear stresses; and safety factors considering various heat treatment methods. Comparisons of this analytical model against previously published computational approaches are also presented.

Non-intrusive torque measurement for rotating shafts using optical sensing of zebra-tapes

NASA Astrophysics Data System (ADS)

Zappalá, D.; Bezziccheri, M.; Crabtree, C. J.; Paone, N.

2018-06-01

Non-intrusive, reliable and precise torque measurement is critical to dynamic performance monitoring, control and condition monitoring of rotating mechanical systems. This paper presents a novel, contactless torque measurement system consisting of two shaft-mounted zebra tapes and two optical sensors mounted on stationary rigid supports. Unlike conventional torque measurement methods, the proposed system does not require costly embedded sensors or shaft-mounted electronics. Moreover, its non-intrusive nature, adaptable design, simple installation and low cost make it suitable for a large variety of advanced engineering applications. Torque measurement is achieved by estimating the shaft twist angle through analysis of zebra tape pulse train time shifts. This paper presents and compares two signal processing methods for torque measurement: rising edge detection and cross-correlation. The performance of the proposed system has been proven experimentally under both static and variable conditions and both processing approaches show good agreement with reference measurements from an in-line, invasive torque transducer. Measurement uncertainty has been estimated according to the ISO GUM (Guide to the expression of uncertainty in measurement). Type A analysis of experimental data has provided an expanded uncertainty relative to the system full-scale torque of  ±0.30% and  ±0.86% for the rising edge and cross-correlation approaches, respectively. Statistical simulations performed by the Monte Carlo method have provided, in the worst case, an expanded uncertainty of  ±1.19%.

Quiet Clean Short-haul Experimental Engine (QCSEE) main reduction gears test program

NASA Technical Reports Server (NTRS)

Misel, O. W.

1977-01-01

Sets of under the wing (UTW) engine reduction gears and sets of over the wing (OTW) engine reduction gears were fabricated for rig testing and subsequent installation in engines. The UTW engine reduction gears which have a ratio of 2.465:1 and a design rating of 9712 kW at 3157 rpm fan speed were operated at up to 105% speed at 60% torque and 100% speed at 125% torque. The OTW engine reduction gears which have a ratio of 2.062:1 and a design rating of 12,615 kW at 3861 rpm fan speed were operated at up to 95% speed at 50% torque and 80% speed at 109% torque. Satisfactory operation was demonstrated at powers up to 12,172 kW, mechanical efficiency up to 99.1% UTW, and a maximum gear pitch line velocity of 112 m/s (22,300 fpm) with a corresponding star gear spherical roller bearing DN of 850,00 OTW. Oil and star gear bearing temperatures, oil churning, heat rejection, and vibratory characteristics were acceptable for engine installation.

ACL deficient potential copers and non-copers reveal different isokinetic quadriceps strength profiles in the early stage after injury

PubMed Central

Eitzen, I; Eitzen, TJ; Holm, I; Snyder-Mackler, L; Risberg, MA

2011-01-01

Background Isokinetic muscle strength tests using the peak torque value is the most frequently included quadriceps muscle strength measurement for anterior cruciate ligament (ACL) injured subjects. Aims The purpose of this study was to investigate quadriceps muscle performance during the whole isokinetic curve in ACL deficient subjects classified as potential copers or non-copers, and investigate whether these curve profiles were associated with single-leg hop performance. We hypothesized that quadriceps muscle torque at other knee flexion angles than peak torque would give more information about quadriceps muscle strength deficits. Furthermore, we hypothesized that there would be significant torque differences between potential copers and non-copers, and a significant relationship between angle specific torque values and single-leg hop performance. Study Design Cross-sectional study; Level of evidence, 2 Methods Seventy-six individuals with a complete unilateral ACL rupture within the last 3 months were included. The subjects were classified into potential copers and non-copers according to the criteria from Fitzgerald et al12. Isokinetic quadriceps muscle tests were performed at 60°/sec (Biodex 6000). Mean torque values were calculated for peak torque as well as for specific knee flexion angles. The one-leg hop and the 6 meter timed hop tests were included and symmetry indices were used. Results The peak torque value did not identify the largest quadriceps muscle strength deficit. Rather, these were established at knee flexion angles of less than 40°. There were significant differences in angle specific torque values between potential copers and non-copers (p<0.05). Moderate to strong associations were disclosed between angle specific torque values and single-leg hop performance, but only for non-copers (r≥0.32– 0.58). Conclusions Angle specific quadriceps muscle torque values of less than 40° of knee flexion provide more information on the quadriceps strength deficits after ACL injury compared to the commonly used peak torque values. PMID:20110458

Optimal design of disc-type magneto-rheological brake for mid-sized motorcycle: experimental evaluation

NASA Astrophysics Data System (ADS)

Sohn, Jung Woo; Jeon, Juncheol; Nguyen, Quoc Hung; Choi, Seung-Bok

2015-08-01

In this paper, a disc-type magneto-rheological (MR) brake is designed for a mid-sized motorcycle and its performance is experimentally evaluated. The proposed MR brake consists of an outer housing, a rotating disc immersed in MR fluid, and a copper wire coiled around a bobbin to generate a magnetic field. The structural configuration of the MR brake is first presented with consideration of the installation space for the conventional hydraulic brake of a mid-sized motorcycle. The design parameters of the proposed MR brake are optimized to satisfy design requirements such as the braking torque, total mass of the MR brake, and cruising temperature caused by the magnetic-field friction of the MR fluid. In the optimization procedure, the braking torque is calculated based on the Herschel-Bulkley rheological model, which predicts MR fluid behavior well at high shear rate. An optimization tool based on finite element analysis is used to obtain the optimized dimensions of the MR brake. After manufacturing the MR brake, mechanical performances regarding the response time, braking torque and cruising temperature are experimentally evaluated.

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

Skinfold thickness affects the isometric knee extension torque evoked by Neuromuscular Electrical Stimulation.

PubMed

Medeiros, Flávia V A; Vieira, Amilton; Carregaro, Rodrigo L; Bottaro, Martim; Maffiuletti, Nicola A; Durigan, João L Q

2015-01-01

Subcutaneous adipose tissue may influence the transmission of electrical stimuli through to the skin, thus affecting both evoked torque and comfort perception associated with neuromuscular electrical stimulation (NMES). This could seriously affect the effectiveness of NMES for either rehabilitation or sports purposes. To investigate the effects of skinfold thickness (SFT) on maximal NMES current intensity, NMES-evoked torque, and NMES-induced discomfort. First, we compared NMES current intensity, NMES-induced discomfort, and NMES-evoked torque between two subgroups of subjects with thicker (n=10; 20.7 mm) vs. thinner (n=10; 29.4 mm) SFT. Second, we correlated SFT to NMES current intensity, NMES-induced discomfort, and NMES-evoked knee extension torque in 20 healthy women. The NMES-evoked torque was normalized to the maximal voluntary contraction (MVC) torque. The discomfort induced by NMES was assessed with a visual analog scale (VAS). NMES-evoked torque was 27.5% lower in subjects with thicker SFT (p=0.01) while maximal current intensity was 24.2% lower in subjects with thinner SFT (p=0.01). A positive correlation was found between current intensity and SFT (r=0.540, p=0.017). A negative correlation was found between NMES-evoked torque and SFT (r=-0.563, p=0.012). No significant correlation was observed between discomfort scores and SFT (rs=0.15, p=0.53). These results suggest that the amount of subcutaneous adipose tissue (as reflected by skinfold thickness) affected NMES current intensity and NMES-evoked torque, but had no effect on discomfort perception. Our findings may help physical therapists to better understand the impact of SFT on NMES and to design more rational stimulation strategies.

Multi-objective decoupling algorithm for active distance control of intelligent hybrid electric vehicle

NASA Astrophysics Data System (ADS)

Luo, Yugong; Chen, Tao; Li, Keqiang

2015-12-01

The paper presents a novel active distance control strategy for intelligent hybrid electric vehicles (IHEV) with the purpose of guaranteeing an optimal performance in view of the driving functions, optimum safety, fuel economy and ride comfort. Considering the complexity of driving situations, the objects of safety and ride comfort are decoupled from that of fuel economy, and a hierarchical control architecture is adopted to improve the real-time performance and the adaptability. The hierarchical control structure consists of four layers: active distance control object determination, comprehensive driving and braking torque calculation, comprehensive torque distribution and torque coordination. The safety distance control and the emergency stop algorithms are designed to achieve the safety and ride comfort goals. The optimal rule-based energy management algorithm of the hybrid electric system is developed to improve the fuel economy. The torque coordination control strategy is proposed to regulate engine torque, motor torque and hydraulic braking torque to improve the ride comfort. This strategy is verified by simulation and experiment using a forward simulation platform and a prototype vehicle. The results show that the novel control strategy can achieve the integrated and coordinated control of its multiple subsystems, which guarantees top performance of the driving functions and optimum safety, fuel economy and ride comfort.

THE EFFECT OF MAGNETIC TOPOLOGY ON THERMALLY DRIVEN WIND: TOWARD A GENERAL FORMULATION OF THE BRAKING LAW

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

Réville, Victor; Brun, Allan Sacha; Strugarek, Antoine

Stellar wind is thought to be the main process responsible for the spin down of main-sequence stars. The extraction of angular momentum by a magnetized wind has been studied for decades, leading to several formulations for the resulting torque. However, previous studies generally consider simple dipole or split monopole stellar magnetic topologies. Here we consider, in addition to a dipolar stellar magnetic field, both quadrupolar and octupolar configurations, while also varying the rotation rate and the magnetic field strength. Sixty simulations made with a 2.5D cylindrical and axisymmetric set-up, and computed with the PLUTO code, were used to find torquemore » formulations for each topology. We further succeed to give a unique law that fits the data for every topology by formulating the torque in terms of the amount of open magnetic flux in the wind. We also show that our formulation can be applied to even more realistic magnetic topologies, with examples of the Sun in its minimum and maximum phases as observed at the Wilcox Solar Observatory, and of a young K-star (TYC-0486-4943-1) whose topology has been obtained by Zeeman-Doppler Imaging.« less

Silicon nitride tri-layer vertical Y-junction and 3D couplers with arbitrary splitting ratio for photonic integrated circuits.

PubMed

Shang, Kuanping; Pathak, Shibnath; Liu, Guangyao; Feng, Shaoqi; Li, Siwei; Lai, Weicheng; Yoo, S J B

2017-05-01

We designed and demonstrated a tri-layer Si₃N₄/SiO₂ photonic integrated circuit capable of vertical interlayer coupling with arbitrary splitting ratios. Based on this multilayer photonic integrated circuit platform with each layer thicknesses of 150 nm, 50 nm, and 150 nm, we designed and simulated the vertical Y-junctions and 3D couplers with arbitrary power splitting ratios between 1:10 and 10:1 and with negligible(< -50 dB) reflection. Based on the design, we fabricated and demonstrated tri-layer vertical Y-junctions with the splitting ratios of 1:1 and 3:2 with excess optical losses of 0.230 dB. Further, we fabricated and demonstrated the 1 × 3 3D couplers with the splitting ratio of 1:1:4 for symmetric structures and variable splitting ratio for asymmetric structures.

Quantification of pronator quadratus contribution to isometric pronation torque of the forearm.

PubMed

McConkey, Mark O; Schwab, Timothy D; Travlos, Andrew; Oxland, Thomas R; Goetz, Thomas

2009-11-01

The contribution of the pronator quadratus (PQ) muscle in generation of pronation torque has not been determined. The purpose of this study was to investigate pronation torque in healthy volunteers before and after temporary paralysis of the PQ with lidocaine, under electromyographic guidance. A custom apparatus was designed to allow isometric testing of pronation torque at 5 positions of rotation: 90 degrees of supination, 45 degrees of supination, neutral, 45 degrees of pronation, and 80 degrees of pronation. After validation of the apparatus, 17 (9 male, 8 female) right-hand-dominant volunteers were recruited. They were tested at all 5 positions in random order and then had their PQ muscles paralyzed with lidocaine. Repeat testing was performed in the same random order 30 minutes after injection. Three unblinded subjects underwent testing after injection of saline instead of lidocaine to determine effect of fluid volume alone on PQ function. The validation trial demonstrated reproducibility of the testing apparatus. After paralysis of PQ with lidocaine, pronation torque decreased by an average 21% (range, 16.7% to 23.2%) at all positions compared with preinjection testing. All were statistically significant except at 80 degrees of pronation. The subjects who underwent injection of saline showed no evidence of decrease in pronation torque. This study demonstrated a significant decrease in pronation torque with controlled elimination of PQ function. Open reduction and internal fixation of distal radius fractures damages the PQ and may result in a pronation torque deficit. Pronation torque measurement may help in postoperative outcome analysis of surgical procedures using the volar approach to the distal radius.

Independent Orbiter Assessment (IOA): Analysis of the rudder/speed brake subsystem

NASA Technical Reports Server (NTRS)

Wilson, R. E.; Riccio, J. R.

1986-01-01

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA approach features a top-down analysis of the hardware to determine failure modes, criticality, and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The independent analysis results for the Orbiter Rudder/Speedbrake Actuation Mechanism is documented. The function of the Rudder/Speedbrake (RSB) is to provide directional control and to provide a means of energy control during entry. The system consists of two panels on a vertical hinge mounted on the aft part of the vertical stabilizer. These two panels move together to form a rudder but split apart to make a speedbrake. The Rudder/Speedbrake Actuation Mechanism consists of the following elements: (1) Power Drive Unit (PDU) which is composed of hydraulic valve module and a hydraulic motor-powered gearbox which contains differentials and mixer gears to provide PDU torque output; (2) four geared rotary actuators which apply the PDU generated torque to the rudder/speedbrake panels; and (3) ten torque shafts which join the PDU to the rotary actuators and interconnect the four rotary actuators. Each level of hardware was evaluated and analyzed for possible failures and causes. Criticality was assigned based upon the severity of the effect for each failure mode. Critical RSB failures which result in potential loss of vehicle control were mainly due to loss of hydraulic fluid, fluid contaminators, and mechanical failures in gears and shafts.

Negative optical spin torque wrench of a non-diffracting non-paraxial fractional Bessel vortex beam

NASA Astrophysics Data System (ADS)

Mitri, F. G.

2016-10-01

An absorptive Rayleigh dielectric sphere in a non-diffracting non-paraxial fractional Bessel vortex beam experiences a spin torque. The axial and transverse radiation spin torque components are evaluated in the dipole approximation using the radiative correction of the electric field. Particular emphasis is given on the polarization as well as changing the topological charge α and the half-cone angle of the beam. When α is zero, the axial spin torque component vanishes. However, when α becomes a real positive number, the vortex beam induces left-handed (negative) axial spin torque as the sphere shifts off-axially from the center of the beam. The results show that a non-diffracting non-paraxial fractional Bessel vortex beam is capable of inducing a spin reversal of an absorptive Rayleigh sphere placed arbitrarily in its path. Potential applications are yet to be explored in particle manipulation, rotation in optical tweezers, optical tractor beams, and the design of optically-engineered metamaterials to name a few areas.

A wearable robotic orthosis with a spring-assist actuator.

PubMed

Seungmin Jung; Chankyu Kim; Jisu Park; Dongyoub Yu; Jaehwan Park; Junho Choi

2016-08-01

This paper introduces a wearable robotic orthosis with spring-assist actuators, which is designed to assist people who have difficulty in walking. The spring-assist actuator consists of an electrical motor and a spring, which are attached to a rotational axis in parallel to each other. The spring-assist actuator is developed based on the analysis on the stiffness of the knee and hip joints during walking. "COWALK-Mobile," which is a wearable robotic orthosis, is developed using the spring-assist actuators to reduce the required motor torque during walking. The COWALK-Mobile has active hip and knee joints and passive ankle joints to provide assistive torque to the wearer. The required joint torque is generated by the spring as well as the electrical motor, which results in a decrease of maximum required torque for the motor. In order to evaluate the performance of the spring-assist actuator, experiments are carried out. The experiments show that the spring-assist actuators reduced the required motor torque during walking.

Tooth shape optimization of brushless permanent magnet motors for reducing torque ripples

NASA Astrophysics Data System (ADS)

Hsu, Liang-Yi; Tsai, Mi-Ching

2004-11-01

This paper presents a tooth shape optimization method based on a generic algorithm to reduce the torque ripple of brushless permanent magnet motors under two different magnetization directions. The analysis of this design method mainly focuses on magnetic saturation and cogging torque and the computation of the optimization process is based on an equivalent magnetic network circuit. The simulation results, obtained from the finite element analysis, are used to confirm the accuracy and performance. Finite element analysis results from different tooth shapes are compared to show the effectiveness of the proposed method.

Stereoscopic, Force-Feedback Trainer For Telerobot Operators

NASA Technical Reports Server (NTRS)

Kim, Won S.; Schenker, Paul S.; Bejczy, Antal K.

1994-01-01

Computer-controlled simulator for training technicians to operate remote robots provides both visual and kinesthetic virtual reality. Used during initial stage of training; saves time and expense, increases operational safety, and prevents damage to robots by inexperienced operators. Computes virtual contact forces and torques of compliant robot in real time, providing operator with feel of forces experienced by manipulator as well as view in any of three modes: single view, two split views, or stereoscopic view. From keyboard, user specifies force-reflection gain and stiffness of manipulator hand for three translational and three rotational axes. System offers two simulated telerobotic tasks: insertion of peg in hole in three dimensions, and removal and insertion of drawer.

Test of spatial isotropy using a cryogenic torsion pendulum

NASA Technical Reports Server (NTRS)

Phillips, Peter R.

1987-01-01

Motion of the earth through the cosmic neutrino background, or through certain kinds of vacuum states, produces a term of the form g(sigma) x v in the energy of an electron. To search for such a term, a cryogenic torsion pendulum carrying a transversely polarized magnet was used. Superconducting shields reduced magnetic torques. A sigma x v term would produce a sinusoidal oscillation of the pendulum with a period of one sidereal day. Such an oscillation was not detected, and a new limit of 8.5 x 10 to the -18th eV has been set for the splitting of the spin states of an electron at rest on the earth.

Removal torque of nail interlocking screws is related to screw proximity to the fracture and screw breakage.

PubMed

White, Alexander A; Kubacki, Meghan R; Samona, Jason; Telehowski, Paul; Atkinson, Patrick J

2016-06-01

Studies have shown that titanium implants can be challenging to explant due to the material's excellent biocompatibility and resulting osseointegration. Clinically, titanium alloy nail interlocking screws may require removal to dynamize a construct or revise the nail due to nonunion, infection, pain, or periprosthetic fracture. This study was designed to determine what variables influence the removal torque for titanium alloy interlocking screws. An intramedullary nail with four interlocking screws was used to stabilize a 1-cm segmental femoral defect in a canine model for 16 weeks. The animals were observed to be active following a several-day recovery after surgery. In six animals, the femora and implanted nail/screws were first tested to failure in torsion to simulate periprosthetic fracture of an implant after which the screws were then removed. In four additional animals, the screws were removed without mechanical testing. Both intraoperative insertional and extraction torques were recorded for all screws. Mechanical testing to failure broke 10/24 screws. On average, the intact screws required 70% of the insertional torque during removal while broken screws only required 16% of the insertional torque (p < 0.001). In addition, intact screws closer to the fracture required 2.8 times more removal torque than the outboard distal screw (p < 0.005). On average, the angle of rotation to peak torque was ∼80°. The peak axial load did not significantly correlate with the torque required to remove the screws. On average, the removal torque was lower than at the time of insertion, and less torque was required to remove broken screws and screws remote to the fracture. However, broken screws will require additional time to retrieve the remaining screw fragment. This study suggests that broken screws and screws in prematurely active patients will require less torque to remove. © IMechE 2016.

Effect of implant macro-design on primary stability: A prospective clinical study.

PubMed

Lozano-Carrascal, Naroa; Salomó-Coll, Oscar; Gilabert-Cerdà, Marta; Farré-Pagés, Nuria; Gargallo-Albiol, Jordi; Hernández-Alfaro, Federico

2016-03-01

Implant restorations have become a high predictable treatment option. Several caracteristics such as surgical technique and implant design can influence the treatment outcomes. The aim of the present study was to evaluate the influence of implant macro-design on primary stability measured with resonance frequency analysis (RFA) and insertion torque (IT). Material and Mehods: A total of 47 implants divided in two groups: Test group (TI): 22 Tapered MIS® Seven implants; Control group (CI): 25 cylindrical Astra® Osseospeed implants. All implants were inserted following the manufacturers' standard protocols. Implant primary stability was measured at the moment of implant placement by registering insertion torque values (ITv) and ISQ values by means of Osstell™ Mentor (ISQv) (Integration Diagnostic Ltd., Goteborg, Sweden). In the mandible, mean ISQv for tapered implants (TI) was 71.67±5.16 and for cylindrical implants (CI) 57.15±4.83 (p=0.01). Mean insertion torque was 46.67±6.85 Ncm for TI and 35.77±6.72 Ncm for CI (p=0.01). In the maxilla, mean ISQ was 67.2±4.42 for tapered implants and 49.17±15.30 for cylindrical implants (p=0.01). Mean insertion torque for TI was 41.5±6.26 Ncm and for CI 39.17±6.34 Ncm (p>0.05). For tapered implants, no correlation could be found between implant diameter and primary stability. But for cylindrical implants there was a statistically significant correlation between implant diameter and primary stability: ITv (p=0.03); ISQv (p=0.04). Within the limits of the present study, tapered shaped implants achieve higher primary stability measured through ISQ and insertion torque values. Moreover, for cylindrical implants positive correlation has been established between implant diameter and primary stability.

Design of patient-specific gait modifications for knee osteoarthritis rehabilitation.

PubMed

Fregly, Benjamin J; Reinbolt, Jeffrey A; Rooney, Kelly L; Mitchell, Kim H; Chmielewski, Terese L

2007-09-01

Abstract-Gait modification is a nonsurgical approach for reducing the external knee adduction torque in patients with knee osteoarthritis (OA). The magnitude of the first adduction torque peak in particular is strongly associated with knee OA progression. While toeing out has been shown to reduce the second peak, no clinically realistic gait modifications have been identified that effectively reduce both peaks simultaneously. This study predicts novel patient-specific gait modifications that achieve this goal without changing the foot path. The modified gait motion was designed for a single patient with knee OA using dynamic optimization of a patient-specific, full-body gait model. The cost function minimized the knee adduction torque subject to constraints limiting how much the new gait motion could deviate from the patient's normal gait motion. The optimizations predicted a "medial-thrust" gait pattern that reduced the first adduction torque peak between 32% and 54% and the second peak between 34% and 56%. The new motion involved three synergistic kinematic changes: slightly decreased pelvis obliquity, slightly increased leg flexion, and slightly increased pelvis axial rotation. After gait retraining, the patient achieved adduction torque reductions of 39% to 50% in the first peak and 37% to 55% in the second one. These reductions are comparable to those reported after high tibial osteotomy surgery. The associated kinematic changes were consistent with the predictions except for pelvis obliquity, which showed little change. This study demonstrates that it is feasible to design novel patient-specific gait modifications with potential clinical benefit using dynamic optimization of patient-specific, full-body gait models. Further investigation is needed to assess the extent to which similar gait modifications may be effective for other patients with knee OA.

Measurements of Repeated Tightening and Loosening Torque of Seven Different Implant/Abutment Connection Designs and Their Modifications: An In Vitro Study.

PubMed

Butkevica, Alena; Nathanson, Dan; Pober, Richard; Strating, Herman

2018-02-01

Repeated tightening and loosening of the abutment screw may alter its mechanical and physical properties affecting the optimal torque and ultimate reliability of an implant/abutment connection. The purpose of this study was to evaluate the effect of repeated tightening and loosening of implant/abutment screws on the loosening torque of implant/abutment connections of commercially available implant systems. Seven different implant/abutment connections and their modifications were tested. The screws of each system were tightened according to the manufacturer's specifications. After 20 minutes the screws were loosened. This procedure was repeated ten times, and the differences between the 1st and 10th cycle were expressed as a percentage change RTq(%) and correlated with initial torque, the number of threads, the length of shank, and thread surface area employing Spearman's analysis. All systems showed significant differences in residual torque (RTq) value (p < 0.05) between the 1st and 10th cycle except groups 6 and 11 (p > 0.05). All connections but group 3 (p = 1.000) showed a significant change from the initial torque (ITq) to the RTq values. The first successive RTq values increased in two connection groups 1 and 2. The remaining connections showed reduced RTq values ranging from -1.2 % (group 5) to -23.5% (group 6). The RTq values declined gradually with every repeated tightening in groups 1, 2, 3, 8, 9, 11, 12. In group 2, after the tenth tightening the RTq was still above the ITq value. Only length of shank demonstrated a correlation with the RTq(%) change over the successive tightening loosening cycles (p < 0.05). Repeated tightening and loosening of implant/abutment screws caused varying torque level changes among the different systems. These observations can probably be attributed to connection design. Limiting the number of tightening/loosening cycles in clinical and laboratory procedures is advisable for most of the implant systems tested. © 2016 by the American College of Prosthodontists.

Machined versus roughened immediately loaded and finally restored single implants inserted flapless: Preliminary 6-month data from a split- mouth randomised controlled trial.

PubMed

Cannizzaro, Gioacchino; Felice, Pietro; Loi, Ignazio; Viola, Paolo; Ferri, Vittorio; Leone, Michele; Lazzarini, Matteo; Trullenque-Eriksson, Anna; Esposito, Marco

To compare the outcome of immediately loaded single implants with a machined or a roughened surface. Fifty patients had two implant sites randomly allocated to receive flaplessplaced single Syra implants (Sweden & Martina), one with a machined and one with a roughened surface (sand-blasted with zirconia powder and acid etched), according to a split-mouth design. To be loaded immediately, implants had to be inserted with a torque superior to 50 Ncm. Implants were restored with definitive crowns in direct occlusal contact within 48 h. Patients were followed for 6 months after loading. Outcome measures were prosthetic and implant failures and complications. Two machined implants and four roughened implants were not loaded immediately. Six months after loading no dropout occurred. One implant loaded late, which had a rough implant surface, failed 20 days after loading (P (McNemar test) = 0.625; difference in proportions = -0.04; 95% CI: -0.15 to 0.07). Three crowns had to be remade on machined implants and four on roughened implants (P (McNemar test) = 1.000; difference in proportions = -0.02; 95% CI: -0.12 to 0.08). Three machined and five roughened implants experienced complications (P (McNemar test) = 0.625; difference in proportions = -0.04; 95% CI: -0.15 to 0.07). There were no statistically significant differences between groups for crown and implant losses as well as complications. Up to 6 months after loading both machined and roughened flapless-placed and immediately loaded single implants provided good and similar results, however, longer follow-ups are needed to evaluate the long-term prognosis of implants with different surfaces.

Evaluation of selected strapdown inertial instruments and pulse torque loops, volume 1

NASA Technical Reports Server (NTRS)

Sinkiewicz, J. S.; Feldman, J.; Lory, C. B.

1974-01-01

Design, operational and performance variations between ternary, binary and forced-binary pulse torque loops are presented. A fill-in binary loop which combines the constant power advantage of binary with the low sampling error of ternary is also discussed. The effects of different output-axis supports on the performance of a single-degree-of-freedom, floated gyroscope under a strapdown environment are illustrated. Three types of output-axis supports are discussed: pivot-dithered jewel, ball bearing and electromagnetic. A test evaluation on a Kearfott 2544 single-degree-of-freedom, strapdown gyroscope operating with a pulse torque loop, under constant rates and angular oscillatory inputs is described and the results presented. Contributions of the gyroscope's torque generator and the torque-to-balance electronics on scale factor variation with rate are illustrated for a SDF 18 IRIG Mod-B strapdown gyroscope operating with various pulse rebalance loops. Also discussed are methods of reducing this scale factor variation with rate by adjusting the tuning network which shunts the torque coil. A simplified analysis illustrating the principles of operation of the Teledyne two-degree-of-freedom, elastically-supported, tuned gyroscope and the results of a static and constant rate test evaluation of that instrument are presented.

A methodology for double patterning compliant split and design

NASA Astrophysics Data System (ADS)

Wiaux, Vincent; Verhaegen, Staf; Iwamoto, Fumio; Maenhoudt, Mireille; Matsuda, Takashi; Postnikov, Sergei; Vandenberghe, Geert

2008-11-01

Double Patterning allows to further extend the use of water immersion lithography at its maximum numerical aperture NA=1.35. Splitting of design layers to recombine through Double Patterning (DP) enables an effective resolution enhancement. Single polygons may need to be split up (cut) depending on the pattern density and its 2D content. The split polygons recombine at the so-called 'stitching points'. These stitching points may affect the yield due to the sensitivity to process variations. We describe a methodology to ensure a robust double patterning by identifying proper split- and design- guidelines. Using simulations and experimental data, we discuss in particular metal1 first interconnect layers of random LOGIC and DRAM applications at 45nm half-pitch (hp) and 32nm hp where DP may become the only timely patterning solution.

Concentric Split Flow Filter

NASA Technical Reports Server (NTRS)

Stapleton, Thomas J. (Inventor)

2015-01-01

A concentric split flow filter may be configured to remove odor and/or bacteria from pumped air used to collect urine and fecal waste products. For instance, filter may be designed to effectively fill the volume that was previously considered wasted surrounding the transport tube of a waste management system. The concentric split flow filter may be configured to split the air flow, with substantially half of the air flow to be treated traveling through a first bed of filter media and substantially the other half of the air flow to be treated traveling through the second bed of filter media. This split flow design reduces the air velocity by 50%. In this way, the pressure drop of filter may be reduced by as much as a factor of 4 as compare to the conventional design.

Effect of implant macro-design on primary stability: A prospective clinical study

PubMed Central

Lozano-Carrascal, Naroa; Salomó-Coll, Oscar; Gilabert-Cerdà, Marta; Farré-Pagés, Nuria; Hernández-Alfaro, Federico

2016-01-01

Background Implant restorations have become a high predictable treatment option. Several caracteristics such as surgical technique and implant design can influence the treatment outcomes. The aim of the present study was to evaluate the influence of implant macro-design on primary stability measured with resonance frequency analysis (RFA) and insertion torque (IT). Material and Methods A total of 47 implants divided in two groups: Test group (TI): 22 Tapered MIS® Seven implants; Control group (CI): 25 cylindrical Astra® Osseospeed implants. All implants were inserted following the manufacturers’ standard protocols. Implant primary stability was measured at the moment of implant placement by registering insertion torque values (ITv) and ISQ values by means of Osstell™ Mentor (ISQv) (Integration Diagnostic Ltd., Goteborg, Sweden). Results In the mandible, mean ISQv for tapered implants (TI) was 71.67±5.16 and for cylindrical implants (CI) 57.15±4.83 (p=0.01). Mean insertion torque was 46.67±6.85 Ncm for TI and 35.77±6.72 Ncm for CI (p=0.01). In the maxilla, mean ISQ was 67.2±4.42 for tapered implants and 49.17±15.30 for cylindrical implants (p=0.01). Mean insertion torque for TI was 41.5±6.26 Ncm and for CI 39.17±6.34 Ncm (p>0.05). For tapered implants, no correlation could be found between implant diameter and primary stability. But for cylindrical implants there was a statistically significant correlation between implant diameter and primary stability: ITv (p=0.03); ISQv (p=0.04). Conclusions Within the limits of the present study, tapered shaped implants achieve higher primary stability measured through ISQ and insertion torque values. Moreover, for cylindrical implants positive correlation has been established between implant diameter and primary stability. Key words:Primary stability, tapered, cylindrical, conical, implant macro-design. PMID:26827067

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.

Parallel elastic elements improve energy efficiency on the STEPPR bipedal walking robot

DOE PAGES

Mazumdar, Anirban; Spencer, Steven J.; Hobart, Clinton; ...

2016-11-23

This study describes how parallel elastic elements can be used to reduce energy consumption in the electric motor driven, fully-actuated, STEPPR bipedal walking robot without compromising or significantly limiting locomotive behaviors. A physically motivated approach is used to illustrate how selectively-engaging springs for hip adduction and ankle flexion predict benefits for three different flat ground walking gaits: human walking, human-like robot walking and crouched robot walking. Based on locomotion data, springs are designed and substantial reductions in power consumption are demonstrated using a bench dynamometer. These lessons are then applied to STEPPR (Sandia Transmission-Efficient Prototype Promoting Research), a fully actuatedmore » bipedal robot designed to explore the impact of tailored joint mechanisms on walking efficiency. Featuring high-torque brushless DC motors, efficient low-ratio transmissions, and high fidelity torque control, STEPPR provides the ability to incorporate novel joint-level mechanisms without dramatically altering high level control. Unique parallel elastic designs are incorporated into STEPPR, and walking data shows that hip adduction and ankle flexion springs significantly reduce the required actuator energy at those joints for several gaits. These results suggest that parallel joint springs offer a promising means of supporting quasi-static joint torques due to body mass during walking, relieving motors of the need to support these torques and substantially improving locomotive energy efficiency.« less

Parallel elastic elements improve energy efficiency on the STEPPR bipedal walking robot

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

Mazumdar, Anirban; Spencer, Steven J.; Hobart, Clinton

This study describes how parallel elastic elements can be used to reduce energy consumption in the electric motor driven, fully-actuated, STEPPR bipedal walking robot without compromising or significantly limiting locomotive behaviors. A physically motivated approach is used to illustrate how selectively-engaging springs for hip adduction and ankle flexion predict benefits for three different flat ground walking gaits: human walking, human-like robot walking and crouched robot walking. Based on locomotion data, springs are designed and substantial reductions in power consumption are demonstrated using a bench dynamometer. These lessons are then applied to STEPPR (Sandia Transmission-Efficient Prototype Promoting Research), a fully actuatedmore » bipedal robot designed to explore the impact of tailored joint mechanisms on walking efficiency. Featuring high-torque brushless DC motors, efficient low-ratio transmissions, and high fidelity torque control, STEPPR provides the ability to incorporate novel joint-level mechanisms without dramatically altering high level control. Unique parallel elastic designs are incorporated into STEPPR, and walking data shows that hip adduction and ankle flexion springs significantly reduce the required actuator energy at those joints for several gaits. These results suggest that parallel joint springs offer a promising means of supporting quasi-static joint torques due to body mass during walking, relieving motors of the need to support these torques and substantially improving locomotive energy efficiency.« less

A Piezoelectric Micromotor with a Stator of φ=1.6 mm and l=4 mm Using Bulk PZT

NASA Astrophysics Data System (ADS)

Cagatay, Serra; Koc, Burhanettin; Moses, Paul; Uchino, Kenji

2004-04-01

The smallest discrete piezoelectric ultrasonic motor using bulk ceramics was developed. We are proposing basically a two-part motor: stator and rotor. The stator of the present motor consists of a hollow metal brass tube with outer diameter of 1.6 mm, inner diameter of 0.8 mm and length of only 4 mm with 2 PZT plates bonded onto it. Owing to the asymmetrical stator surface, two degenerated orthogonal bending modes were slightly split, resulting in a wobbling motion. Thus, the motor can be driven by a single driving source. The rotor is a spring, which is basically different from previous designs, pressed at both ends to the stator by a pair of ferrules. Consequently, the length of the whole motor assembly was reduced significantly; a final motor length of only 5 mm was obtained. The working frequency under zero load was approximately 227-233 kHz. Although the size is small, relatively high power was obtained under an optimized load condition: torque of 0.06 mNm, maximum power of 3.2 mW with a speed of 118 rad/s, and maximum efficiency of 11% under 48 Vrms at 221 kHz.

Cryogenic Flange and Seal Evaluation

NASA Technical Reports Server (NTRS)

Ramirez, Adrian

2014-01-01

The assembly of flanges, seals, and pipes are used to carry cryogenic fluid from a storage tank to the vehicle at launch sites. However, after a certain amount of cycles these raised face flanges with glass-filled Teflon gaskets have been found to have torque relaxation and are as a result susceptible to cryogenic fluid leakage if not re-torqued. The intent of this project is to identify alternate combinations of flanges and seals which may improve thermal cycle performance and decrease re-torque requirements. The general approach is to design a test fixture to evaluate leak characteristics between spiral and concentric serrations and to test alternate flange and seal combinations. Due to insufficient time, it was not possible to evaluate these different types of combinations for the combination that improved thermal cycle performance the most. However, the necessary drawings for the test fixture were designed and assembled along with the collection of the necessary parts.

Satellite attitude prediction by multiple time scales method

NASA Technical Reports Server (NTRS)

Tao, Y. C.; Ramnath, R.

1975-01-01

An investigation is made of the problem of predicting the attitude of satellites under the influence of external disturbing torques. The attitude dynamics are first expressed in a perturbation formulation which is then solved by the multiple scales approach. The independent variable, time, is extended into new scales, fast, slow, etc., and the integration is carried out separately in the new variables. The theory is applied to two different satellite configurations, rigid body and dual spin, each of which may have an asymmetric mass distribution. The disturbing torques considered are gravity gradient and geomagnetic. Finally, as multiple time scales approach separates slow and fast behaviors of satellite attitude motion, this property is used for the design of an attitude control device. A nutation damping control loop, using the geomagnetic torque for an earth pointing dual spin satellite, is designed in terms of the slow equation.

Transistorized PWM inverter-induction motor drive system

NASA Technical Reports Server (NTRS)

Peak, S. C.; Plunkett, A. B.

1982-01-01

This paper describes the development of a transistorized PWM inverter-induction motor traction drive system. A vehicle performance analysis was performed to establish the vehicle tractive effort-speed requirements. These requirements were then converted into a set of inverter and motor specifications. The inverter was a transistorized three-phase bridge using General Electric power Darlington transistors. The description of the design and development of this inverter is the principal object of this paper. The high-speed induction motor is a design which is optimized for use with an inverter power source. The primary feedback control is a torque angle control with voltage and torque outer loop controls. A current-controlled PWM technique is used to control the motor voltage. The drive has a constant torque output with PWM operation to base motor speed and a constant horsepower output with square wave operation to maximum speed. The drive system was dynamometer tested and the results are presented.

Advanced Rotorcraft Transmission (ART) program

NASA Technical Reports Server (NTRS)

Heath, Gregory F.; Bossler, Robert B., Jr.

1993-01-01

Work performed by the McDonnell Douglas Helicopter Company and Lucas Western, Inc. within the U.S. Army/NASA Advanced Rotorcraft Transmission (ART) Program is summarized. The design of a 5000 horsepower transmission for a next generation advanced attack helicopter is described. Government goals for the program were to define technology and detail design the ART to meet, as a minimum, a weight reduction of 25 percent, an internal noise reduction of 10 dB plus a mean-time-between-removal (MTBR) of 5000 hours compared to a state-of-the-art baseline transmission. The split-torque transmission developed using face gears achieved a 40 percent weight reduction, a 9.6 dB noise reduction and a 5270 hour MTBR in meeting or exceeding the above goals. Aircraft mission performance and cost improvements resulting from installation of the ART would include a 17 to 22 percent improvement in loss-exchange ratio during combat, a 22 percent improvement in mean-time-between-failure, a transmission acquisition cost savings of 23 percent of $165K, per unit, and an average transmission direct operating cost savings of 33 percent, or $24K per flight hour. Face gear tests performed successfully at NASA Lewis are summarized. Also, program results of advanced material tooth scoring tests, single tooth bending tests, Charpy impact energy tests, compact tension fracture toughness tests and tensile strength tests are summarized.

Enhanced spin-torque in double tunnel junctions using a nonmagnetic-metal spacer

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

Chen, C. H.; Cheng, Y. H.; Ko, C. W.

2015-10-12

This study proposes an enhancement in the spin-transfer torque of a magnetic tunnel junction (MTJ) designed with double-barrier layer structure using a nonmagnetic metal spacer, as a replacement for the ferromagnetic material, which is traditionally used in these double-barrier stacks. Our calculation results show that the spin-transfer torque and charge current density of the proposed double-barrier MTJ can be as much as two orders of magnitude larger than the traditional double-barrier one. In other words, the proposed double-barrier MTJ has a spin-transfer torque that is three orders larger than that of the single-barrier stack. This improvement may be attributed tomore » the quantum-well states that are formed in the nonmagnetic metal spacer and the resonant tunneling mechanism that exists throughout the system.« less

Starting characteristics of direct current motors powered by solar cells

NASA Technical Reports Server (NTRS)

Singer, S.; Appelbaum, J.

1989-01-01

Direct current motors are used in photovoltaic systems. Important characteristics of electric motors are the starting to rated current and torque ratios. These ratios are dictated by the size of the solar cell array and are different for the various dc motor types. Discussed here is the calculation of the starting to rated current ratio and starting to rated torque ratio of the permanent magnet, and series and shunt excited motors when powered by solar cells for two cases: with and without a maximum-power-point-tracker (MPPT) included in the system. Comparing these two cases, one gets a torque magnification of about 3 for the permanent magnet motor and about 7 for other motor types. The calculation of the torques may assist the PV system designer to determine whether or not to include an MPPT in the system.

The Design of a Four Square Gear Tester for Noise and Vibration Measurements.

DTIC Science & Technology

1986-12-01

Four Square Gear Tester ...... . 25 2.3 The Speed-Torque Relationship of Contraves Blower Ventilated Motor ....... ..................... ... 31 2.4...The Speed-Torque Relationship of Contraves Self- Ventilated Motor ....... ..................... ... 32 2.5 The Contraves Motor...34 2.6 The Contraves Motor Mounted Blower ... ............ ... 35 2.7 The Fixed-Fixed End Condition (to determine the natural frequency of the

A cable-driven wrist robotic rehabilitator using a novel torque-field controller for human motion training.

PubMed

Chen, Weihai; Cui, Xiang; Zhang, Jianbin; Wang, Jianhua

2015-06-01

Rehabilitation technologies have great potentials in assisted motion training for stroke patients. Considering that wrist motion plays an important role in arm dexterous manipulation of activities of daily living, this paper focuses on developing a cable-driven wrist robotic rehabilitator (CDWRR) for motion training or assistance to subjects with motor disabilities. The CDWRR utilizes the wrist skeletal joints and arm segments as the supporting structure and takes advantage of cable-driven parallel design to build the system, which brings the properties of flexibility, low-cost, and low-weight. The controller of the CDWRR is designed typically based on a virtual torque-field, which is to plan "assist-as-needed" torques for the spherical motion of wrist responding to the orientation deviation in wrist motion training. The torque-field controller can be customized to different levels of rehabilitation training requirements by tuning the field parameters. Additionally, a rapidly convergent parameter self-identification algorithm is developed to obtain the uncertain parameters automatically for the floating wearable structure of the CDWRR. Finally, experiments on a healthy subject are carried out to demonstrate the performance of the controller and the feasibility of the CDWRR on wrist motion training or assistance.

Full-order observer for direct torque control of induction motor based on constant V/F control technique.

PubMed

Pimkumwong, Narongrit; Wang, Ming-Shyan

2018-02-01

This paper presents another control method for the three-phase induction motor that is direct torque control based on constant voltage per frequency control technique. This method uses the magnitude of stator flux and torque errors to generate the stator voltage and phase angle references for controlling the induction motor by using constant voltage per frequency control method. Instead of hysteresis comparators and optimum switching table, the PI controllers and space vector modulation technique are used to reduce torque and stator-flux ripples and achieve constant switching frequency. Moreover, the coordinate transformations are not required. To implement this control method, a full-order observer is used to estimate stator flux and overcome the problems from drift and saturation in using pure integrator. The feedback gains are designed by simple manner to improve the convergence of stator flux estimation, especially in low speed range. Furthermore, the necessary conditions to maintain the stability for feedback gain design are introduced. The simulation and experimental results show accurate and stable operation of the introduced estimator and good dynamic response of the proposed control method. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

A cable-driven wrist robotic rehabilitator using a novel torque-field controller for human motion training

NASA Astrophysics Data System (ADS)

Chen, Weihai; Cui, Xiang; Zhang, Jianbin; Wang, Jianhua

2015-06-01

Rehabilitation technologies have great potentials in assisted motion training for stroke patients. Considering that wrist motion plays an important role in arm dexterous manipulation of activities of daily living, this paper focuses on developing a cable-driven wrist robotic rehabilitator (CDWRR) for motion training or assistance to subjects with motor disabilities. The CDWRR utilizes the wrist skeletal joints and arm segments as the supporting structure and takes advantage of cable-driven parallel design to build the system, which brings the properties of flexibility, low-cost, and low-weight. The controller of the CDWRR is designed typically based on a virtual torque-field, which is to plan "assist-as-needed" torques for the spherical motion of wrist responding to the orientation deviation in wrist motion training. The torque-field controller can be customized to different levels of rehabilitation training requirements by tuning the field parameters. Additionally, a rapidly convergent parameter self-identification algorithm is developed to obtain the uncertain parameters automatically for the floating wearable structure of the CDWRR. Finally, experiments on a healthy subject are carried out to demonstrate the performance of the controller and the feasibility of the CDWRR on wrist motion training or assistance.

Parametric motion control of robotic arms: A biologically based approach using neural networks

NASA Technical Reports Server (NTRS)

Bock, O.; D'Eleuterio, G. M. T.; Lipitkas, J.; Grodski, J. J.

1993-01-01

A neural network based system is presented which is able to generate point-to-point movements of robotic manipulators. The foundation of this approach is the use of prototypical control torque signals which are defined by a set of parameters. The parameter set is used for scaling and shaping of these prototypical torque signals to effect a desired outcome of the system. This approach is based on neurophysiological findings that the central nervous system stores generalized cognitive representations of movements called synergies, schemas, or motor programs. It has been proposed that these motor programs may be stored as torque-time functions in central pattern generators which can be scaled with appropriate time and magnitude parameters. The central pattern generators use these parameters to generate stereotypical torque-time profiles, which are then sent to the joint actuators. Hence, only a small number of parameters need to be determined for each point-to-point movement instead of the entire torque-time trajectory. This same principle is implemented for controlling the joint torques of robotic manipulators where a neural network is used to identify the relationship between the task requirements and the torque parameters. Movements are specified by the initial robot position in joint coordinates and the desired final end-effector position in Cartesian coordinates. This information is provided to the neural network which calculates six torque parameters for a two-link system. The prototypical torque profiles (one per joint) are then scaled by those parameters. After appropriate training of the network, our parametric control design allowed the reproduction of a trained set of movements with relatively high accuracy, and the production of previously untrained movements with comparable accuracy. We conclude that our approach was successful in discriminating between trained movements and in generalizing to untrained movements.

Barbell deadlift training increases the rate of torque development and vertical jump performance in novices.

PubMed

Thompson, Brennan J; Stock, Matt S; Shields, JoCarol E; Luera, Micheal J; Munayer, Ibrahim K; Mota, Jacob A; Carrillo, Elias C; Olinghouse, Kendra D

2015-01-01

The primary purpose of this study was to examine the effects of 10 weeks of barbell deadlift training on rapid torque characteristics of the knee extensors and flexors. A secondary aim was to analyze the relationships between training-induced changes in rapid torque and vertical jump performance. Fifty-four subjects (age, mean ± SD = 23 ± 3 years) were randomly assigned to a control (n = 20) or training group (n = 34). Subjects in the training group performed supervised deadlift training twice per week for 10 weeks. All subjects performed isometric strength testing of the knee extensors and flexors and vertical jumps before and after the intervention. Torque-time curves were used to calculate rate of torque development (RTD) values at peak and at 50 and 200 milliseconds from torque onset. Barbell deadlift training induced significant pre- to post-increases of 18.8-49.0% for all rapid torque variables (p < 0.01). Vertical jump height increased from 46.0 ± 11.3 to 49.4 ± 11.3 cm (7.4%; p < 0.01), and these changes were positively correlated with improvements in RTD for the knee flexors (r = 0.30-0.37, p < 0.01-0.03). These findings showed that a 10-week barbell deadlift training program was effective at enhancing rapid torque capacities in both the knee extensors and flexors. Changes in rapid torque were associated with improvements in vertical jump height, suggesting a transfer of adaptations from deadlift training to an explosive, performance-based task. Professionals may use these findings when attempting to design effective, time-efficient resistance training programs to improve explosive strength capacities in novices.

The impact of a modified cutting flute implant design on osseointegration.

PubMed

Jimbo, R; Tovar, N; Marin, C; Teixeira, H S; Anchieta, R B; Silveira, L M; Janal, M N; Shibli, J A; Coelho, P G

2014-07-01

Information concerning the effects of the implant cutting flute design on initial stability and its influence on osseointegration in vivo is limited. This study evaluated the early effects of implants with a specific cutting flute design placed in the sheep mandible. Forty-eight dental implants with two different macro-geometries (24 with a specific cutting flute design - Blossom group; 24 with a self-tapping design - DT group) were inserted into the mandibular bodies of six sheep; the maximum insertion torque was recorded. Samples were retrieved and processed for histomorphometric analysis after 3 and 6 weeks. The mean insertion torque was lower for Blossom implants (P<0.001). No differences in histomorphometric results were observed between the groups. At 3 weeks, P=0.58 for bone-to-implant contact (BIC) and P=0.52 for bone area fraction occupied (BAFO); at 6 weeks, P=0.55 for BIC and P=0.45 for BAFO. While no histomorphometric differences were observed, ground sections showed different healing patterns between the implants, with better peri-implant bone organization around those with the specific cutting flute design (Blossom group). Implants with the modified cutting flute design had a significantly reduced insertion torque compared to the DT implants with a traditional cutting thread, and resulted in a different healing pattern. Copyright © 2014 International Association of Oral and Maxillofacial Surgeons. Published by Elsevier Ltd. All rights reserved.

Variable frequency inverter for ac induction motors with torque, speed and braking control

NASA Technical Reports Server (NTRS)

Nola, F. J. (Inventor)

1975-01-01

A variable frequency inverter was designed for driving an ac induction motor which varies the frequency and voltage to the motor windings in response to varying torque requirements for the motor so that the applied voltage amplitude and frequency are of optimal value for any motor load and speed requirement. The slip frequency of the motor is caused to vary proportionally to the torque and feedback is provided so that the most efficient operating voltage is applied to the motor. Winding current surge is limited and a controlled negative slip causes motor braking and return of load energy to a dc power source.

Design improvement of permanent magnet flux switching motor with dual rotor structure

NASA Astrophysics Data System (ADS)

Soomro, H. A.; Sulaiman, E.; Kumar, R.; Rahim, N. S.

2017-08-01

This paper presents design enhancement to reduce permanent magnet (PM) volume for 7S-6P-7S dual rotor permanent magnet flux-switching machines (DRPMFSM) for electric vehicle application. In recent years, Permanent magnet flux switching (PMFS) motor and a new member of brushless permanent magnet machine are prominently used for the electric vehicle. Though, more volume of Rare-Earth Permanent Magnet (REPM) is used to increase the cost and weight of these motors. Thus, to overcome the issue, new configuration of 7S-6P- 7S dual rotor permanent magnet flux-switching machine (DRPMFSM) has been proposed and investigated in this paper. Initially proposed 7S-6P-7S DRPMFSM has been optimized using “deterministic optimization” to reduce the volume of PM and to attain optimum performances. In addition, the performances of initial and optimized DRPMFSM have been compared such that back-emf, cogging torque, average torque, torque and power vs speed performances, losses and efficiency have been analysed by 2D-finite element analysis (FEA) using the JMAG- Designer software ver. 14.1. Consequently, the final design 7S-6P-7S DRPMFSM has achieved the efficiency of 83.91% at reduced PM volume than initial design to confirm the better efficient motor for HEVs applications.

Optimal Design of Spring Characteristics of Damper for Subharmonic Vibration in Automatic Transmission Powertrain

NASA Astrophysics Data System (ADS)

Nakae, T.; Ryu, T.; Matsuzaki, K.; Rosbi, S.; Sueoka, A.; Takikawa, Y.; Ooi, Y.

2016-09-01

In the torque converter, the damper of the lock-up clutch is used to effectively absorb the torsional vibration. The damper is designed using a piecewise-linear spring with three stiffness stages. However, a nonlinear vibration, referred to as a subharmonic vibration of order 1/2, occurred around the switching point in the piecewise-linear restoring torque characteristics because of the nonlinearity. In the present study, we analyze vibration reduction for subharmonic vibration. The model used herein includes the torque converter, the gear train, and the differential gear. The damper is modeled by a nonlinear rotational spring of the piecewise-linear spring. We focus on the optimum design of the spring characteristics of the damper in order to suppress the subharmonic vibration. A piecewise-linear spring with five stiffness stages is proposed, and the effect of the distance between switching points on the subharmonic vibration is investigated. The results of our analysis indicate that the subharmonic vibration can be suppressed by designing a damper with five stiffness stages to have a small spring constant ratio between the neighboring springs. The distances between switching points must be designed to be large enough that the amplitude of the main frequency component of the systems does not reach the neighboring switching point.

Forearm Torque and Lifting Strength: Normative Data.

PubMed

Axelsson, Peter; Fredrikson, Per; Nilsson, Anders; Andersson, Jonny K; Kärrholm, Johan

2018-02-10

To establish reference values for new methods designed to quantitatively measure forearm torque and lifting strength and to compare these values with grip strength. A total of 499 volunteers, 262 males and 237 females, aged 15 to 85 (mean, 44) years, were tested for lifting strength and forearm torque with the Kern and Baseline dynamometers. These individuals were also tested for grip strength with a Jamar dynamometer. Standardized procedures were used and information about sex, height, weight, hand dominance, and whether their work involved high or low manual strain was collected. Men had approximately 70% higher forearm torque and lifting strength compared with females. Male subjects aged 26 to 35 years and female subjects aged 36 to 45 years showed highest strength values. In patients with dominant right side, 61% to 78% had a higher or equal strength on this side in the different tests performed. In patients with dominant left side, the corresponding proportions varied between 41% and 65%. There was a high correlation between grip strength and forearm torque and lifting strength. Sex, body height, body weight, and age showed a significant correlation to the strength measurements. In a multiple regression model sex, age (entered as linear and squared) could explain 51% to 63% of the total variances of forearm torque strength and 30% to 36% of lifting strength. Reference values for lifting strength and forearm torque to be used in clinical practice were acquired. Grip strength has a high correlation to forearm torque and lifting strength. Sex, age, and height can be used to predict forearm torque and lifting strength. Prediction equations using these variables were generated. Normative data of forearm torque and lifting strength might improve the quality of assessment of wrist and forearm disorders as well as their treatments. Copyright © 2018 American Society for Surgery of the Hand. Published by Elsevier Inc. All rights reserved.

Nonlinear Control of the Doubly Fed Induction Motor with Copper Losses Minimization for Electrical Vehicle

NASA Astrophysics Data System (ADS)

Drid, S.; Nait-Said, M.-S.; Tadjine, M.; Makouf, A.

2008-06-01

There is an increasing interest in electric vehicles due to environmental concerns. Recent efforts are directed toward developing an improved propulsion system for electric vehicles applications with minimal power losses. This paper deals with the high efficient vector control for the reduction of copper losses of the doubly fed motor. Firstly, the feedback linearization control based on Lyapunov approach is employed to design the underlying controller achieving the double fluxes orientation. The fluxes controllers are designed independently of the speed. The speed controller is designed using the Lyapunov method especially employed to the unknown load torques. The global asymptotic stability of the overall system is theoretically proven. Secondly, a new Torque Copper Losses Factor is proposed to deal with the problem of the machine copper losses. Its main function is to optimize the torque in keeping the machine saturation at an acceptable level. This leads to a reduction in machine currents and therefore their accompanied copper losses guaranteeing improved machine efficiency. The simulation results in comparative presentation confirm largely the effectiveness of the proposed DFIM control with a very interesting energy saving contribution.

A design procedure for active control of beam vibrations

NASA Technical Reports Server (NTRS)

Dickerson, S. L.; Jarocki, G.

1983-01-01

The transverse vibrations of beams is discussed and a methodology for the design of an active damping device is given. The Bernoulli-Euler equation is used to derive a transcendental transfer function, which relates a torque applied at one end of the beam to the rotational position and velocity at that point. The active damping device consists of a wire, a linear actuator and a short torque arm attached to one end of the beam. The action of the actuator varies a tension in the wire and creates a torque which opposes the rotation of the beam and thus damps vibration. A design procedure for such an active damper is given. This procedure shows the relationships and trade-offs between the actuator stroke, power required, stress levels in the wire and beam and the geometry of the beam and wire. It is shown that by consideration of the frequency response at the beam natural frequencies, the aforementioned relationships can be greatly simplified. Similarly, a simple way of estimating the effective damping ratios and eigenvalue locations of actively controlled beams is presented.

Classes of Split-Plot Response Surface Designs for Equivalent Estimation

NASA Technical Reports Server (NTRS)

Parker, Peter A.; Kowalski, Scott M.; Vining, G. Geoffrey

2006-01-01

When planning an experimental investigation, we are frequently faced with factors that are difficult or time consuming to manipulate, thereby making complete randomization impractical. A split-plot structure differentiates between the experimental units associated with these hard-to-change factors and others that are relatively easy-to-change and provides an efficient strategy that integrates the restrictions imposed by the experimental apparatus. Several industrial and scientific examples are presented to illustrate design considerations encountered in the restricted randomization context. In this paper, we propose classes of split-plot response designs that provide an intuitive and natural extension from the completely randomized context. For these designs, the ordinary least squares estimates of the model are equivalent to the generalized least squares estimates. This property provides best linear unbiased estimators and simplifies model estimation. The design conditions that allow for equivalent estimation are presented enabling design construction strategies to transform completely randomized Box-Behnken, equiradial, and small composite designs into a split-plot structure.

User-centered design and evaluation of a next generation fixed-split ergonomic keyboard.

PubMed

McLoone, Hugh E; Jacobson, Melissa; Hegg, Chau; Johnson, Peter W

2010-01-01

Research has shown that fixed-split, ergonomic keyboards lessen the pain and functional status in symptomatic individuals as well as reduce the likelihood of developing musculoskeletal disorders in asymptomatic typists over extended use. The goal of this study was to evaluate design features to determine whether the current fixed-split ergonomic keyboard design could be improved. Thirty-nine, adult-aged, fixed-split ergonomic keyboard users were recruited to participate in one of three studies. First utilizing non-functional models and later a functional prototype, three studies evaluated keyboard design features including: 1) keyboard lateral inclination, 2) wrist rest height, 3) keyboard slope, and 4) curved "gull-wing" key layouts. The findings indicated that keyboard lateral inclination could be increased from 8° to 14°; wrist rest height could be increased up to 10 mm from current setting; positive, flat, and negative slope settings were equally preferred and facilitated greater postural variation; and participants preferred a new gull-wing key layout. The design changes reduced forearm pronation and wrist extension while not adversely affecting typing performance. This research demonstrated how iterative-evaluative, user-centered research methods can be utilized to improve a product's design such as a fixed-split ergonomic keyboard.

A Critical Review on Tubercles Design for Propellers

NASA Astrophysics Data System (ADS)

Seeni, A.; Rajendran, P.; Kutty, H. A.

2018-05-01

The design of propellers in aeronautics is still earning high interest. This has led to the application of biomimetic for improving aerodynamic performance. One such design is the usage of tubercles in either leading or trailing edge of airfoils. So the usage of tubercles has so far been in the design of wing or wind-turbines. Recent studies have aimed to study tubercles for the design of a propeller. The studies have so far gained reputations in improving the aerodynamic performance on a few but not all of the airfoil shapes. Similar results have been identified for propeller designs with improvement in thrust at low torque. We have so far led research works on developing new propeller designs with the aim to improve the thrust and torque performance of propeller. A review of recent studies has been performed to study the state-of-the-art. The results of this work will be discussed in this paper.

The VSPA Foot: A Quasi-Passive Ankle-Foot Prosthesis With Continuously Variable Stiffness.

PubMed

Shepherd, Max K; Rouse, Elliott J

2017-12-01

Most commercially available prosthetic feet do not exhibit a biomimetic torque-angle relationship, and are unable to modulate their mechanics to assist with other mobility tasks, such as stairs and ramps. In this paper, we present a quasi-passive ankle-foot prosthesis with a customizable torque-angle curve and an ability to quickly modulate ankle stiffness between tasks. The customizable torque-angle curve is obtained with a cam-based transmission and a fiberglass leaf spring. To achieve variable stiffness, the leaf spring's support conditions can be actively modulated by a small motor, shifting the torque-angle curve to be more or less stiff. We introduce the design, characterize the available torque-angle curves, and present kinematics from a transtibial amputee subject performing level-ground walking, stair ascent/descent, and ramp ascent/descent. The subject exhibited a more normative range of motion on stairs and ramps at lower stiffness levels, and preferred different stiffness levels for each task. Paired with an appropriate intent recognition system, our novel ankle prosthesis could improve gait biomechanics during walking and many other mobility tasks.

Targeted brain activation using an MR-compatible wrist torque measurement device and isometric motor tasks during functional magnetic resonance imaging.

PubMed

Vlaar, Martijn P; Mugge, Winfred; Groot, Paul F C; Sharifi, Sarvi; Bour, Lo J; van der Helm, Frans C T; van Rootselaar, Anne-Fleur; Schouten, Alfred C

2016-07-01

Dedicated pairs of isometric wrist flexion tasks, with and without visual feedback of the exerted torque, were designed to target activation of the CBL and BG in healthy subjects during functional magnetic resonance imaging (fMRI). Selective activation of the cerebellum (CBL) and basal ganglia (BG), often implicated in movement disorders such as tremor and dystonia, may help identify pathological changes and expedite diagnosis. A prototyped MR-compatible wrist torque measurement device, free of magnetic and conductive materials, allowed safe execution of tasks during fMRI without causing artifacts. A significant increase of activity in CBL and BG was found in healthy volunteers during a constant torque task with visual feedback compared to a constant torque task without visual feedback. This study shows that specific pairs of motor tasks using MR-compatible equipment at the wrist allow for targeted activation of CBL and BG, paving a new way for research into the pathophysiology of movement disorders. Copyright © 2016 Elsevier Inc. All rights reserved.

Feasibility of a Hydraulic Power Assist System for Use in Hybrid Neuroprostheses

PubMed Central

Foglyano, Kevin M.; Kobetic, Rudi; To, Curtis S.; Bulea, Thomas C.; Schnellenberger, John R.; Audu, Musa L.; Nandor, Mark J.; Quinn, Roger D.; Triolo, Ronald J.

2015-01-01

Feasibility of using pressurized hydraulic fluid as a source of on-demand assistive power for hybrid neuroprosthesis combining exoskeleton with functional neuromuscular stimulation was explored. Hydraulic systems were selected as an alternative to electric motors for their high torque/mass ratio and ability to be located proximally on the exoskeleton and distribute power distally to assist in moving the joints. The power assist system (PAS) was designed and constructed using off-the-shelf components to test the feasibility of using high pressure fluid from an accumulator to provide assistive torque to an exoskeletal hip joint. The PAS was able to provide 21 Nm of assistive torque at an input pressure of 3171 kPa with a response time of 93 ms resulting in 32° of hip flexion in an able-bodied test. The torque output was independent of initial position of the joint and was linearly related to pressure. Thus, accumulator pressure can be specified to provide assistive torque as needed in exoskeletal devices for walking or stair climbing beyond those possible either volitionally or with electrical stimulation alone. PMID:27017963

Effect of pole number and slot number on performance of dual rotor permanent magnet wind power generator using ferrite magnets

NASA Astrophysics Data System (ADS)

Xu, Peifeng; Shi, Kai; Sun, Yuxin; Zhua, Huangqiu

2017-05-01

Dual rotor permanent magnet (DRPM) wind power generator using ferrite magnets has the advantages of low cost, high efficiency, and high torque density. How to further improve the performance and reduce the cost of the machine by proper choice of pole number and slot number is an important problem to be solved when performing preliminarily design a DRPM wind generator. This paper presents a comprehensive performance comparison of a DRPM wind generator using ferrite magnets with different slot and pole number combinations. The main winding factors are calculated by means of the star of slots. Under the same machine volume and ferrite consumption, the flux linkage, back-electromotive force (EMF), cogging torque, output torque, torque pulsation, and losses are investigated and compared using finite element analysis (FEA). The results show that the slot and pole number combinations have an important impact on the generator properties.

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.

A description of the thruster attitude control simulation and its application to the HEAO-C study

NASA Technical Reports Server (NTRS)

Brandon, L. B.

1971-01-01

During the design and evaluation of a reaction control system (RCS), it is desirable to have a digital computer program simulating vehicle dynamics, disturbance torques, control torques, and RCS logic. The thruster attitude control simulation (TACS) is just such a computer program. The TACS is a relatively sophisticated digital computer program that includes all the major parameters involved in the attitude control of a vehicle using an RCS for control. It includes the effects of gravity gradient torques and HEAO-C aerodynamic torques so that realistic runs can be made in the areas of fuel consumption and engine actuation rates. Also, the program is general enough that any engine configuration and logic scheme can be implemented in a reasonable amount of time. The results of the application of the TACS in the HEAO-C study are included.

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

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

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.

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.

Biomechanical evaluation of macro and micro designed screw-type implants: an insertion torque and removal torque study in rabbits.

PubMed

Chowdhary, Ramesh; Jimbo, Ryo; Thomsen, Christian; Carlsson, Lennart; Wennerberg, Ann

2013-03-01

To investigate the combined effect of macro and pitch shortened threads on primary and secondary stability during healing, but before dynamic loading. Two sets of turned implants with different macro geometry were prepared. The test group possessed pitch shortened threads in between the large threads and the control group did not have thread alterations. The two implant groups were placed in both femur and tibiae of 10 lop-eared rabbits, and at the time of implant insertion, insertion torques were recorded. After 4 weeks, all implants were subjected to removal torque tests. The insertion torque values for the control and test groups for the tibia were 15.7 and 20.6 Ncm, respectively, and for the femur, 11.8, and 12.8 Ncm respectively. The removal torque values for the control and test groups in the tibia were 7.9 and 9.1 Ncm, respectively, and for the femur, 7.9 and 7.7 Ncm respectively. There was no statistically significant difference between the control and test groups. Under limited dynamic load, the addition of pitch shortened threads did not significantly improve either the primary or the secondary stability of the implants in bone. © 2011 John Wiley & Sons A/S.

Z-2 Threaded Insert Design and Testing

NASA Technical Reports Server (NTRS)

Ross, Amy; Rhodes, Richard; Jones, Robert J.; Graziosi, David; Ferl, Jinny; Sweeny, Mitch; Scarborough, Stephen

2016-01-01

NASA's Z-2 prototype space suit contains several components fabricated from an advanced hybrid composite laminate consisting of IM10 carbon fiber and fiber glass. One requirement was to have removable, replaceable helicoil inserts to which other suit components would be fastened. An approach utilizing bonded in inserts with helicoils inside of them was implemented. During initial assembly, cracking sounds were heard followed by the lifting of one of the blind inserts out of its hole when the screws were torqued. A failure investigation was initiated to understand the mechanism of the failure. Ultimately, it was determined that the pre-tension caused by torqueing the fasteners is a much larger force than induced from the pressure loads of the suit which was not considered in the insert design. Bolt tension is determined by dividing the torque on the screw by a k value multiplied by the thread diameter of the bolt. The k value is a factor that accounts for friction in the system. A common value used for k for a non-lubricated screw is 0.2. The k value can go down by as much as 0.1 if the screw is lubricated which means for the same torque, a much larger tension could be placed on the bolt and insert. This paper summarizes the failure investigation that was performed to identify the root cause of the suit failure and details how the insert design was modified to resist a higher pull out tension.

Split-mouth design in Paediatric Dentistry clinical trials.

PubMed

Pozos-Guillén, A; Chavarría-Bolaños, D; Garrocho-Rangel, A

2017-03-01

The aim of this article was to describe the essential concepts of the split-mouth design, its underlying assumptions, advantages, limitations, statistical considerations, and possible applications in Paediatric Dentistry clinical investigation. In Paediatric Dentistry clinical investigation, and as part of randomised controlled trials, the split-mouth design is commonly used. The design is characterised by subdividing the child's dentition into halves (right and left), where two different treatment modalities are assigned to one side randomly, in order to allow further outcome evaluation. Each participant acts as their own control by making within- patient rather than between-patient comparisons, thus diminishing inter-subject variability and increasing study accuracy and power. However, the main problem with this design comprises the potential contamination of the treatment effect from one side to the other, or the "carry-across effect"; likewise, this design is not indicated when the oral disease to be treated is not symmetrically distributed (e.g. severity) in the mouth of children. Thus, in spite of its advantages, the split-mouth design can only be applied in a limited number of strictly selected cases. In order to obtain valid and reliable data from split mouth design studies, it is necessary to evaluate the risk of carry-across effect as well as to carefully analise and select adequate inclusion criteria, sample-size calculation and method of statistical analysis.

High-Torque, Lightweight, Pneumatically Driven Wrench For Small Spaces

NASA Technical Reports Server (NTRS)

Miller, Thomas W.

1995-01-01

Pneumatically driven wrench provides torque up to 3,000 lb. per ft. in small space. Designed to reach into 2.6 x 2.75 x 6 in. pocket. Weighs approximately 25 lbs. Includes reversible pneumatic motor (electric motor could be used instead) and slip clutch. Also includes device indicating total angle through which wrench turned bolt or nut. This feature used for turn-of-the-nut tightening method.

A dual-mode disturbance-accommodating controller for the Hubble Space Telescope

NASA Astrophysics Data System (ADS)

Addington, Stewart; Johnson, C. D.

Cyclic thermal expansions and mechanical stiction effects in the Solar Arrays on the Hubble Space Telescope (HST) are triggering repeated occurrences of damped, relaxation-type flex-body vibrations of the solar arrays. Those solar array vibrations are, in turn, causing unwanted, oscillating disturbance torques on the HST main body, which cause unwanted deviations of the telescope from its specified pointing direction. In this paper we propose two strategies one can adopt in designing a telescope-pointing controller to cope with the aforementioned disturbances: (1) a `total isolation' (TI) control strategy whereby the HST controller torques are designed to adaptively counteract and cancel-out the persistent disturbing torques that are causing the unwanted telescope motions, and (2) an `array damping' (AD) control strategy whereby the HST controller torques are used to actively augment the natural dampening of the solar array vibrations and the attendant telescope motions, between triggerings of the stiction-related flex-body relaxation oscillations. Using the principles of Disturbance-Accommodating Control (DAC) Theory a dual-mode controller for a generic, planar-motion (single-axis) model of the HST is proposed. This controller incorporates both the TI and AD modes of disturbance-accommodation. Simulation studies of the closed-loop system using generic parameter values clearly indicate, qualitatively, the enhanced pointing-performance such a controller can achieve.

Space suit glove design with advanced metacarpal phalangeal joints and robotic hand evaluation.

PubMed

Southern, Theodore; Roberts, Dustyn P; Moiseev, Nikolay; Ross, Amy; Kim, Joo H

2013-06-01

One area of space suits that is ripe for innovation is the glove. Existing models allow for some fine motor control, but the power grip--the act of grasping a bar--is cumbersome due to high torque requirements at the knuckle or metacarpal phalangeal joint (MCP). This area in particular is also a major source of complaints of pain and injury as reported by astronauts. This paper explores a novel fabrication and patterning technique that allows for more freedom of movement and less pain at this crucial joint in the manned space suit glove. The improvements are evaluated through unmanned testing, manned testing while depressurized in a vacuum glove box, and pressurized testing with a robotic hand. MCP joint flex score improved from 6 to 6.75 (out of 10) in the final glove relative to the baseline glove, and torque required for flexion decreased an average of 17% across all fingers. Qualitative assessments during unpressurized and depressurized manned testing also indicated the final glove was more comfortable than the baseline glove. The quantitative results from both human subject questionnaires and robotic torque evaluation suggest that the final iteration of the glove design enables flexion at the MCP joint with less torque and more comfort than the baseline glove.

Influence of core design, production technique, and material selection on fracture behavior of yttria-stabilized tetragonal zirconia polycrystal fixed dental prostheses produced using different multilayer techniques: split-file, over-pressing, and manually built-up veneers.

PubMed

Mahmood, Deyar Jallal Hadi; Linderoth, Ewa H; Wennerberg, Ann; Vult Von Steyern, Per

2016-01-01

To investigate and compare the fracture strength and fracture mode in eleven groups of currently, the most commonly used multilayer three-unit all-ceramic yttria-stabilized tetragonal zirconia polycrystal (Y-TZP) fixed dental prostheses (FDPs) with respect to the choice of core material, veneering material area, manufacturing technique, design of connectors, and radii of curvature of FDP cores. A total of 110 three-unit Y-TZP FDP cores with one intermediate pontic were made. The FDP cores in groups 1-7 were made with a split-file design, veneered with manually built-up porcelain, computer-aided design-on veneers, and over-pressed veneers. Groups 8-11 consisted of FDPs with a state-of-the-art design, veneered with manually built-up porcelain. All the FDP cores were subjected to simulated aging and finally loaded to fracture. There was a significant difference (P<0.05) between the core designs, but not between the different types of Y-TZP materials. The split-file designs with VITABLOCS(®) (1,806±165 N) and e.max(®) ZirPress (1,854±115 N) and the state-of-the-art design with VITA VM(®) 9 (1,849±150 N) demonstrated the highest mean fracture values. The shape of a split-file designed all-ceramic reconstruction calls for a different dimension protocol, compared to traditionally shaped ones, as the split-file design leads to sharp approximal indentations acting as fractural impressions, thus decreasing the overall strength. The design of a framework is a crucial factor for the load bearing capacity of an all-ceramic FDP. The state-of-the-art design is preferable since the split-file designed cores call for a cross-sectional connector area at least 42% larger, to have the same load bearing capacity as the state-of-the-art designed cores. All veneering materials and techniques tested in the study, split-file, over-press, built-up porcelains, and glass-ceramics are, with a great safety margin, sufficient for clinical use both anteriorly and posteriorly. Analysis of the fracture pattern shows differences between the milled veneers and over-pressed or built-up veneers, where the milled ones show numerically more veneer cracks and the other groups only show complete connector fractures.

The rewritable effects of bonded magnet for large starting torque and high efficiency in the small power single-phase written pole motor

NASA Astrophysics Data System (ADS)

Choi, Jae-Hak; Lee, Sung-Ho

2009-04-01

This paper presents a single-phase written pole motor using a bonded ring magnet for the small power home application. The motor has an exciter pole structure inside the stator and hybrid characteristics of an induction motor and permanent magnet motor. The design parameters and operating characteristics of the hybrid concept motor are investigated to increase starting torque and efficiency, which is most important for the small power home application. Larger starting torque and higher efficiency than those of the conventional induction motor could be obtained by using the rewritable characteristics of bonded magnet on the starting and running conditions.

Tool For Driving Many Fasteners Simultaneously

NASA Technical Reports Server (NTRS)

Cook, Joseph S., Jr.

1995-01-01

Proposed tool tightens or loosens several bolts, screws, nuts, or other threaded fasteners arranged in circle on compressor head, automotive wheel, pipe-end flange, or similar object. Enables assembly or disassembly in fraction of time needed to tighten fasteners one at a time. Simultaneously applies same torque to all fasteners, preventing distortion and enhancing reliability. Concept not limited to circular fastener patterns. Adapted to rectangular configurations like on engine intake manifolds, by adding gears to drive train to provide proper spacing. Designed to deliver fixed or adjustable maximum torque. To ensure even seal loading, piston pressure simultaneously ramped from initial to final values to maintain relatively constant torque loading on all fasteners until final specifications limit achieved.

Steering law design for redundant single-gimbal control moment gyroscopes. [for spacecraft attitude control

NASA Technical Reports Server (NTRS)

Bedrossian, Nazareth S.; Paradiso, Joseph; Bergmann, Edward V.; Rowell, Derek

1990-01-01

Two steering laws are presented for single-gimbal control moment gyroscopes. An approach using the Moore-Penrose pseudoinverse with a nondirectional null-motion algorithm is shown by example to avoid internal singularities for unidirectional torque commands, for which existing algorithms fail. Because this is still a tangent-based approach, however, singularity avoidance cannot be guaranteed. The singularity robust inverse is introduced as an alternative to the pseudoinverse for computing torque-producing gimbal rates near singular states. This approach, coupled with the nondirectional null algorithm, is shown by example to provide better steering law performance by allowing torque errors to be produced in the vicinity of singular states.

Recent Progress in Metal‐Organic Frameworks for Applications in Electrocatalytic and Photocatalytic Water Splitting

PubMed Central

Wang, Wei; Xu, Xiaomin; Zhou, Wei

2017-01-01

The development of clean and renewable energy materials as alternatives to fossil fuels is foreseen as a potential solution to the crucial problems of environmental pollution and energy shortages. Hydrogen is an ideal energy material for the future, and water splitting using solar/electrical energy is one way to generate hydrogen. Metal‐organic frameworks (MOFs) are a class of porous materials with unique properties that have received rapidly growing attention in recent years for applications in water splitting due to their remarkable design flexibility, ultra‐large surface‐to‐volume ratios and tunable pore channels. This review focuses on recent progress in the application of MOFs in electrocatalytic and photocatalytic water splitting for hydrogen generation, including both oxygen and hydrogen evolution. It starts with the fundamentals of electrocatalytic and photocatalytic water splitting and the related factors to determine the catalytic activity. The recent progress in the exploitation of MOFs for water splitting is then summarized, and strategies for designing MOF‐based catalysts for electrocatalytic and photocatalytic water splitting are presented. Finally, major challenges in the field of water splitting are highlighted, and some perspectives of MOF‐based catalysts for water splitting are proposed. PMID:28435777

Field-free deterministic ultrafast creation of magnetic skyrmions by spin-orbit torques

NASA Astrophysics Data System (ADS)

Büttner, Felix; Lemesh, Ivan; Schneider, Michael; Pfau, Bastian; Günther, Christian M.; Hessing, Piet; Geilhufe, Jan; Caretta, Lucas; Engel, Dieter; Krüger, Benjamin; Viefhaus, Jens; Eisebitt, Stefan; Beach, Geoffrey S. D.

2017-11-01

Magnetic skyrmions are stabilized by a combination of external magnetic fields, stray field energies, higher-order exchange interactions and the Dzyaloshinskii-Moriya interaction (DMI). The last favours homochiral skyrmions, whose motion is driven by spin-orbit torques and is deterministic, which makes systems with a large DMI relevant for applications. Asymmetric multilayers of non-magnetic heavy metals with strong spin-orbit interactions and transition-metal ferromagnetic layers provide a large and tunable DMI. Also, the non-magnetic heavy metal layer can inject a vertical spin current with transverse spin polarization into the ferromagnetic layer via the spin Hall effect. This leads to torques that can be used to switch the magnetization completely in out-of-plane magnetized ferromagnetic elements, but the switching is deterministic only in the presence of a symmetry-breaking in-plane field. Although spin-orbit torques led to domain nucleation in continuous films and to stochastic nucleation of skyrmions in magnetic tracks, no practical means to create individual skyrmions controllably in an integrated device design at a selected position has been reported yet. Here we demonstrate that sub-nanosecond spin-orbit torque pulses can generate single skyrmions at custom-defined positions in a magnetic racetrack deterministically using the same current path as used for the shifting operation. The effect of the DMI implies that no external in-plane magnetic fields are needed for this aim. This implementation exploits a defect, such as a constriction in the magnetic track, that can serve as a skyrmion generator. The concept is applicable to any track geometry, including three-dimensional designs.

An innovative multi-gap clutch based on magneto-rheological fluids and electrodynamic effects: magnetic design and experimental characterization

NASA Astrophysics Data System (ADS)

Rizzo, R.

2017-01-01

In this paper an innovative multi-gap magnetorheological clutch is described. It is inspired by a device previously developed by the author’s research group and contains a novel solution based on electrodynamic effects, capable to considerably improve the transmissible torque during the engagement phase. Since this (transient) phase is characterized by a non-zero angular speed between the two clutch shafts, the rotation of a permanent magnets system, used to excite the fluid, induces eddy currents on some conductive material strategically positioned in the device. As a consequence, an electromagnetic torque is produced which is added to the torque transmitted by the magnetorheological fluid only. Once the clutch is completely engaged and the relative speed between the two shafts is zero, the electrodynamic effects vanish and the device operates like a conventional magnetorheological clutch. The system is investigated and designed by means a 3D FEM model and the performance of the device is experimentally validated on a prototype.

[Torque resistance of three different types of nickel-titanium rotary instruments].

PubMed

Sun, Wei; Hou, Ben-xiang

2010-10-01

To compare torsional fracture of three different types of nickel-titanium rotary instruments ProTaper, Hero642 and Mtwo by making a stimulate models in vitro. Through the establishment of model in vitro, compared the different time with 3 kinds of nickel titanium file in cutting-edge bound occurs, and to observe the section of fractured instruments by scanning electron microscope. The resistence to torque was different from three types of nickel titanium instruments. The time to fracture of Mtwo was significantly longer than ProTaper's and Hero642's, but ProTaper's and Hero642's had no significant difference. Three kinds cross-sectional design were different, a lot of toughness nests were seen in broken surface. Most of them were ductile fracture. Time to fracture was influenced by the quality disfigurement. The resistance to torque of Mtwo was better than ProTaper and Hero642. The lifespan was influenced by the design of cross-section. The quality disfigurement of the files reduced the resistance to flexual fatigue.

Formulation design for optimal high-shear wet granulation using on-line torque measurements.

PubMed

Cavinato, Mauro; Bresciani, Massimo; Machin, Marianna; Bellazzi, Guido; Canu, Paolo; Santomaso, Andrea C

2010-03-15

An alternative procedure for achieving formulation design in a high-shear wet granulation process has been developed. Particularly, a new formulation map has been proposed which describes the onset of a significant granule growth as a function of the formulation variables (diluent, dry and liquid binder). Granule growth has been monitored using on-line impeller torque and evaluated as changes in granule particle size distribution with respect to the dry formulation. It is shown how the onset of granule growth is denoted by an abrupt increase in the torque value requires the amount of binder liquid added to be greater than a certain threshold that is identified here as 'minimum liquid volume'. This minimum liquid volume is determined as a function of dry binder type, amount, hygroscopicity and particle size distribution of diluent. It is also demonstrated how this formulation map can be constructed from independent measurements of binder glass transition temperatures using a static humidity conditioning system. 2009 Elsevier B.V. All rights reserved.

Synthetic Fiber Capstan Drives for Highly Efficient, Torque Controlled, Robotic Applications

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

Mazumdar, Anirban; Spencer, Steven James; Hobart, Clinton

Here this paper describes the design and performance of a synthetic rope on sheave drive system. This system uses synthetic ropes instead of steel cables to achieve low weight and a compact form factor. We demonstrate how this system is capable of 28-Hz torque control bandwidth, 95% efficiency, and quiet operation, making it ideal for use on legged robots and other dynamic physically interactive systems. Component geometry and tailored maintenance procedures are used to achieve high endurance. Endurance tests based on walking data predict that the ropes will survive roughly 247,000 cycles when used on large (90 kg), fully actuatedmore » bipedal robot systems. The drive systems have been incorporated into two novel bipedal robots capable of three-dimensional unsupported walking. Robot data illustrate effective torque tracking and nearly silent operation. Finally, comparisons with alternative transmission designs illustrate the size, weight, and endurance advantages of using this type of synthetic rope drive system.« less

Synthetic Fiber Capstan Drives for Highly Efficient, Torque Controlled, Robotic Applications

DOE PAGES

Mazumdar, Anirban; Spencer, Steven James; Hobart, Clinton; ...

2017-01-05

Here this paper describes the design and performance of a synthetic rope on sheave drive system. This system uses synthetic ropes instead of steel cables to achieve low weight and a compact form factor. We demonstrate how this system is capable of 28-Hz torque control bandwidth, 95% efficiency, and quiet operation, making it ideal for use on legged robots and other dynamic physically interactive systems. Component geometry and tailored maintenance procedures are used to achieve high endurance. Endurance tests based on walking data predict that the ropes will survive roughly 247,000 cycles when used on large (90 kg), fully actuatedmore » bipedal robot systems. The drive systems have been incorporated into two novel bipedal robots capable of three-dimensional unsupported walking. Robot data illustrate effective torque tracking and nearly silent operation. Finally, comparisons with alternative transmission designs illustrate the size, weight, and endurance advantages of using this type of synthetic rope drive system.« less

A versatile 50 ft-lb-sec reaction wheel for TRMM and XTE missions

NASA Astrophysics Data System (ADS)

Bialke, Bill

A 50 ft-lb-sec Reaction Wheel is being manufactured by ITHACO, Inc. for NASA's X-ray Timing Explorer (XTE) and Tropical Rainfall Measuring Mission (TRMM) missions, using the same mechanical assemblies as a similar Reaction Wheel developed by ITHACO for the Air Force's Advanced Research and Global Observation Satellite (ARGOS) (P91-1) mission. The versatile design allows variation in motor torque and speed capability with no mechanical modifications. State of the art ball bearing technology is combined with flight proven materials and conventional fabrication techniques to produce a relaible and manufacturable wheel assembly. An ironless armature brushless DC motor is incorporated for high efficiency and minimum weight. Comprehensive tradeoff analyses from the Reaction Wheel development are discussed for each component, and performance characteristics are presented for design variations from a high torque Reaction Wheel used in a three axis stabilized spacecraft to a low torque Momentum Wheel used in a momentum biased attitude Control System.

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 %.

Whole-body isometric force/torque measurements for functional assessment in neuro-rehabilitation: platform design, development and verification.

PubMed

Mazzoleni, Stefano; Toth, Andras; Munih, Marko; Van Vaerenbergh, Jo; Cavallo, Giuseppe; Micera, Silvestro; Dario, Paolo; Guglielmelli, Eugenio

2009-10-30

One of the main scientific and technological challenges of rehabilitation bioengineering is the development of innovative methodologies, based on the use of appropriate technological devices, for an objective assessment of patients undergoing a rehabilitation treatment. Such tools should be as fast and cheap to use as clinical scales, which are currently the daily instruments most widely used in the routine clinical practice. A human-centered approach was used in the design and development of a mechanical structure equipped with eight force/torque sensors that record quantitative data during the initiation of a predefined set of Activities of Daily Living (ADL) tasks, in isometric conditions. Preliminary results validated the appropriateness, acceptability and functionality of the proposed platform, that has become now a tool used for clinical research in three clinical centres. This paper presented the design and development of an innovative platform for whole-body force and torque measurements on human subjects. The platform has been designed to perform accurate quantitative measurements in isometric conditions with the specific aim to address the needs for functional assessment tests of patients undergoing a rehabilitation treatment as a consequence of a stroke.The versatility of the system also enlightens several other interesting possible areas of application for therapy in neurorehabilitation, for research in basic neuroscience, and more.

Sensory-Feedback Exoskeletal Arm Controller

NASA Technical Reports Server (NTRS)

An, Bin; Massie, Thomas H.; Vayner, Vladimir

2004-01-01

An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment between the exoskeletal mechanism and the shoulder. 4. The fourth DOF is that of flexion and extension of the elbow. The reflected torque for this DOF is provided by motor 4 and drum 4, which are mounted on a bracket that can slide longitudinally by a pin-and-slot engagement with the upper-arm cuff to compensate for slight variations in the position of the kinematic center of the elbow. Attached to drum 4 is an adapter plate to which is attached a CRCM for the lower arm. 5. The lower-arm CRCM implements the fifth DOF, which is the twist of the forearm about its longitudinal axis. Motor 5 provides the reflected torque for this DOF by driving the lower-arm cuff. A rod transmits twist and torsion between the lower-arm cuff and the hand cuff. With this system, the motion of the wearer s joints and the reflected torques applied to these joints can be measured and controlled in a relatively simple manner. This is because the anthropomorphic design of the mechanism imitates the kinematics of the human arm, eliminating the need for kinematic conversion of joint-torque and joint-angle data.

The Design & Development of the Ocean Color Instrument Precision Superduplex Hybrid Bearing Cartridge

NASA Technical Reports Server (NTRS)

Schepis, Joseph; Woodard, Timothy; Hakun, Claef; Bergandy, Konrad; Church, Joseph; Ward, Peter; Lee, Michael; Conti, Alfred; Guzek, Jeffrey

2018-01-01

A high precision, high-resolution Ocean Color Imaging (OCI) instrument is under development for the Plankton, Aerosol, Cloud, ocean Ecosystem (PACE) mission which requires a pair of medium speed mechanisms to scan the ocean surface continuously. The design of the rotating telescope (RT) mechanism operating at 360 RPM and the half-angle mirror (HAM) mechanism synchronized at 180 RPM was concern for maintaining pointing precision over the required life and continuous operations. An effort was undertaken with the manufacturer to design and analyze a special bearing configuration to minimize axial and radial runout, minimize torque, and maintain nominal contact stresses and stiffness over the operating temperature range and to maximize life. The bearing design, development effort, analysis and testing will be discussed as will the technical challenges that this specific design imposed upon the mechanism engineers. Bearing performance, runout as achieved and verified during encoder installation and operating torque will be described.

Design and application of a test rig for super-critical power transmission shafts

NASA Technical Reports Server (NTRS)

Darlow, M.; Smalley, A.

1979-01-01

The design, assembly, operational check-out and application of a test facility for testing supercritical power transmission shafts under realistic conditions of size, speed and torque are described. Alternative balancing methods and alternative damping mechanisms are demonstrated and compared. The influence of torque upon the unbalance distribution is studied, and its effect on synchronous vibrations is investigated. The feasibility of operating supercritical power transmission shafting is demonstrated, but the need for careful control, by balancing and damping, of synchronous and nonsynchronous vibrations is made clear. The facility was demonstrated to be valuable for shaft system development programs and studies for both advanced and current-production hardware.

Design of a telerobotic controller with joint torque sensors

NASA Technical Reports Server (NTRS)

Jansen, J. F.; Herndon, J. N.

1990-01-01

The purpose was to analytically show how to design a joint controller for a telerobotic system when joint torque sensors are available. Other sensors such as actuator position, actuator velocity, joint position, and joint velocity are assumed to be accessible; however, the results will also be useful when only partial measurements are available. The controller presented can be applied to either mode of operation of a manipulator (i.e., teleoperation or robotic). Mechanical manipulators with high levels of friction are assumed. The results are applied to a telerobotic system built for NASA. Very high levels of friction have been reduced using high-gain feedback while avoiding limit cycles.

Design and characterization of a biologically inspired quasi-passive prosthetic ankle-foot.

PubMed

Mooney, Luke M; Lai, Cara H; Rouse, Elliott J

2014-01-01

By design, commonly worn energy storage and release (ESR) prosthetic feet cannot provide biologically realistic ankle joint torque and angle profiles during walking. Additionally, their anthropomorphic, cantilever architecture causes their mechanical stiffness to decrease throughout the stance phase of walking, opposing the known trend of the biological ankle. In this study, the design of a quasi-passive pneumatic ankle-foot prosthesis is detailed that is able to replicate the biological ankle's torque and angle profiles during walking. The prosthetic ankle is comprised of a pneumatic piston, bending spring and solenoid valve. The mechanical properties of the pneumatic ankle prosthesis are characterized using a materials testing machine and the properties are compared to those from a common, passive ESR prosthetic foot. The characterization spanned a range of ankle equilibrium pressures and testing locations beneath the foot, analogous to the location of center of pressure within the stance phase of walking. The pneumatic ankle prosthesis was shown to provide biologically appropriate trends and magnitudes of torque, angle and stiffness behavior, when compared to the passive ESR prosthetic foot. Future work will focus on the development of a control system for the quasi-passive device and clinical testing of the pneumatic ankle to demonstrate efficacy.

Study of a Satellite Attitude Control System Using Integrating Gyros as Torque Sources

NASA Technical Reports Server (NTRS)

White, John S.; Hansen, Q. Marion

1961-01-01

This report considers the use of single-degree-of-freedom integrating gyros as torque sources for precise control of satellite attitude. Some general design criteria are derived and applied to the specific example of the Orbiting Astronomical Observatory. The results of the analytical design are compared with the results of an analog computer study and also with experimental results from a low-friction platform. The steady-state and transient behavior of the system, as determined by the analysis, by the analog study, and by the experimental platform agreed quite well. The results of this study show that systems using integrating gyros for precise satellite attitude control can be designed to have a reasonably rapid and well-damped transient response, as well as very small steady-state errors. Furthermore, it is shown that the gyros act as rate sensors, as well as torque sources, so that no rate stabilization networks are required, and when no error sensor is available, the vehicle is still rate stabilized. Hence, it is shown that a major advantage of a gyro control system is that when the target is occulted, an alternate reference is not required.

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.

Spring Ankle with Regenerative Kinetics to Build a New Generation of Transtibial Prostheses

DTIC Science & Technology

2009-07-01

fiber keel. This feature can provide an alternative if the electronics fail in a field condition. We are focused on developing the most durable...step forward in design of new prosthesis 22 14. Discovery Channel, 2008, “Toad research could leapfrog to new muscle model”, show was called...turning on the proportional myoelectric control. The pneumatic muscles supplied 36% plantar flexor torque and 123% dorsi flexor torque. Challenges

Comparative Design, Modeling, and Control Analysis of Robotic Transmissions

DTIC Science & Technology

1990-08-01

Stiffening transmission behaviors are shown to be of a conditionally stabilizing nature, while also reducing the dynamic range of impedance- and torque...A closer look. 228 (f) REDEX Cycloidal Gear Reducer - A closer look. 234 (g) Brushless DC Sensorimotors. 239 (4.4) Conclusions 244 (4.4.1) General...the environment profile with the bearing-follower and the rocker arm. Figure 5.2: Experimental Torque Linearity of Brushless DC Motor - Measured vs

Quantum-splitting oxide-based phosphors, method of producing, and rules for designing the same

DOEpatents

Setlur, Anant Achyut; Comanzo, Holly Ann; Srivastava, Alok Mani

2003-09-16

Strontium and strontium calcium aluminates and lanthanum and lanthanum magnesium borates activated with Pr.sup.3+ and Mn.sup.2+ exhibit characteristics of quantum-splitting phosphors. Improved quantum efficiency may be obtained by further doping with Gd.sup.3+. Refined rules for designing quantum-splitting phosphors include the requirement of incorporation of Gd.sup.3+ and Mn.sup.2+ in the host lattice for facilitation of energy migration.

Aeroservoelastic DAP missile fin development. [directionally attached piezoelectric actuator

NASA Technical Reports Server (NTRS)

Barrett, Ron

1993-01-01

The development of an active aeroservoelastic missile fin using directionally attached piezoelectric (DAP) actuator elements is detailed. Several different types of actuator elements are examined, including piezoelectric polymers, piezoelectric fiber composites, and conventionally attached piezoelectric (CAP) and DAP elements. These actuator elements are bonded to the substrate of a torque plate. The root of the torque plate is attached to a fuselage hard point or folding pivot. The tip of the plate is bonded to an aerodynamic shell which undergoes a pitch change as the plate twists. The design procedures used on the plate are discussed. A comparison of the various actuator element shows that DAP elements provide the highest deflections with the highest torsional stiffness. A torque plate was constructed from 0.2032 mm thick DAP elements bonded to a 0.127 mm thick AISI 1010 steel substrate. The torque plate produced static twist deflections in excess of +/- 3 deg. An aerodynamic shell with a modified NACA 0012 profile was added to the torque plate. This fin was tested in a wind tunnel at speeds up to 50 ms/sec. The static deflection of the fin was predicted to within 6 percent of the experimental data.

MRF actuators with reduced no-load losses

NASA Astrophysics Data System (ADS)

Güth, Dirk; Maas, Jürgen

2012-04-01

Magnetorheological fluids (MRF) are smart fluids with the particular characteristics of changing their apparent viscosity significantly under the influence of a magnetic field. This property allows the design of mechanical devices for torque transmission, such as brakes and clutches, with a continuously adjustable and smooth torque generation. A challenge that is opposed to a commercial use, are durable no-load losses, because a complete torque-free separation due to the permanent liquid intervention is inherently not yet possible. In this paper, the necessity of reducing these durable no-load losses will be shown by measurements performed with a MRF brake for high rotational speeds of 6000min-1 in a first step. The detrimental high viscous torque motivates the introduction of a novel concept that allows a controlled movement of the MR fluid from an active shear gap into an inactive shear gap and thus an almost separation of the fluid engaging surfaces. Simulation and measurement results show that the viscous induced drag torque can be reduced significantly. Based on this new approach, it is possible to realize MRF actuators for an energy-efficient use in the drive technology or power train, which avoid this inherent disadvantage and extend additionally the durability of the entire component.

Analytical study of a quasi-zero stiffness coupling using a torsion magnetic spring with negative stiffness

NASA Astrophysics Data System (ADS)

Zheng, Yisheng; Zhang, Xinong; Luo, Yajun; Zhang, Yahong; Xie, Shilin

2018-02-01

By now, many translation quasi-zero stiffness (QZS) mechanisms have been proposed to overcome the restriction between the isolation frequency range and the load bearing capacity of linear isolators. The couplings of rotor systems undertake the functions of transmitting static driving torque and isolating disturbing torque simultaneously, which creates the demand of torsion QZS mechanisms. Hence a QZS coupling is presented in this paper, where a torsion magnetic spring (TMS) composed of two coaxial ring magnet arrangements in repulsive configuration is employed to produce negative torsion stiffness to counteract the positive stiffness of a rubber spring. In this paper, the expressions of magnetic torque and stiffness are given firstly and verified by finite element simulations; and the effect of geometric parameters of the TMS on its stiffness characteristic is analyzed in detail, which contributes to the optimal design of the TMS. Then dynamic analysis of the QZS coupling is performed and the analytical expression of the torque transmissibility is achieved based on the Harmonic Balance Method. Finally, simulation of the torque transmissibility is carried out to reveal how geometric parameters of the TMS affect the isolation performance.

Optimization design of wind turbine drive train based on Matlab genetic algorithm toolbox

NASA Astrophysics Data System (ADS)

Li, R. N.; Liu, X.; Liu, S. J.

2013-12-01

In order to ensure the high efficiency of the whole flexible drive train of the front-end speed adjusting wind turbine, the working principle of the main part of the drive train is analyzed. As critical parameters, rotating speed ratios of three planetary gear trains are selected as the research subject. The mathematical model of the torque converter speed ratio is established based on these three critical variable quantity, and the effect of key parameters on the efficiency of hydraulic mechanical transmission is analyzed. Based on the torque balance and the energy balance, refer to hydraulic mechanical transmission characteristics, the transmission efficiency expression of the whole drive train is established. The fitness function and constraint functions are established respectively based on the drive train transmission efficiency and the torque converter rotating speed ratio range. And the optimization calculation is carried out by using MATLAB genetic algorithm toolbox. The optimization method and results provide an optimization program for exact match of wind turbine rotor, gearbox, hydraulic mechanical transmission, hydraulic torque converter and synchronous generator, ensure that the drive train work with a high efficiency, and give a reference for the selection of the torque converter and hydraulic mechanical transmission.

Multi-component lightweight gearwheels with deep-drawn wheel body for automotive applications

NASA Astrophysics Data System (ADS)

Benkert, Tim; Hiller, Maria; Volk, Wolfram

2017-09-01

Multi-component gearwheels offer great lightweight opportunities for automotive applications. An assembly of a gear ring and a wheel body joined by press fit replaces the monolithic gearwheel. To save weight, the wheel body uses lightweight design. This lightweight design influences the assembled gearwheel’s mechanical properties like stiffness, weight and torque capacity. Further, the wheel body material influences the mentioned properties as well. In this paper, the effects of the lightweight wheel body manufactured by deep-drawing on the mechanical properties of the assembled gearwheel are investigated. Three different wheel body designs are examined regarding their stiffness and weight compared to a reference gearwheel. Using the best design, the influence of five materials with increasing yield strength on the maximum torque the gearwheel can transmit is studied. All research is done virtually using Abaqus 6.12-3.

A Method to Analyze and Optimize the Load Sharing of Split Path Transmissions

NASA Technical Reports Server (NTRS)

Krantz, Timothy L.

1996-01-01

Split-path transmissions are promising alternatives to the common planetary transmissions for rotorcraft. Heretofore, split-path designs proposed for or used in rotorcraft have featured load-sharing devices that add undesirable weight and complexity to the designs. A method was developed to analyze and optimize the load sharing in split-path transmissions without load-sharing devices. The method uses the clocking angle as a design parameter to optimize for equal load sharing. In addition, the clocking angle tolerance necessary to maintain acceptable load sharing can be calculated. The method evaluates the effects of gear-shaft twisting and bending, tooth bending, Hertzian deformations within bearings, and movement of bearing supports on load sharing. It was used to study the NASA split-path test gearbox and the U.S. Army's Comanche helicopter main rotor gearbox. Acceptable load sharing was found to be achievable and maintainable by using proven manufacturing processes. The analytical results compare favorably to available experimental data.

A traveling wave ultrasonic motor of high torque.

PubMed

Chen, Y; Liu, Q L; Zhou, T Y

2006-12-22

A traveling wave ultrasonic motor of high torque with a new configuration is proposed in this paper. In the new design, a part of the motor serves as the stator. The rotor is the vibrator consisting of a toothed metal ring with piezoelectric ceramic bonded, which generates ultrasonic vibration. The rotor is in contact with the shell of motor and is driven by the friction between the rotor and the stator. This configuration not only removes the rotor in a conventional type of traveling wave ultrasonic motor but also changes the interaction between the rotor and the stator of the motor so that it improves the output performance of the motor. Although an electric brush is added to the ultrasonic motor, it is easy to be fabricated because of the low speed of motor. The finite element method was used to compute the vibration modes of an ultrasonic motor with a diameter of 100mm to optimize the design of the motor. A 9th mode was chosen as the operation mode with a resonance frequency about 25 kHz. According to the design, a prototype was fabricated. Its performance was measured. The rotation speed-torque curves for various frequencies were obtained. The result shows that its stall torque is greater than 4 Nm within a range of 400 Hz. This ultrasonic motor was used to drive the window glass of a mobile car and the result was satisfactory. In the further the research on the friction material between the stator and the rotor is under way to improve the efficiency of the ultrasonic motor.

Vibration control of uncertain multiple launch rocket system using radial basis function neural network

NASA Astrophysics Data System (ADS)

Li, Bo; Rui, Xiaoting

2018-01-01

Poor dispersion characteristics of rockets due to the vibration of Multiple Launch Rocket System (MLRS) have always restricted the MLRS development for several decades. Vibration control is a key technique to improve the dispersion characteristics of rockets. For a mechanical system such as MLRS, the major difficulty in designing an appropriate control strategy that can achieve the desired vibration control performance is to guarantee the robustness and stability of the control system under the occurrence of uncertainties and nonlinearities. To approach this problem, a computed torque controller integrated with a radial basis function neural network is proposed to achieve the high-precision vibration control for MLRS. In this paper, the vibration response of a computed torque controlled MLRS is described. The azimuth and elevation mechanisms of the MLRS are driven by permanent magnet synchronous motors and supposed to be rigid. First, the dynamic model of motor-mechanism coupling system is established using Lagrange method and field-oriented control theory. Then, in order to deal with the nonlinearities, a computed torque controller is designed to control the vibration of the MLRS when it is firing a salvo of rockets. Furthermore, to compensate for the lumped uncertainty due to parametric variations and un-modeled dynamics in the design of the computed torque controller, a radial basis function neural network estimator is developed to adapt the uncertainty based on Lyapunov stability theory. Finally, the simulated results demonstrate the effectiveness of the proposed control system and show that the proposed controller is robust with regard to the uncertainty.

Fabrication of nanotweezers and their remote actuation by magnetic fields.

PubMed

Iss, Cécile; Ortiz, Guillermo; Truong, Alain; Hou, Yanxia; Livache, Thierry; Calemczuk, Roberto; Sabon, Philippe; Gautier, Eric; Auffret, Stéphane; Buda-Prejbeanu, Liliana D; Strelkov, Nikita; Joisten, Hélène; Dieny, Bernard

2017-03-27

A new kind of nanodevice that acts like tweezers through remote actuation by an external magnetic field is designed. Such device is meant to mechanically grab micrometric objects. The nanotweezers are built by using a top-down approach and are made of two parallelepipedic microelements, at least one of them being magnetic, bound by a flexible nanohinge. The presence of an external magnetic field induces a torque on the magnetic elements that competes with the elastic torque provided by the nanohinge. A model is established in order to evaluate the values of the balanced torques as a function of the tweezers opening angles. The results of the calculations are confronted to the expected values and validate the overall working principle of the magnetic nanotweezers.

Design and analysis of unequal split Bagley power dividers

NASA Astrophysics Data System (ADS)

Abu-Alnadi, Omar; Dib, Nihad; Al-Shamaileh, Khair; Sheta, Abdelfattah

2015-03-01

In this article, we propose a general design procedure to develop unequal split Bagley power dividers (BPDs). Based on the mathematical approach carried out in the insight of simple circuit and transmission line theories, exact design equations for 3-way and 5-way BPDs are derived. Utilising the developed equations leads to power dividers with the ability of offering different output power ratios through a suitable choice of the characteristic impedances of the interconnecting transmission lines. For verification purposes, a 1:2:1 3-way, 1:2:1:2:1 5-way and 1:3:1:3:1 5-way BPDs are designed and fabricated. The experimental and full-wave simulation results prove the validity of the designed unequal split BPDs.

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.

Integrated Orbit, Attitude, and Structural Control System Design for Space Solar Power Satellites

NASA Technical Reports Server (NTRS)

Woods-Vedeler, Jessica (Technical Monitor); Moore, Chris (Technical Monitor); Wie, Bong; Roithmayr, Carlos

2001-01-01

The major objective of this study is to develop an integrated orbit, attitude, and structural control system architecture for very large Space Solar Power Satellites (SSPS) in geosynchronous orbit. This study focuses on the 1.2-GW Abacus SSPS concept characterized by a 3.2 x 3.2 km solar-array platform, a 500-m diameter microwave beam transmitting antenna, and a 500 700 m earth-tracking reflector. For this baseline Abacus SSPS configuration, we derive and analyze a complete set of mathematical models, including external disturbances such as solar radiation pressure, microwave radiation, gravity-gradient torque, and other orbit perturbation effects. The proposed control system architecture utilizes a minimum of 500 1-N electric thrusters to counter, simultaneously, the cyclic pitch gravity-gradient torque, the secular roll torque caused by an o.set of the center-of-mass and center-of-pressure, the cyclic roll/yaw microwave radiation torque, and the solar radiation pressure force whose average value is about 60 N.

Integrated Orbit, Attitude, and Structural Control Systems Design for Space Solar Power Satellites

NASA Technical Reports Server (NTRS)

Wie, Bong; Roithmayr, Carlos M.

2001-01-01

The major objective of this study is to develop an integrated orbit, attitude, and structural control systems architecture for very large Space Solar Power Satellites (SSPS) in geosynchronous orbit. This study focuses on the 1.2-GW Abacus SSPS concept characterized by a 3.2 x 3.2 km solar-array platform, a 500-m diameter microwave beam transmitting antenna, and a 500 x 700 m earth-tracking reflector. For this baseline Abacus SSPS configuration, we derive and analyze a complete set of mathematical models, including external disturbances such as solar radiation pressure, microwave radiation, gravity-gradient torque, and other orbit perturbation effects. The proposed control systems architecture utilizes a minimum of 500 1-N electric thrusters to counter, simultaneously, the cyclic pitch gravity-gradient torque, the secular roll torque caused by an offset of the center-of-mass and center-of-pressure, the cyclic roll/yaw microwave radiation torque, and the solar radiation pressure force whose average value is about 60 N.

Multiscale modeling of current-induced switching in magnetic tunnel junctions using ab initio spin-transfer torques

NASA Astrophysics Data System (ADS)

Ellis, Matthew O. A.; Stamenova, Maria; Sanvito, Stefano

2017-12-01

There exists a significant challenge in developing efficient magnetic tunnel junctions with low write currents for nonvolatile memory devices. With the aim of analyzing potential materials for efficient current-operated magnetic junctions, we have developed a multi-scale methodology combining ab initio calculations of spin-transfer torque with large-scale time-dependent simulations using atomistic spin dynamics. In this work we introduce our multiscale approach, including a discussion on a number of possible schemes for mapping the ab initio spin torques into the spin dynamics. We demonstrate this methodology on a prototype Co/MgO/Co/Cu tunnel junction showing that the spin torques are primarily acting at the interface between the Co free layer and MgO. Using spin dynamics we then calculate the reversal switching times for the free layer and the critical voltages and currents required for such switching. Our work provides an efficient, accurate, and versatile framework for designing novel current-operated magnetic devices, where all the materials details are taken into account.

Multi-Reader ROC studies with Split-Plot Designs: A Comparison of Statistical Methods

PubMed Central

Obuchowski, Nancy A.; Gallas, Brandon D.; Hillis, Stephen L.

2012-01-01

Rationale and Objectives Multi-reader imaging trials often use a factorial design, where study patients undergo testing with all imaging modalities and readers interpret the results of all tests for all patients. A drawback of the design is the large number of interpretations required of each reader. Split-plot designs have been proposed as an alternative, in which one or a subset of readers interprets all images of a sample of patients, while other readers interpret the images of other samples of patients. In this paper we compare three methods of analysis for the split-plot design. Materials and Methods Three statistical methods are presented: Obuchowski-Rockette method modified for the split-plot design, a newly proposed marginal-mean ANOVA approach, and an extension of the three-sample U-statistic method. A simulation study using the Roe-Metz model was performed to compare the type I error rate, power and confidence interval coverage of the three test statistics. Results The type I error rates for all three methods are close to the nominal level but tend to be slightly conservative. The statistical power is nearly identical for the three methods. The coverage of 95% CIs fall close to the nominal coverage for small and large sample sizes. Conclusions The split-plot MRMC study design can be statistically efficient compared with the factorial design, reducing the number of interpretations required per reader. Three methods of analysis, shown to have nominal type I error rate, similar power, and nominal CI coverage, are available for this study design. PMID:23122570

Multi-reader ROC studies with split-plot designs: a comparison of statistical methods.

PubMed

Obuchowski, Nancy A; Gallas, Brandon D; Hillis, Stephen L

2012-12-01

Multireader imaging trials often use a factorial design, in which study patients undergo testing with all imaging modalities and readers interpret the results of all tests for all patients. A drawback of this design is the large number of interpretations required of each reader. Split-plot designs have been proposed as an alternative, in which one or a subset of readers interprets all images of a sample of patients, while other readers interpret the images of other samples of patients. In this paper, the authors compare three methods of analysis for the split-plot design. Three statistical methods are presented: the Obuchowski-Rockette method modified for the split-plot design, a newly proposed marginal-mean analysis-of-variance approach, and an extension of the three-sample U-statistic method. A simulation study using the Roe-Metz model was performed to compare the type I error rate, power, and confidence interval coverage of the three test statistics. The type I error rates for all three methods are close to the nominal level but tend to be slightly conservative. The statistical power is nearly identical for the three methods. The coverage of 95% confidence intervals falls close to the nominal coverage for small and large sample sizes. The split-plot multireader, multicase study design can be statistically efficient compared to the factorial design, reducing the number of interpretations required per reader. Three methods of analysis, shown to have nominal type I error rates, similar power, and nominal confidence interval coverage, are available for this study design. Copyright © 2012 AUR. All rights reserved.

Spectrum splitting metrics and effect of filter characteristics on photovoltaic system performance.

PubMed

Russo, Juan M; Zhang, Deming; Gordon, Michael; Vorndran, Shelby; Wu, Yuechen; Kostuk, Raymond K

2014-03-10

During the past few years there has been a significant interest in spectrum splitting systems to increase the overall efficiency of photovoltaic solar energy systems. However, methods for comparing the performance of spectrum splitting systems and the effects of optical spectral filter design on system performance are not well developed. This paper addresses these two areas. The system conversion efficiency is examined in detail and the role of optical spectral filters with respect to the efficiency is developed. A new metric termed the Improvement over Best Bandgap is defined which expresses the efficiency gain of the spectrum splitting system with respect to a similar system that contains the highest constituent single bandgap photovoltaic cell. This parameter indicates the benefit of using the more complex spectrum splitting system with respect to a single bandgap photovoltaic system. Metrics are also provided to assess the performance of experimental spectral filters in different spectrum splitting configurations. The paper concludes by using the methodology to evaluate spectrum splitting systems with different filter configurations and indicates the overall efficiency improvement that is possible with ideal and experimental designs.

The effect of vertical bracket positioning on torque and the resultant stress in the periodontal ligament--a finite element study.

PubMed

Sardarian, Ahmadreza; Danaei, Shahla Momeni; Shahidi, Shoaleh; Boushehri, Sahar Ghodsi; Geramy, Allahyar

2014-01-01

The ideal built-in tip and torque values of the straight wire appliance reduce the need for wire bending and hence reduce chair time. The vertical position of the bracket on the tooth surface can alter the torque exerted on the tooth. This is a result of the altered surface curvature observed at each vertical position. To further clarify the role of vertical bracket positioning on the applied torque and the resultant stresses in the periodontal ligament (PDL), we designed a mandibular first premolar using finite element modeling. Cone beam computed tomography of 52 patients (83 lower first premolars) was selected to be included in the study. Curvature was measured for points along the labial surface with increasing distances (0.5 mm increments) from the cusp tip by calculating the angle between tangents drawn from these points and the axis joining the cusp tip and the root apex. The mean values for each distance were calculated, and a finite element model was designed incorporating these mean values. The resultant stress and hydrostatic pressure in the PDL were calculated using finite element analysis. The labial surface of the mandibular first premolar demonstrated a 26.39° change from 2.5 to 6 mm from the cusp tip. The maximum Von-Mises stress and hydrostatic pressure in the PDL were observed at the root apex for all of the bracket positions, and these values demonstrated, respectively, a change of up to 0.059 and 0.186 MPa between two successive points. It can be concluded that the variation in the vertical position of the bracket can have an important effect on the torque and subsequently on the stresses and pressures in the PDL.

Quantifying Astronaut Tasks: Robotic Technology and Future Space Suit Design

NASA Technical Reports Server (NTRS)

Newman, Dava

2003-01-01

The primary aim of this research effort was to advance the current understanding of astronauts' capabilities and limitations in space-suited EVA by developing models of the constitutive and compatibility relations of a space suit, based on experimental data gained from human test subjects as well as a 12 degree-of-freedom human-sized robot, and utilizing these fundamental relations to estimate a human factors performance metric for space suited EVA work. The three specific objectives are to: 1) Compile a detailed database of torques required to bend the joints of a space suit, using realistic, multi- joint human motions. 2) Develop a mathematical model of the constitutive relations between space suit joint torques and joint angular positions, based on experimental data and compare other investigators' physics-based models to experimental data. 3) Estimate the work envelope of a space suited astronaut, using the constitutive and compatibility relations of the space suit. The body of work that makes up this report includes experimentation, empirical and physics-based modeling, and model applications. A detailed space suit joint torque-angle database was compiled with a novel experimental approach that used space-suited human test subjects to generate realistic, multi-joint motions and an instrumented robot to measure the torques required to accomplish these motions in a space suit. Based on the experimental data, a mathematical model is developed to predict joint torque from the joint angle history. Two physics-based models of pressurized fabric cylinder bending are compared to experimental data, yielding design insights. The mathematical model is applied to EVA operations in an inverse kinematic analysis coupled to the space suit model to calculate the volume in which space-suited astronauts can work with their hands, demonstrating that operational human factors metrics can be predicted from fundamental space suit information.

Design Considerations for Miniaturized Control Moment Gyroscopes for Rapid Retargeting and Precision Pointing of Small Satellites

NASA Technical Reports Server (NTRS)

Patankar, Kunal; Fitz-Coy, Norman; Roithmayr, Carlos M.

2014-01-01

This paper presents the design as well as characterization of a practical control moment gyroscope (CMG) based attitude control system (ACS) for small satellites in the 15-20 kilogram mass range performing rapid retargeting and precision pointing maneuvers. The paper focuses on the approach taken in the design of miniaturized CMGs while considering the constraints imposed by the use of commercial off-the-shelf (COTS) components as well as the size of the satellite. It is shown that a hybrid mode is more suitable for COTS based moment exchange actuators; a mode that uses the torque amplification of CMGs for rapid retargeting and direct torque capabilities of the flywheel motors for precision pointing. A simulation is provided to demonstrate on-orbit slew and pointing performance.

Design and analysis of interior-magnet outer-rotor concentric magnetic gears

NASA Astrophysics Data System (ADS)

Liu, Xinhua; Chau, K. T.; Jiang, J. Z.; Yu, Chuang

2009-04-01

In this paper, a new topology of concentric magnetic gears is proposed and implemented. The key of the new topology is to bury permanent magnets (PMs) of the outer rotor into the iron core in a new way so that the mechanical integrity can be improved, and the PM material can be saved while the torque density is maintained. The proposed gear is designed with the speed reduction ratio of 7.33 and optimized by using the three-dimensional finite element method (3D-FEM). The key of the 3D-FEM is to employ scalar magnetic potential to reduce the required memory and time for data manipulation and computation. After prototyping, the measured maximum static torque well agrees with the calculated one, hence verifying the proposed design and analysis.

Magnetic Gearboxes for Aerospace Applications

NASA Technical Reports Server (NTRS)

Perez-Diaz, Jose Luis; Diez-Jimenez, Efren; Alvarez-Valenzuela, Marco A.; Sanchez-Garcia-Casarrubios, Juan; Cristache, Christian; Valiente-Blanco, Ignacio

2014-01-01

Magnetic gearboxes are contactless mechanisms for torque-speed conversion. They present no wear, no friction and no fatigue. They need no lubricant and can be customized for other mechanical properties as stiffness or damping. Additionally, they can protect structures and mechanisms against overloads, limitting the transmitted torque. In this work, spur, planetary and "magdrive" or "harmonic drive" configurations are compared considering their use in aerospace applications. The most recent test data are summarized to provide some useful help for the design engineer.

Modelling of human walking to optimise the function of ankle-foot orthosis in Guillan-Barré patients with drop foot.

PubMed

Jamshidi, N; Rostami, M; Najarian, S; Menhaj, M B; Saadatnia, M; Firooz, S

2009-04-01

This paper deals with the dynamic modelling of human walking. The main focus of this research was to optimise the function of the orthosis in patients with neuropathic feet, based on the kinematics data from different categories of neuropathic patients. The patient's body on the sagittal plane was modelled for calculating the torques generated in joints. The kinematics data required for mathematical modelling of the patients were obtained from the films of patients captured by high speed camera, and then the films were analysed through a motion analysis software. An inverse dynamic model was used for estimating the spring coefficient. In our dynamic model, the role of muscles was substituted by adding a spring-damper between the shank and ankle that could compensate for their weakness by designing ankle-foot orthoses based on the kinematics data obtained from the patients. The torque generated in the ankle was varied by changing the spring constant. Therefore, it was possible to decrease the torque generated in muscles which could lead to the design of more comfortable and efficient orthoses. In this research, unlike previous research activities, instead of studying the abnormal gait or modelling the ankle-foot orthosis separately, the function of the ankle-foot orthosis on the abnormal gait has been quantitatively improved through a correction of the torque.

Magnetic fluid control for viscous loss reduction of high-speed MRF brakes and clutches with well-defined fail-safe behavior

NASA Astrophysics Data System (ADS)

Güth, Dirk; Schamoni, Markus; Maas, Jürgen

2013-09-01

No-load losses within brakes and clutches based on magnetorheological fluids are unavoidable and represent a major barrier towards their wide-spread commercial adoption. Completely torque free rotation is not yet possible due to persistent fluid contact within the shear gap. In this paper, a novel concept is presented that facilitates the controlled movement of the magnetorheological fluid from an active, torque-transmitting region into an inactive region of the shear gap. This concept enables complete decoupling of the fluid engaging surfaces such that viscous drag torque can be eliminated. In order to achieve the desired effect, motion in the magnetorheological fluid is induced by magnetic forces acting on the fluid, which requires an appropriate magnetic circuit design. In this investigation, we propose a methodology to determine suitable magnetic circuit designs with well-defined fail-safe behavior. The magnetically induced motion of magnetorheological fluids is modeled by the use of the Kelvin body force, and a multi-physics domain simulation is performed to elucidate various transitions between an engaged and disengaged operating mode. The modeling approach is validated by captured high-speed video frames which show the induced motion of the magnetorheological fluid due to the magnetic field. Finally, measurements performed with a prototype actuator prove that the induced viscous drag torque can be reduced significantly by the proposed magnetic fluid control methodology.

Attitude dynamics and control of spacecraft with a partially filled liquid tank and flexible panels

NASA Astrophysics Data System (ADS)

Liu, Feng; Yue, Baozeng; Zhao, Liangyu

2018-02-01

A liquid-filled flexible spacecraft is essentially a time-variant fully-coupled system, whose dynamics characteristics are closely associated with its motion features. This paper focuses on the mathematical modelling and attitude control of the spacecraft coupled with fuel sloshing dynamics and flexible solar panels vibration. The slosh motion is represented by a spherical pendulum, whose motion description method is improved by using split variable operation. Benefiting from this improvement, the nonlinear lateral sloshing and the rotary sloshing as well as the rigid motion of a liquid respect to the spacecraft can be approximately described. The assumed modes discretization method has been adopted to approximate the elastic displacements of the attached panels, and the coupled dynamics is derived by using the Lagrangian formulation. A variable substitution method is proposed to obtain the apparently-uncoupled mathematical model of the rigid-flexible-liquid spacecraft. After linearization, this model can be directly used for designing Lyapunov output-feedback attitude controller (OFAC). With only torque actuators, and attitude and rate sensors installed, this kind of attitude controller, as simulation results show, is capable of not only bringing the spacecraft to the desired orientation, but also suppressing the effect of flex and slosh on the attitude motion of the spacecraft.

An investigation into the torque density capabilities of flux-focusing magnetic gearboxes

NASA Astrophysics Data System (ADS)

Uppalapati, Krishna Kiran

Wind and many rotary based ocean energy conversion devices rely on a mechanical gearbox to increase their speed so as to match the requirements of the electromagnetic generator. However, mechanical gearboxes have a number of disadvantages such as the need for gear lubrication, no overload protection and the creation of acoustic noise. Frequently direct-drive generators are employed to overcome these issues, wherein the gearbox is removed and the shaft of the turbine is directly connected to the synchronous generator, either with an electrically excited or permanent magnet rotor. If the input speed to the generator is very low the torque must be very high in order to generate the necessary power. However, as the electrical loading of a synchronous generator is thermally limited, the size of the generator will become excessively large at high power levels. An alternative to these technologies is to consider replacing the mechanical gearbox with a magnetic gear. A magnetic gear can create speed change without any physical contact. It has inherent overload protection, and its non-contact operation offers the potential for high reliability. Despite significant progress, existing magnetic gear designs do not achieve torque densities that are competitive with mechanical gearboxes. This research has focused on designing a coaxial magnetic gear that can operate at a volumetric torque density that is comparable to a mechanical gearbox. A flux-focusing rotor topology also called spoke-type rotor magnet arrangement was adopted to improve the air-gap magnetic flux density which in turn improves the torque transferred between the rotors. Finite element analysis was utilized to conduct a parameter sweep analysis of the different geometric parameters of the magnetic gear. A sub-scale magnetic gear with a diameter of 110 mm and a scaled-up magnetic gear with a diameter of 228 mm was designed, constructed and experimentally evaluated. The torque and torque density of sub-scale design was measured to be 115 Nm and 151.2 Nm/L respectively and that of the scaled-up model was measured to be 731 Nm and 239 Nm/L respectively. An iterative magnetomechanical analysis technique was developed to study the deflection of the magnetic gear steel rotor bars due to the magnetic forces coming from the inner and outer rotor permanent magnets. The accuracy of the technique was validated by using an experimental test-stand. It was shown that the deflection is an important issue to consider especially if the air-gaps are small. A 2-D analytical based model was derived for the flux-focusing coaxial magnetic gear by using the separation of variables method to solve the Laplace and Poisson equation in each region. After applying the applicable Dirchlet and Neumann boundary conditions a set of 16 equations with 16 unknown Fourier coefficients was obtained. The 16 unknowns were solved numerically by putting the equations in a matrix form. It was shown that the analytical based model immensely reduced the torque and field computational time when compared to using finite element analysis. However, the analytical model does not take into consideration the non-linear properties of the steel. The benefits of using the analytical model was demonstrated by conducting a radial scaling and gear-ratio analysis.

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.

Optical splitter design for telecommunication access networks with triple-play services

NASA Astrophysics Data System (ADS)

Agalliu, Rajdi; Burtscher, Catalina; Lucki, Michal; Seyringer, Dana

2018-01-01

In this paper, we present various designs of optical splitters for access networks, such as GPON and XG-PON by ITU-T with triple-play services (ie data, voice and video). The presented designs exhibit a step forward, compared to the solutions recommended by the ITU, in terms of performance in transmission systems using WDM. The quality of performance is represented by the bit error rate and the Q-factor. Besides the standard splitter design, we propose a new length-optimized splitter design with a smaller waveguide core, providing some reduction of non-uniformity of the power split between the output waveguides. The achieved splitting parameters are incorporated in the simulations of passive optical networks. For this purpose, the OptSim tool employing Time Domain Split Step method was used.

An experimental comparison of the relative benefits of work and torque assistance in ankle exoskeletons.

PubMed

Jackson, Rachel W; Collins, Steven H

2015-09-01

Techniques proposed for assisting locomotion with exoskeletons have often included a combination of active work input and passive torque support, but the physiological effects of different assistance techniques remain unclear. We performed an experiment to study the independent effects of net exoskeleton work and average exoskeleton torque on human locomotion. Subjects wore a unilateral ankle exoskeleton and walked on a treadmill at 1.25 m·s(-1) while net exoskeleton work rate was systematically varied from -0.054 to 0.25 J·kg(-1)·s(-1), with constant (0.12 N·m·kg(-1)) average exoskeleton torque, and while average exoskeleton torque was systematically varied from approximately zero to 0.18 N·m·kg(-1), with approximately zero net exoskeleton work. We measured metabolic rate, center-of-mass mechanics, joint mechanics, and muscle activity. Both techniques reduced effort-related measures at the assisted ankle, but this form of work input reduced metabolic cost (-17% with maximum net work input) while this form of torque support increased metabolic cost (+13% with maximum average torque). Disparate effects on metabolic rate seem to be due to cascading effects on whole body coordination, particularly related to assisted ankle muscle dynamics and the effects of trailing ankle behavior on leading leg mechanics during double support. It would be difficult to predict these results using simple walking models without muscles or musculoskeletal models that assume fixed kinematics or kinetics. Data from this experiment can be used to improve predictive models of human neuromuscular adaptation and guide the design of assistive devices. Copyright © 2015 the American Physiological Society.

Critical bending moment of four implant-abutment interface designs.

PubMed

Lee, Frank K; Tan, Keson B; Nicholls, Jack I

2010-01-01

Critical bending moment (CBM), defined as the bending moment at which the external nonaxial load applied overcomes screw joint preload and causes loss of contact between the mating surfaces of the implant screw joint components, was measured for four different implants and their single-tooth replacement abutments. CBM at the implant-abutment screw joint for four implant-abutment test groups was measured in vitro at 80%, 100%, and 120% of the manufacturers' recommended torque levels. Regular-platform implants with their corresponding single-tooth abutments were used. Microstrain was measured while known loads were applied to the abutment at known distances from the implant-abutment interface. Strain instrumentation was used to record the strain data dynamically to determine the point of gap opening. All torque applications and strain measurements were repeated five times for the five samples in each group. For the Branemark/CeraOne assemblies, the mean CBMs were 72.14 Ncm, 102.21 Ncm, and 119.13 Ncm, respectively, at 80%, 100%, and 120% of the manufacturer's recommended torque. For the Replace/Easy assemblies, mean CBMs were 86.20 Ncm, 109.92 Ncm, and 120.93 Ncm; for the Biomet 3i/STA assemblies, they were 67.97 Ncm, 83.14 Ncm, and 91.81 Ncm; and for the Lifecore/COC assemblies, they were 58.32 Ncm, 76.79 Ncm, and 78.93 Ncm. Two-way analysis of variance revealed significant effects for the test groups and torque levels. Subsequent tests confirmed that significant differences existed between test groups and torque levels. The results appear to confirm the primary role of the compressive preload imparted by the abutment screw in maintaining screw joint integrity. CBM was found to differ among implant systems and torque levels. Torque levels recommended by the manufacturer should be followed to ensure screw joint integrity.

High frequency vibration characteristics of electric wheel system under in-wheel motor torque ripple

NASA Astrophysics Data System (ADS)

Mao, Yu; Zuo, Shuguang; Wu, Xudong; Duan, Xianglei

2017-07-01

With the introduction of in-wheel motor, the electric wheel system encounters new vibration problems brought by motor torque ripple excitation. In order to analyze new vibration characteristics of electric wheel system, torque ripple of in-wheel motor based on motor module and vector control system is primarily analyzed, and frequency/order features of the torque ripple are discussed. Then quarter vehicle-electric wheel system (QV-EWS) dynamics model based on the rigid ring tire assumption is established and the main parameters of the model are identified according to tire free modal test. Modal characteristics of the model are further analyzed. The analysis indicates that torque excitation of in-wheel motor is prone to arouse horizontal vibration, in which in-phase rotational, anti-phase rotational and horizontal translational modes of electric wheel system mainly participate. Based on the model, vibration responses of the QV-EWS under torque ripple are simulated. The results show that unlike vertical low frequency (lower than 20 Hz) vibration excited by road roughness, broadband torque ripple will arouse horizontal high frequency (50-100 Hz) vibration of electric wheel system due to participation of the three aforementioned modes. To verify the theoretical analysis, the bench experiment of electric wheel system is conducted and vibration responses are acquired. The experiment demonstrates the high frequency vibration phenomenon of electric wheel system and the measured order features as well as main resonant frequencies agree with simulation results. Through theoretical modeling, analysis and experiments this paper reveals and explains the high frequency vibration characteristics of electric wheel system, providing references for the dynamic analysis, optimal design of QV-EWS.

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.

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.

Magnetostrictive direct drive motors

NASA Technical Reports Server (NTRS)

Naik, Dipak; Dehoff, P. H.

1992-01-01

A new rare earth alloy, Terfenol-D, combines low frequency operation and extremely high energy density with high magnetostriction. Its material properties make it suitable as a drive element for actuators requiring high output torque. The high strains, the high forces and the high controllability of Terfenol alloys provide a powerful and challenging basis for new ways to generate motion in actuators. Two prototypes of motors using Terfenol-D rods were developed at NASA Goddard. The basic principles of operation are provided of the motor along with other relevant details. A conceptual design of a torque limiting safety clutch/brake under development is illustrated. Also, preliminary design drawings of a linear actuator using Terfenol-D is shown.

An advanced pitch change mechanism incorporating a hybrid traction drive

NASA Technical Reports Server (NTRS)

Steinetz, B. M.; Loewenthal, S. H.; Sargisson, D. F.; White, G.

1984-01-01

A design of a propeller pitch control mechanism is described that meets the demanding requirements of a high-power, advanced turboprop. In this application, blade twisting moment torque can be comparable to that of the main reduction gearbox output: precise pitch control, reliability and compactness are all at a premium. A key element in the design is a compact, high-ratio hybrid traction drive which offers low torque ripple and high torsional stiffness. The traction drive couples a high speed electric motor/alternator unit to a ball screw that actuates the blade control links. The technical merits of this arrangement and the performance characteristics of the traction drive are discussed.

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.

Kilohertz and Low-Frequency Electrical Stimulation With the Same Pulse Duration Have Similar Efficiency for Inducing Isometric Knee Extension Torque and Discomfort.

PubMed

Medeiros, Flávia Vanessa; Bottaro, Martim; Vieira, Amilton; Lucas, Tiago Pires; Modesto, Karenina Arrais; Bo, Antonio Padilha L; Cipriano, Gerson; Babault, Nicolas; Durigan, João Luiz Quagliotti

2017-06-01

To test the hypotheses that, as compared with pulsed current with the same pulse duration, kilohertz frequency alternating current would not differ in terms of evoked-torque production and perceived discomfort, and as a result, it would show the same current efficiency. A repeated-measures design with 4 stimuli presented in random order was used to test 25 women: (1) 500-microsecond pulse duration, (2) 250-microsecond pulse duration, (3) 500-microsecond pulse duration and low carrier frequency (1 kHz), (4) 250-microsecond pulse duration and high carrier frequency (4 kHz). Isometric peak torque of quadriceps muscle was measured using an isokinetic dynamometer. Discomfort was measured using a visual analog scale. Currents with long pulse durations induced approximately 21% higher evoked torque than short pulse durations. In addition, currents with 500 microseconds delivered greater amounts of charge than stimulation patterns using 250-microsecond pulse durations (P < 0.05). All currents presented similar discomfort. There was no difference on stimulation efficiency with the same pulse duration. Both kilohertz frequency alternating current and pulsed current, with the same pulse duration, have similar efficiency for inducing isometric knee extension torque and discomfort. However, neuromuscular electrical stimulation (NMES) with longer pulse duration induces higher NMES-evoked torque, regardless of the carrier frequency. Pulse duration is an important variable that should receive more attention for an optimal application of NMES in clinical settings.

New Technique of High-Performance Torque Control Developed for Induction Machines

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.

2003-01-01

Two forms of high-performance torque control for motor drives have been described in the literature: field orientation control and direct torque control. Field orientation control has been the method of choice for previous NASA electromechanical actuator research efforts with induction motors. Direct torque control has the potential to offer some advantages over field orientation, including ease of implementation and faster response. However, the most common form of direct torque control is not suitable for the highspeed, low-stator-flux linkage induction machines designed for electromechanical actuators with the presently available sample rates of digital control systems (higher sample rates are required). In addition, this form of direct torque control is not suitable for the addition of a high-frequency carrier signal necessary for the "self-sensing" (sensorless) position estimation technique. This technique enables low- and zero-speed position sensorless operation of the machine. Sensorless operation is desirable to reduce the number of necessary feedback signals and transducers, thus improving the reliability and reducing the mass and volume of the system. This research was directed at developing an alternative form of direct torque control known as a "deadbeat," or inverse model, solution. This form uses pulse-width modulation of the voltage applied to the machine, thus reducing the necessary sample and switching frequency for the high-speed NASA motor. In addition, the structure of the deadbeat form allows the addition of the high-frequency carrier signal so that low- and zero-speed sensorless operation is possible. The new deadbeat solution is based on using the stator and rotor flux as state variables. This choice of state variables leads to a simple graphical representation of the solution as the intersection of a constant torque line with a constant stator flux circle. Previous solutions have been expressed only in complex mathematical terms without a method to clearly visualize the solution. The graphical technique allows a more insightful understanding of the operation of the machine under various conditions.

INNOVATIVE TECHNOLOGY EVALUATION REPORT, SEDIMENT SAMPLING TECHNOLOGY, ART'S MANUFACTURING, SPLIT CORE SAMPLER FOR SUBMERGED SEDIMENTS

EPA Science Inventory

The Split Core Sampler for Submerged Sediments (Split Core Sampler) designed and fabricated by Arts Manufacturing & Supply, Inc., was demonstrated under the U.S. Environmental Protection Agency (EPA) Superfund Innovative Technology Evaluation Program in April and May 1999 at ...

GIOTTO's antenna de-spin mechanism: Ots lubrication and thermal vacuum performance

NASA Technical Reports Server (NTRS)

Todd, M. J.; Parker, K.

1987-01-01

Except in the near Earth phase of GIOTTO's mission to Comet Halley, the HGA (high gain antenna) on board GIOTTO was the only designed means of up/down communications. The spacecraft spin stabilization required that the HGA be despun at the same rotational rate of nominally 15 rpm in order to keep the HGA pointing accurately to a Earth. A dual servomotor despin mechanism was designed and built by SEP of France for this purpose. The expected thermal environment suggested that dry lubrication was preferable to wet for the ball bearings but there existed no relevant data on the torque noise spectrum of candidate solid lubricants. Therefore ad hoc torque noise tests were run with two solid lubricants: ion plated lead film plus lead bronze cage (retainer) and a PTFE composite cage only. The lead lubrication showed the better spectrum up to the mission lifetime point so it was selected for continued test over some 20 times the Halley mission life, with periodic torque spectrum monitoring. The spectrum remained well within the pointing error budget over the 100 million revolutions covered.

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.

Optimal control of the gear shifting process for shift smoothness in dual-clutch transmissions

NASA Astrophysics Data System (ADS)

Li, Guoqiang; Görges, Daniel

2018-03-01

The control of the transmission system in vehicles is significant for the driving comfort. In order to design a controller for smooth shifting and comfortable driving, a dynamic model of a dual-clutch transmission is presented in this paper. A finite-time linear quadratic regulator is proposed for the optimal control of the two friction clutches in the torque phase for the upshift process. An integral linear quadratic regulator is introduced to regulate the relative speed difference between the engine and the slipping clutch under the optimization of the input torque during the inertia phase. The control objective focuses on smoothing the upshift process so as to improve the driving comfort. Considering the available sensors in vehicles for feedback control, an observer design is presented to track the immeasurable variables. Simulation results show that the jerk can be reduced both in the torque phase and inertia phase, indicating good shift performance. Furthermore, compared with conventional controllers for the upshift process, the proposed control method can reduce shift jerk and improve shift quality.

Multivariable control theory applied to hierarchial attitude control for planetary spacecraft

NASA Technical Reports Server (NTRS)

Boland, J. S., III; Russell, D. W.

1972-01-01

Multivariable control theory is applied to the design of a hierarchial attitude control system for the CARD space vehicle. The system selected uses reaction control jets (RCJ) and control moment gyros (CMG). The RCJ system uses linear signal mixing and a no-fire region similar to that used on the Skylab program; the y-axis and z-axis systems which are coupled use a sum and difference feedback scheme. The CMG system uses the optimum steering law and the same feedback signals as the RCJ system. When both systems are active the design is such that the torques from each system are never in opposition. A state-space analysis was made of the CMG system to determine the general structure of the input matrices (steering law) and feedback matrices that will decouple the axes. It is shown that the optimum steering law and proportional-plus-rate feedback are special cases. A derivation of the disturbing torques on the space vehicle due to the motion of the on-board television camera is presented. A procedure for computing an upper bound on these torques (given the system parameters) is included.

Mechanism for Self-Reacted Friction Stir Welding

NASA Technical Reports Server (NTRS)

Venable, Richard; Bucher, Joseph

2004-01-01

A mechanism has been designed to apply the loads (the stirring and the resection forces and torques) in self-reacted friction stir welding. This mechanism differs somewhat from mechanisms used in conventional friction stir welding, as described below. The tooling needed to apply the large reaction loads in conventional friction stir welding can be complex. Self-reacted friction stir welding has become popular in the solid-state welding community as a means of reducing the complexity of tooling and to reduce costs. The main problems inherent in self-reacted friction stir welding originate in the high stresses encountered by the pin-and-shoulder assembly that produces the weld. The design of the present mechanism solves the problems. The mechanism includes a redesigned pin-and-shoulder assembly. The welding torque is transmitted into the welding pin by a square pin that fits into a square bushing with set-screws. The opposite or back shoulder is held in place by a Woodruff key and high-strength nut on a threaded shaft. The Woodruff key reacts the torque, while the nut reacts the tensile load on the shaft.

Real time simulation of nonlinear generalized predictive control for wind energy conversion system with nonlinear observer.

PubMed

Ouari, Kamel; Rekioua, Toufik; Ouhrouche, Mohand

2014-01-01

In order to make a wind power generation truly cost-effective and reliable, an advanced control techniques must be used. In this paper, we develop a new control strategy, using nonlinear generalized predictive control (NGPC) approach, for DFIG-based wind turbine. The proposed control law is based on two points: NGPC-based torque-current control loop generating the rotor reference voltage and NGPC-based speed control loop that provides the torque reference. In order to enhance the robustness of the controller, a disturbance observer is designed to estimate the aerodynamic torque which is considered as an unknown perturbation. Finally, a real-time simulation is carried out to illustrate the performance of the proposed controller. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

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.

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.

Cooperative Control for A Hybrid Rehabilitation System Combining Functional Electrical Stimulation and Robotic Exoskeleton

PubMed Central

Zhang, Dingguo; Ren, Yong; Gui, Kai; Jia, Jie; Xu, Wendong

2017-01-01

Functional electrical stimulation (FES) and robotic exoskeletons are two important technologies widely used for physical rehabilitation of paraplegic patients. We developed a hybrid rehabilitation system (FEXO Knee) that combined FES and an exoskeleton for swinging movement control of human knee joints. This study proposed a novel cooperative control strategy, which could realize arbitrary distribution of torque generated by FES and exoskeleton, and guarantee harmonic movements. The cooperative control adopted feedfoward control for FES and feedback control for exoskeleton. A parameter regulator was designed to update key parameters in real time to coordinate FES controller and exoskeleton controller. Two muscle groups (quadriceps and hamstrings) were stimulated to generate active torque for knee joint in synchronization with torque compensation from exoskeleton. The knee joint angle and the interactive torque between exoskeleton and shank were used as feedback signals for the control system. Central pattern generator (CPG) was adopted that acted as a phase predictor to deal with phase confliction of motor patterns, and realized synchronization between the two different bodies (shank and exoskeleton). Experimental evaluation of the hybrid FES-exoskeleton system was conducted on five healthy subjects and four paraplegic patients. Experimental results and statistical analysis showed good control performance of the cooperative control on torque distribution, trajectory tracking, and phase synchronization. PMID:29311798

Cooperative Control for A Hybrid Rehabilitation System Combining Functional Electrical Stimulation and Robotic Exoskeleton.

PubMed

Zhang, Dingguo; Ren, Yong; Gui, Kai; Jia, Jie; Xu, Wendong

2017-01-01

Functional electrical stimulation (FES) and robotic exoskeletons are two important technologies widely used for physical rehabilitation of paraplegic patients. We developed a hybrid rehabilitation system (FEXO Knee) that combined FES and an exoskeleton for swinging movement control of human knee joints. This study proposed a novel cooperative control strategy, which could realize arbitrary distribution of torque generated by FES and exoskeleton, and guarantee harmonic movements. The cooperative control adopted feedfoward control for FES and feedback control for exoskeleton. A parameter regulator was designed to update key parameters in real time to coordinate FES controller and exoskeleton controller. Two muscle groups (quadriceps and hamstrings) were stimulated to generate active torque for knee joint in synchronization with torque compensation from exoskeleton. The knee joint angle and the interactive torque between exoskeleton and shank were used as feedback signals for the control system. Central pattern generator (CPG) was adopted that acted as a phase predictor to deal with phase confliction of motor patterns, and realized synchronization between the two different bodies (shank and exoskeleton). Experimental evaluation of the hybrid FES-exoskeleton system was conducted on five healthy subjects and four paraplegic patients. Experimental results and statistical analysis showed good control performance of the cooperative control on torque distribution, trajectory tracking, and phase synchronization.

Stroke-Related Changes in Neuromuscular Fatigue of the Hip Flexors and Functional Implications

PubMed Central

Hyngstrom, Allison S.; Onushko, Tanya; Heitz, Robert P.; Rutkowski, Anthony; Hunter, Sandra K.; Schmit, Brian D.

2014-01-01

Objective To compare stroke-related changes in hip-flexor neuromuscular fatigue of the paretic leg during a sustained, isometric sub-maximal contraction with the non-paretic leg and controls, and correlate fatigue with clinical measures of function. Design Hip torques were measured during a fatiguing hip-flexion contraction at 20% of the hip flexion maximal voluntary contraction (MVC) in the paretic and non-paretic legs of 13 people with chronic stroke and 10 age-matched controls. In addition, participants with stroke performed a fatiguing contraction of the paretic leg at the absolute torque equivalent to 20% MVC of the non-paretic leg and were tested for self-selected walking speed (Ten-Meter Walk Test) and balance (Berg). Results When matching the non-paretic target torque, the paretic hip flexors had a shorter time to task failure compared with the non-paretic leg and controls (p<0.05). Time to failure of the paretic leg was inversely correlated with the reduction of hip flexion MVC torque. Self-selected walking speed was correlated with declines in torque and steadiness. Berg-Balance scores were inversely correlated with the force fluctuation amplitude. Conclusions Fatigue and precision of contraction are correlated with walking function and balance post stroke. PMID:22157434

Design and Performance Analysis of a new Rotary Hydraulic Joint

NASA Astrophysics Data System (ADS)

Feng, Yong; Yang, Junhong; Shang, Jianzhong; Wang, Zhuo; Fang, Delei

2017-07-01

To improve the driving torque of the robots joint, a wobble plate hydraulic joint is proposed, and the structure and working principle are described. Then mathematical models of kinematics and dynamics was established. On the basis of this, dynamic simulation and characteristic analysis are carried out. Results show that the motion curve of the joint is continuous and the impact is small. Moreover the output torque of the joint characterized by simple structure and easy processing is large and can be rotated continuously.

The shape of the Eiffel Tower

NASA Astrophysics Data System (ADS)

Gallant, Joseph

2002-02-01

The distinctive shape of the Eiffel Tower is based on simple physics and is designed so that the maximum torque created by the wind is balanced by the torque due to the Tower's weight. We use this idea to generate an equation for the shape of the Tower. The solution depends only on the width of the base and the maximum wind pressure. We parametrize the wind pressure and reproduce the shape of the Tower. We also discuss some of the Tower's interesting history and characteristics.

International Space Station Attitude Motion Associated With Flywheel Energy Storage

NASA Technical Reports Server (NTRS)

Roithmayr, Carlos M.

1999-01-01

Flywheels can exert torque that alters the Station's attitude motion, either intentionally or unintentionally. A design is presented for a once planned experiment to contribute torque for Station attitude control, while storing or discharging energy. Two contingencies are studied: the abrupt stop of one rotor while another rotor continues to spin at high speed, and energy storage performed with one rotor instead of a counter rotating pair. Finally, the possible advantages to attitude control offered by a system of ninety-six flywheels are discussed.

The application of Halbach cylinders to brushless ac servo motors

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

Atallah, K.; Howe, D.

1998-07-01

Halbach cylinders are applied to brushless ac servo motors. It is shown that a sinusoidal back-emf waveform and a low cogging torque can be achieved without recourse to conventional design features such as distributed windings and/or stator/rotor skew. A technique for imparting a multipole Halbach magnetization distribution on an isotropic permanent magnet cylinder is described, and it is shown that the torque capability of a Halbach ac servo motor can be up to 33% higher than conventional brushless permanent magnet ac motors.

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.

Hybrid Gear

NASA Technical Reports Server (NTRS)

Handschuh, Robert F. (Inventor); Roberts, Gary D. (Inventor)

2016-01-01

A hybrid gear consisting of metallic outer rim with gear teeth and metallic hub in combination with a composite lay up between the shaft interface (hub) and gear tooth rim is described. The composite lay-up lightens the gear member while having similar torque carrying capability and it attenuates the impact loading driven noise/vibration that is typical in gear systems. The gear has the same operational capability with respect to shaft speed, torque, and temperature as an all-metallic gear as used in aerospace gear design.

Quantification of Posterior Ankle Exposure Through an Achilles Tendon-Splitting Versus Posterolateral Approach

DTIC Science & Technology

2012-10-01

Ankle Exposure Through an Achilles Tendon - Splitting Versus Posterolateral Approach Jeanne C. Patzkowski, MD1; Kevin L. Kirk, DO1; Justin D. Orr, MD2...surgical exposure to the posterior ankle for trauma and reconstruction is a source of debate. We hypothesized that the Achilles tendon -splitting approach...fresh-frozen cadavers. Achilles tendon - splitting and posterolateral approaches were performed using a randomized crossover design for surgical

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.

Torque limit of PM motors for field-weakening region operation

DOEpatents

Royak, Semyon [Beachwood, OH; Harbaugh, Mark M [Richfield, OH

2012-02-14

The invention includes a motor controller and technique for controlling a permanent magnet motor. In accordance with one aspect of the present technique, a permanent magnet motor is controlled by receiving a torque command, determining a physical torque limit based on a stator frequency, determining a theoretical torque limit based on a maximum available voltage and motor inductance ratio, and limiting the torque command to the smaller of the physical torque limit and the theoretical torque limit. Receiving the torque command may include normalizing the torque command to obtain a normalized torque command, determining the physical torque limit may include determining a normalized physical torque limit, determining a theoretical torque limit may include determining a normalized theoretical torque limit, and limiting the torque command may include limiting the normalized torque command to the smaller of the normalized physical torque limit and the normalized theoretical torque limit.

Multiple IMU system hardware interface design, volume 2

NASA Technical Reports Server (NTRS)

Landey, M.; Brown, D.

1975-01-01

The design of each system component is described. Emphasis is placed on functional requirements unique in this system, including data bus communication, data bus transmitters and receivers, and ternary-to-binary torquing decision logic. Mechanization drawings are presented.

Splitting and Projection at Work in Schools

ERIC Educational Resources Information Center

Dunning, Gerald; James, Chris; Jones, Nicola

2005-01-01

Purpose: The purpose of this paper is to report research into the social defence of splitting and projection in schools. In splitting and projection, organisational members separate their unbearable feelings from the more acceptable ones and project them, typically towards other individuals and groups. Design/methodology/approach: The research was…

Efficient charge-spin conversion and magnetization switching through the Rashba effect at topological-insulator/Ag interfaces

NASA Astrophysics Data System (ADS)

Shi, Shuyuan; Wang, Aizhu; Wang, Yi; Ramaswamy, Rajagopalan; Shen, Lei; Moon, Jisoo; Zhu, Dapeng; Yu, Jiawei; Oh, Seongshik; Feng, Yuanping; Yang, Hyunsoo

2018-01-01

We report the observation of efficient charge-to-spin conversion in the three-dimensional topological insulator (TI) B i2S e3 and Ag bilayer by the spin-torque ferromagnetic resonance technique. The spin-orbit-torque ratio in the B i2S e3/Ag /CoFeB heterostructure shows a significant enhancement as the Ag thickness increases to ˜2 nm and reaches a value of 0.5 for 5 nm Ag, which is ˜3 times higher than that of B i2S e3/CoFeB at room temperature. The observation reveals the interfacial effect of B i2S e3/Ag exceeds that of the topological surface states (TSSs) in the B i2S e3 layer and plays a dominant role in the charge-to-spin conversion in the B i2S e3/Ag /CoFeB system. Based on first-principles calculations, we attribute our observation to the large Rashba splitting bands which wrap the TSS band and have the same net spin polarization direction as the TSS of B i2S e3 . Subsequently, we demonstrate Rashba-induced magnetization switching in B i2S e3/Ag /Py with a low current density of 5.8 ×105A /c m2 .

A binary main-belt comet.

PubMed

Agarwal, Jessica; Jewitt, David; Mutchler, Max; Weaver, Harold; Larson, Stephen

2017-09-20

Asteroids are primitive Solar System bodies that evolve both collisionally and through disruptions arising from rapid rotation. These processes can lead to the formation of binary asteroids and to the release of dust, both directly and, in some cases, through uncovering frozen volatiles. In a subset of the asteroids called main-belt comets, the sublimation of excavated volatiles causes transient comet-like activity. Torques exerted by sublimation measurably influence the spin rates of active comets and might lead to the splitting of bilobate comet nuclei. The kilometre-sized main-belt asteroid 288P (300163) showed activity for several months around its perihelion 2011 (ref. 11), suspected to be sustained by the sublimation of water ice and supported by rapid rotation, while at least one component rotates slowly with a period of 16 hours (ref. 14). The object 288P is part of a young family of at least 11 asteroids that formed from a precursor about 10 kilometres in diameter during a shattering collision 7.5 million years ago. Here we report that 288P is a binary main-belt comet. It is different from the known asteroid binaries in its combination of wide separation, near-equal component size, high eccentricity and comet-like activity. The observations also provide strong support for sublimation as the driver of activity in 288P and show that sublimation torques may play an important part in binary orbit evolution.

Process Sensitivity, Performance, and Direct Verification Testing of Adhesive Locking Features

NASA Technical Reports Server (NTRS)

Golden, Johnny L.; Leatherwood, Michael D.; Montoya, Michael D.; Kato, Ken A.; Akers, Ed

2012-01-01

Phase I: The use of adhesive locking features or liquid locking compounds (LLCs) (e.g., Loctite) as a means of providing a secondary locking feature has been used on NASA programs since the Apollo program. In many cases Loctite was used as a last resort when (a) self-locking fasteners were no longer functioning per their respective drawing specification, (b) access was limited for removal & replacement, or (c) replacement could not be accomplished without severe impact to schedule. Long-term use of Loctite became inevitable in cases where removal and replacement of worn hardware was not cost effective and Loctite was assumed to be fully cured and working. The NASA Engineering & Safety Center (NESC) and United Space Alliance (USA) recognized the need for more extensive testing of Loctite grades to better understand their capabilities and limitations as a secondary locking feature. These tests, identified as Phase I, were designed to identify processing sensitivities, to determine proper cure time, the correct primer to use on aerospace nutplate, insert and bolt materials such as A286 and MP35N, and the minimum amount of Loctite that is required to achieve optimum breakaway torque values. The .1900-32 was the fastener size tested, due to wide usage in the aerospace industry. Three different grades of Loctite were tested. Results indicate that, with proper controls, adhesive locking features can be successfully used in the repair of locking features and should be considered for design. Phase II: Threaded fastening systems used in aerospace programs typically have a requirement for a redundant locking feature. The primary locking method is the fastener preload and the traditional redundant locking feature is a self-locking mechanical device that may include deformed threads, non-metallic inserts, split beam features, or other methods that impede movement between threaded members. The self-locking resistance of traditional locking features can be directly verified during assembly by measuring the dynamic prevailing torque. Adhesive locking features or LLCs are another method of providing redundant locking, but a direct verification method has not been used in aerospace applications to verify proper installation when using LLCs because of concern for damage to the adhesive bond. The reliability of LLCs has also been questioned due to failures observed during testing with coupons for process verification, although the coupon failures have often been attributed to a lack of proper procedures. It is highly desirable to have a direct method of verifying the LLC cure or bond integrity. The purpose of the Phase II test program was to determine if the torque applied during direct verification of an adhesive locking feature degrades that locking feature. This report documents the test program used to investigate the viability of such a direct verification method. Results of the Phase II testing were positive, and additional investigation of direct verification of adhesive locking features is merited.

Interactive design optimization of magnetorheological-brake actuators using the Taguchi method

NASA Astrophysics Data System (ADS)

Erol, Ozan; Gurocak, Hakan

2011-10-01

This research explored an optimization method that would automate the process of designing a magnetorheological (MR)-brake but still keep the designer in the loop. MR-brakes apply resistive torque by increasing the viscosity of an MR fluid inside the brake. This electronically controllable brake can provide a very large torque-to-volume ratio, which is very desirable for an actuator. However, the design process is quite complex and time consuming due to many parameters. In this paper, we adapted the popular Taguchi method, widely used in manufacturing, to the problem of designing a complex MR-brake. Unlike other existing methods, this approach can automatically identify the dominant parameters of the design, which reduces the search space and the time it takes to find the best possible design. While automating the search for a solution, it also lets the designer see the dominant parameters and make choices to investigate only their interactions with the design output. The new method was applied for re-designing MR-brakes. It reduced the design time from a week or two down to a few minutes. Also, usability experiments indicated significantly better brake designs by novice users.

Controlling Split Attention and Redundancy in Physical Therapy Instruction

ERIC Educational Resources Information Center

Pociask, Fredrick D.; Morrison, Gary R.

2008-01-01

In this study, we examined the effectiveness of instructional materials designed to control redundancy and split attention in the teaching of complex orthopedic physical therapy skills. Participants included 41 first-year physical therapy students. The modified instruction group received a modified unit of instruction designed to reduce cognitive…

Simulation and analysis of the interactions between split gradient coils and a split magnet cryostat in an MRI-PET system.

PubMed

Liu, Limei; Sanchez-Lopez, Hector; Poole, Michael; Liu, Feng; Crozier, Stuart

2012-09-01

Splitting a magnetic resonance imaging (MRI) magnet into two halves can provide a central region to accommodate other modalities, such as positron emission tomography (PET). This approach, however, produces challenges in the design of the gradient coils in terms of gradient performance and fabrication. In this paper, the impact of a central gap in a split MRI system was theoretically studied by analysing the performance of split, actively-shielded transverse gradient coils. In addition, the effects of the eddy currents induced in the cryostat on power loss, mechanical vibration and magnetic field harmonics were also investigated. It was found, as expected, that the gradient performance tended to decrease as the central gap increased. Furthermore, the effects of the eddy currents were heightened as a consequence of splitting the gradient assembly into two halves. An optimal central gap size was found, such that the split gradient coils designed with this central gap size could produce an engineering solution with an acceptable trade-off between gradient performance and eddy current effects. These investigations provide useful information on the inherent trade-offs in hybrid MRI imaging systems. Copyright © 2012 Elsevier Inc. All rights reserved.

Existing machine propulsion is transformed by state-of-the-art gearbox apparatus saves at least 50% energy

NASA Astrophysics Data System (ADS)

Abramov, V.

2013-12-01

This innovation on www.repowermachine.com is finalist at Clean-tech and Energy of 2012 Minnesota's TEKNE AWARDS. Vehicles are pushed by force of friction between their wheels and land, propellers and water or air according to Third Newton's law of physics of moving. Force of friction is dependent to vehicle weight as highest torque of wheel or propeller for vehicle moving from stop. Friction force DOES NOT dependent to motor power. Why existing SUV of 2,000 lb uses 550 hp motor when first vehicle has 0.75 hp motor (Carl Benz';s patent #37435, January 29, 1886 in Germany)? Gas or magnet field reaches needed torque of wheels too slowly because requires huge motor power for acceleration SUV from 0 to 100 mph for 5 second. The acceleration system by gas or magnet field uses additional energy for increasing motor shaft idle speed and reduces its highest torque of physical volume because necessary to increase motor power that equal/exceed motor power according to vehicle weight. Therefore, any transmission torque DOES NOT NEED and it is use as second brake. Ship, locomotives, helicopters, CNC machine tools, etc motor(s) directly turn wheels, propellers, spindles or ignore to use gear -transmission designs. How do you follow to Creator's physics law of LEVER for saving energy? Existing machine propulsion is transformed by one comprising least numbers of gears and maybe shafts from above state-of-the-art 1,000 gearbox apparatus designs. It is installed or replaced transmission in existing propulsion that is transformed to non-accelerated propulsion. It cuts about 80% mechanical energy that acceleration system wastes in motor heat form, cuts time of movement by reaching each speed for 1-2 seconds. It produces all needed speeds and uses only idle speed of cheapest motor with reduced power and cost that have replaced existing motor too. There is opportunity to eliminate vehicle/machine roads traffics in cities that creates additional unknown GHG emissions Revolutionary methods capability to create 144 forward/72 reverse torque/overdrive speeds by one gear less than heavy-duty truck gearbox of 18 forward/2 reverse torque plus 10 compound gearboxes for vehicle maneuverability improvement. It capability to reduce size of motor up to 5x5x5x5x5x5=15,625 times by 7 shafts !!! Therefore, SUV non-accelerated propulsion comprising GAEES of 24 overdrive speeds that uses 20 hp motor idle speed only or torque that will be sufficient to move this SUV from stop. HEAVY-DUTY TRUCK: Chosen GAEEF of 36 torques/overdrive and 18 reverse speeds by 20 gears/5 shafts (in comparison to its 18 torques/2 reverse by 29 gears/4 shafts) reduces heavy-duty truck motor power from 400 hp to 50 hp. It increases energy economy in 400/50=8 times!!! PABLIC TRANSPORTATION: Existing cruise ship/locomotive with chosen GAEES of 64 torques/overdrive speeds and 32 reverse speeds by 22 gears/7 shafts that provide to reduce from 3000 hp to 200 hp for energy economy in 3000/200=15 times!!!

Design Enhancement and Performance Examination of External Rotor Switched Flux Permanent Magnet Machine for Downhole Application

NASA Astrophysics Data System (ADS)

Kumar, R.; Sulaiman, E.; Soomro, H. A.; Jusoh, L. I.; Bahrim, F. S.; Omar, M. F.

2017-08-01

The recent change in innovation and employments of high-temperature magnets, permanent magnet flux switching machine (PMFSM) has turned out to be one of the suitable contenders for seaward boring, however, less intended for downhole because of high atmospheric temperature. Subsequently, this extensive review manages the design enhancement and performance examination of external rotor PMFSM for the downhole application. Preparatory, the essential design parameters required for machine configuration are computed numerically. At that point, the design enhancement strategy is actualized through deterministic technique. At last, preliminary and refined execution of the machine is contrasted and as a consequence, the yield torque is raised from 16.39Nm to 33.57Nm while depreciating the cogging torque and PM weight up to 1.77Nm and 0.79kg, individually. In this manner, it is inferred that purposed enhanced design of 12slot-22pole with external rotor is convenient for the downhole application.

On the design and development of a miniature ceramic gimbal bearing

NASA Technical Reports Server (NTRS)

Hanson, Robert A.; Odwyer, Barry; Gordon, Keith M.; Jarvis, Edward W.

1990-01-01

A review is made of a program to develop ceramic gimbal bearings for a miniaturized missile guidance system requiring nonmagnetic properties and higher load capacity than possible with conventional AISI 440C stainless steel bearings. A new gimbal design concept is described which utilizes the compressive strength and nonmagnetic properties of silicon nitride (Si3N4) ceramics for the gimbal bearing. Considerable manufacturing development has occurred in the last 5 years making ceramic bearings a viable option in the gimbal design phase. A preliminary study into the feasibility of the proposed design is summarized. Finite element analysis of the brittle ceramic bearing components under thermal stress and high acceleration loading were conducted to ensure the components will not fail catastrophically in service. Finite element analysis was also used to optimize the adhesive joint design. Bearing torque tests run at various axial loads indicate that the average running torque of ceramic bearings varies with load similarly to that of conventional steel bearings.

SDO Delta H Mode Design and Analysis

NASA Technical Reports Server (NTRS)

Mason, Paul A.; Starin, Scott R.

2007-01-01

While on orbit, disturbance torques on a three axis stabilized spacecraft tend to increase the system momentum, which is stored in the reaction wheels. Upon reaching the predefined momentum capacity (or maximum wheel speed) of the reaction wheel, an external torque must be used to unload the momentum. The purpose of the Delta H mode is to manage the system momentum. This is accomplished by driving the reaction wheels to a target momentum state while the attitude thrusters, which provide an external torque, are used to maintain the attitude. The Delta H mode is designed to meet the mission requirements and implement the momentum management plan. Changes in the requirements or the momentum management plan can lead to design changes in the mode. The momentum management plan defines the expected momentum buildup trend, the desired momentum state and how often the system is driven to the desired momentum state (unloaded). The desired momentum state is chosen based on wheel capacity, wheel configuration, thruster layout and thruster sizing. For the Solar Dynamics Observatory mission, the predefined wheel momentum capacity is a function of the jitter requirements, power, and maximum momentum capacity. Changes in jitter requirements or power limits can lead to changes in the desired momentum state. These changes propagate into the changes in the momentum management plan and therefore the Delta H mode design. This paper presents the analysis and design performed for the Solar Dynamics Observatory Delta H mode. In particular, the mode logic and processing needed to meet requirements is described along with the momentum distribution formulation. The Delta H mode design is validated using the Solar Dynamics Observatory High Fidelity simulator. Finally, a summary of the design is provided along with concluding remarks.

Development & optimization of a rule-based energy management strategy for fuel economy improvement in hybrid electric vehicles

NASA Astrophysics Data System (ADS)

Asfoor, Mostafa

The gradual decline of oil reserves and the increasing demand for energy over the past decades has resulted in automotive manufacturers seeking alternative solutions to reduce the dependency on fossil-based fuels for transportation. A viable technology that enables significant improvements in the overall energy conversion efficiencies is the hybridization of conventional vehicle drive systems. This dissertation builds on prior hybrid powertrain development at the University of Idaho. Advanced vehicle models of a passenger car with a conventional powertrain and three different hybrid powertrain layouts were created using GT-Suite. These different powertrain models were validated against a variety of standard driving cycles. The overall fuel economy, energy consumption, and losses were monitored, and a comprehensive energy analysis was performed to compare energy sources and sinks. The GT-Suite model was then used to predict the formula hybrid SAE vehicle performance. Inputs to this model were a numerically predicted engine performance map, an electric motor torque curve, vehicle geometry, and road load parameters derived from a roll-down test. In this case study, the vehicle had a supervisory controller that followed a rule-based energy management strategy to insure a proper power split during hybrid mode operation. The supervisory controller parameters were optimized using discrete grid optimization method that minimized the total amount of fuel consumed during a specific urban driving cycle with an average speed of approximately 30 [mph]. More than a 15% increase in fuel economy was achieved by adding supervisory control and managing power split. The vehicle configuration without the supervisory controller displayed a fuel economy of 25 [mpg]. With the supervisory controller this rose to 29 [mpg]. Wider applications of this research include hybrid vehicle controller designs that can extend the range and survivability of military combat platforms. Furthermore, the GT-Suite model can be easily accommodated to simulate propulsion systems that store regenerative power when braking, making it available for acceleration and off-road maneuvering.

Factor levels for density comparisons in the split-block spacing design

Treesearch

Kurt H. Riitters; Brian J. Stanton; Robbert H. Walkup

1989-01-01

The split-block spacing design is a compact test of the effects of within-row and between-row spacings. But the sometimes awkward analysis of density (i.e., trees/ha) effects may deter use of the design. The analysis is simpler if the row spacings are chosen to obtain a balanced set of equally spaced density and rectangularity treatments. A spacing study in poplar (...

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.

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.

A mathematical model of hiking positions in a sailing dinghy.

PubMed

Putnam, C A

1979-01-01

A mathematical model of the human body designed to calculate the resultant muscle torques required at the hip and knee joints for specific hiking techniques is presented. Data for the model were obtained from ten male subjects who adopted three basic positions: Position 1 with the knees located at the inside edge of the sidedeck, Position 2 with the knees at the middle of the sidedeck, and Position 3 with the knees at the outside edge of the sidedeck. Each resultant muscle torque was expressed as a percentage of each subject's maximum voluntary hip flexion or knee extension torque. It was found that where Positions 1 and 2 were equally effective in keeping the boat upright, Position 2 was superior to Position 1 in regard to the per cent of maximum muscle torque required. The superiority of Position 2 over Position 3 depended on the individual's relative muscle strength at the hip and knee joints. The stronger the hip flexors with respect to the knee estensors, the more desirable was Position 2 and vice versa.

Analysis and design of asymmetrical reluctance machine

NASA Astrophysics Data System (ADS)

Harianto, Cahya A.

Over the past few decades the induction machine has been chosen for many applications due to its structural simplicity and low manufacturing cost. However, modest torque density and control challenges have motivated researchers to find alternative machines. The permanent magnet synchronous machine has been viewed as one of the alternatives because it features higher torque density for a given loss than the induction machine. However, the assembly and permanent magnet material cost, along with safety under fault conditions, have been concerns for this class of machine. An alternative machine type, namely the asymmetrical reluctance machine, is proposed in this work. Since the proposed machine is of the reluctance machine type, it possesses desirable feature, such as near absence of rotor losses, low assembly cost, low no-load rotational losses, modest torque ripple, and rather benign fault conditions. Through theoretical analysis performed herein, it is shown that this machine has a higher torque density for a given loss than typical reluctance machines, although not as high as the permanent magnet machines. Thus, the asymmetrical reluctance machine is a viable and advantageous machine alternative where the use of permanent magnet machines are undesirable.

Roles of coercivity and remanent flux density of permanent magnet in interior permanent magnet synchronous motor (IPMSM) performance for electric vehicle applications

NASA Astrophysics Data System (ADS)

Won, Hoyun; Hong, Yang-Ki; Lee, Woncheol; Choi, Minyeong

2018-05-01

We used four rotor topologies of an interior permanent magnet synchronous motor (IPMSM) to investigate the effects of remanent flux density (Br) and coercivity (Hc) of permanent magnet on motor performance. Commercial strontium hexaferrite (SrFe12O19: energy product, (BH)max, of 4.62 MGOe) and Nd-Fe-B ((BH)max of 38.2 MGOe) magnets were used for the rotor designs. The same machine specifications and magnet volume keep constant, while the Hc and Br vary to calculate torque and energy efficiency with the finite-element analysis. A combination of high Hc and low Br more effectively increased maximum torque of IPMSM when the hexaferrite magnet was used. For Nd-Fe-B magnet, the same combination did not affect maximum torque, but increased energy efficiency at high speed. Therefore, the Hc value of a permanent magnet is more effective than the Br in producing high maximum torque for SrM-magnet based IPMSM and high energy efficiency at high speed for Nd-Fe-B magnet based IPMSM.

Steps in the bacterial flagellar motor.

PubMed

Mora, Thierry; Yu, Howard; Sowa, Yoshiyuki; Wingreen, Ned S

2009-10-01

The bacterial flagellar motor is a highly efficient rotary machine used by many bacteria to propel themselves. It has recently been shown that at low speeds its rotation proceeds in steps. Here we propose a simple physical model, based on the storage of energy in protein springs, that accounts for this stepping behavior as a random walk in a tilted corrugated potential that combines torque and contact forces. We argue that the absolute angular position of the rotor is crucial for understanding step properties and show this hypothesis to be consistent with the available data, in particular the observation that backward steps are smaller on average than forward steps. We also predict a sublinear speed versus torque relationship for fixed load at low torque, and a peak in rotor diffusion as a function of torque. Our model provides a comprehensive framework for understanding and analyzing stepping behavior in the bacterial flagellar motor and proposes novel, testable predictions. More broadly, the storage of energy in protein springs by the flagellar motor may provide useful general insights into the design of highly efficient molecular machines.

Characterization of the non axial thrust generated by large solid propellant rocket motors in three axis stabilized ascent

NASA Technical Reports Server (NTRS)

Kosmann, W. J.; Dionne, E. R.; Klemetson, R. W.

1978-01-01

Nonaxial thrusts produced by solid rocket motors during three-axis stabilized attitude control have been determined from ascent experience on twenty three Burner II, Burner IIA and Block 5D-1 upper stage vehicles. A data base representing four different rocket motor designs (three spherical and one extended spherical) totaling twenty five three-axis stabilized firings is generated. Solid rocket motor time-varying resultant and lateral side force vector magnitudes, directions and total impulses, and roll torque couple magnitudes, directions, and total impulses are tabulated in the appendix. Population means and three sigma deviations are plotted. Existing applicable ground test side force and roll torque magnitudes and total impulses are evaluated and compared to the above experience data base. Within the spherical motor population, the selected AEDC ground test data consistently underestimated experienced motor side forces, roll torques and total impulses. Within the extended spherical motor population, the selected AEDC test data predicted experienced motor side forces, roll torques, and total impulses, with surprising accuracy considering the very small size of the test and experience populations.

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

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.

76 FR 19759 - Energy Conservation Program for Certain Industrial Equipment: Publication of the Petition for...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-04-08

... (``VRF'') multi-split systems. Carrier requests this waiver for the SMMSi systems because the basic design of VRF multi-split systems prevents testing or rating according to DOE's prescribed test... adopted by AHRI--``ANSI/AHRI 1230--2010: Performance Rating of Variable Refrigerant Flow (VRF) Multi-Split...

Alveolar Ridge Split Technique Using Piezosurgery with Specially Designed Tips

PubMed Central

Moro, Alessandro; Foresta, Enrico; Falchi, Marco; De Angelis, Paolo; D'Amato, Giuseppe; Pelo, Sandro

2017-01-01

The treatment of patients with atrophic ridge who need prosthetic rehabilitation is a common problem in oral and maxillofacial surgery. Among the various techniques introduced for the expansion of alveolar ridges with a horizontal bone deficit is the alveolar ridge split technique. The aim of this article is to give a description of some new tips that have been specifically designed for the treatment of atrophic ridges with transversal bone deficit. A two-step piezosurgical split technique is also described, based on specific osteotomies of the vestibular cortex and the use of a mandibular ramus graft as interpositional graft. A total of 15 patients were treated with the proposed new tips by our department. All the expanded areas were successful in providing an adequate width and height to insert implants according to the prosthetic plan and the proposed tips allowed obtaining the most from the alveolar ridge split technique and piezosurgery. These tips have made alveolar ridge split technique simple, safe, and effective for the treatment of horizontal and vertical bone defects. Furthermore the proposed piezosurgical split technique allows obtaining horizontal and vertical bone augmentation. PMID:28246596

Alveolar Ridge Split Technique Using Piezosurgery with Specially Designed Tips.

PubMed

Moro, Alessandro; Gasparini, Giulio; Foresta, Enrico; Saponaro, Gianmarco; Falchi, Marco; Cardarelli, Lorenzo; De Angelis, Paolo; Forcione, Mario; Garagiola, Umberto; D'Amato, Giuseppe; Pelo, Sandro

2017-01-01

The treatment of patients with atrophic ridge who need prosthetic rehabilitation is a common problem in oral and maxillofacial surgery. Among the various techniques introduced for the expansion of alveolar ridges with a horizontal bone deficit is the alveolar ridge split technique. The aim of this article is to give a description of some new tips that have been specifically designed for the treatment of atrophic ridges with transversal bone deficit. A two-step piezosurgical split technique is also described, based on specific osteotomies of the vestibular cortex and the use of a mandibular ramus graft as interpositional graft. A total of 15 patients were treated with the proposed new tips by our department. All the expanded areas were successful in providing an adequate width and height to insert implants according to the prosthetic plan and the proposed tips allowed obtaining the most from the alveolar ridge split technique and piezosurgery. These tips have made alveolar ridge split technique simple, safe, and effective for the treatment of horizontal and vertical bone defects. Furthermore the proposed piezosurgical split technique allows obtaining horizontal and vertical bone augmentation.

Development of a precision, six-axis laboratory dynamometer

NASA Technical Reports Server (NTRS)

Champagne, P. J.; Cordova, S. A.; Jacoby, M. S.; Lorell, K. R.

1992-01-01

This paper describes the design, fabrication, test, and operation of a unique six axis force/torque dynamometer The specimen table used to hold components under test is supported in a full six axis kinematic mount. Support struts fabricated from high strength steel with special integral two axis flexures link the specimen table to the load cell transducers. Realtime force/torque coordinate transform, root mean squared calculation, and data averaging, and color six axis display with controllable scaling are provided by a specially programmed desktop computer. The extensive structural analysis and design optimization required to obtain a stiff, well damped, lightweight structure is described in detail. Geometric optimization of the kinematic mount and fabrication details of the struts are also described.

An advanced pitch change mechanism incorporating a hybrid traction drive

NASA Technical Reports Server (NTRS)

Steinetz, B. M.; Sargisson, D. F.; White, G.; Loewenthal, S. H.

1984-01-01

A design of a propeller pitch control mechanism is described that meets the demanding requirements of a high-power, advanced turboprop. In this application, blade twisting moment torque can be comparable to that of the main reduction gearbox output: precise pitch control, reliability and compactness are all at a premium. A key element in the design is a compact, high-ratio hybrid traction drive which offers low torque ripple and high torsional stiffness. The traction drive couples a high speed electric motor/alternator unit to a ball screw that actuates the blade control links. The technical merits of this arrangement and the performance characteristics of the traction drive are discussed. Comparisons are made to the more conventional pitch control mechanisms.

Design aspects of a solar array drive for spot, with a high platform stability objective

NASA Technical Reports Server (NTRS)

Cabillic, J.; Fournier, J. P.; Anstett, P.; Souliac, M.; Thomin, G.

1981-01-01

A solar array drive mechanism (MEGS) for the SPOT platform, which is a prototype of a multimission platform, is described. High-resolution cameras and other optical instruments are carried by the platform, requiring excellent platform stability in order to obtain high-quality pictures. Therefore, a severe requirement for the MEGS is the low level of disturbing torques it may generate considering the 0.6 times 10 to the minus 3 power deg/sec stability required. The mechanical design aspects aiming at reducing the mean friction torque, and therefore its fluctuations, are described as well as the method of compensation of the motor imperfections. It was concluded, however, that this is not sufficient to reach the stability requirement.

Frictional Torque Reduction in Taylor-Couette Flows with Riblet-Textured Rotors

NASA Astrophysics Data System (ADS)

Raayai, Shabnam; McKinley, Gareth

2017-11-01

Inspired by the riblets on the denticles of fast swimming shark species, periodic surface microtextures of different shapes have been studied under laminar and turbulent flow conditions to understand their drag reduction mechanism and to offer guides for designing optimized low-friction bio-inspired surfaces. Various reports over the past four decades have suggested that riblet surfaces can reduce the frictional drag force in high Reynolds number laminar and turbulent flow regimes. Here, we investigate the effect of streamwise riblets on torque reduction in steady flow between concentric cylinders, known as Taylor-Couette Flow. Using 3D printed riblet-textured rotors and a custom-built Taylor-Couette cell which can be mounted on a rheometer we measure the torque on the inner rotor as a function of three different dimensionless parameters; the Reynolds number of the flow, the sharpness of the riblets, and the size of the riblets with respect to the scale of the Taylor-Couette cell. Our experimental results in the laminar viscous flow regime show a reduction in torque up to 10% over a wide range of Reynolds numbers, that is a non-monotonic function of the aspect ratio and independent of Re. However, after transition to the Taylor vortex regime, the modification in torque becomes a function of the Reynolds number, while remaining a non-monotonic function of the aspect ratio. Using finite volume modelling of the geometry we discuss the changes in the Taylor-Couette flow in presence of the riblets compared to the case of smooth rotors and the resulting torque reduction as a function of the parameter space defined above.

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.

Divide and control: split design of multi-input DNA logic gates.

PubMed

Gerasimova, Yulia V; Kolpashchikov, Dmitry M

2015-01-18

Logic gates made of DNA have received significant attention as biocompatible building blocks for molecular circuits. The majority of DNA logic gates, however, are controlled by the minimum number of inputs: one, two or three. Here we report a strategy to design a multi-input logic gate by splitting a DNA construct.

76 FR 31946 - Energy Conservation Program for Certain Industrial Equipment: Publication of the Petition for...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-06-02

... has been adopted by AHRI--``ANSI/AHRI 1230--2010: Performance Rating of Variable Refrigerant Flow (VRF... Refrigerant Flow (VRF) Multi-Split Systems, because the basic model contains design characteristics which... line of commercial (3- phase) VRF multi-split ``AIRSTAGE V-II''. 2. The Design Characteristics FUJITSU...

Harmonic Composition of the Currents of Power Windings in 500 KV Thyristor Controlled Shunt Reactor with Split Valveside Windings

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

Matinyan, A. M., E-mail: al-drm@mail.ru; Peshkov, M. V.; Karpov, V. N.

2016-09-15

The design and current spectrum of a thyristor valve controlled shunt reactor (TCSR) with split valveside windings are described. The dependence of the amplitudes of higher-order harmonics of the power winding current on the TCSR operating regime are presented for this TCSR design.

Establishing a relationship between maximum torque production of isolated joints to simulate EVA ratchet push-pull maneuver: A case study

NASA Technical Reports Server (NTRS)

Pandya, Abhilash; Maida, James; Hasson, Scott; Greenisen, Michael; Woolford, Barbara

1993-01-01

As manned exploration of space continues, analytical evaluation of human strength characteristics is critical. These extraterrestrial environments will spawn issues of human performance which will impact the designs of tools, work spaces, and space vehicles. Computer modeling is an effective method of correlating human biomechanical and anthropometric data with models of space structures and human work spaces. The aim of this study is to provide biomechanical data from isolated joints to be utilized in a computer modeling system for calculating torque resulting from any upper extremity motions: in this study, the ratchet wrench push-pull operation (a typical extravehicular activity task). Established here are mathematical relationships used to calculate maximum torque production of isolated upper extremity joints. These relationships are a function of joint angle and joint velocity.

Rear wheel torque vectoring model predictive control with velocity regulation for electric vehicles

NASA Astrophysics Data System (ADS)

Siampis, Efstathios; Velenis, Efstathios; Longo, Stefano

2015-11-01

In this paper we propose a constrained optimal control architecture for combined velocity, yaw and sideslip regulation for stabilisation of the vehicle near the limit of lateral acceleration using the rear axle electric torque vectoring configuration of an electric vehicle. A nonlinear vehicle and tyre model are used to find reference steady-state cornering conditions and design two model predictive control (MPC) strategies of different levels of fidelity: one that uses a linearised version of the full vehicle model with the rear wheels' torques as the input, and another one that neglects the wheel dynamics and uses the rear wheels' slips as the input instead. After analysing the relative trade-offs between performance and computational effort, we compare the two MPC strategies against each other and against an unconstrained optimal control strategy in Simulink and Carsim environment.

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.

Design Development of the Apollo Lunar Module

NASA Technical Reports Server (NTRS)

Cox, K. L.

1978-01-01

The lunar module autopilot is a first generation digital control system design. The two torque sources available for the control function of the descent stage configuration consist of 16 reaction jets and a slow, gimbaled, throttlable engine. Design history, the design requirements, criteria, constraints, and general design philosophy of the control system development are reviewed. Comparative flight test results derived from design testing are presented.

Design and fabrication of cascaded dichromate gelatin holographic filters for spectrum-splitting PV systems

NASA Astrophysics Data System (ADS)

Wu, Yuechen; Chrysler, Benjamin; Kostuk, Raymond K.

2018-01-01

The technique of designing, optimizing, and fabricating broadband volume transmission holograms using dichromate gelatin (DCG) is summarized for solar spectrum-splitting applications. The spectrum-splitting photovoltaic (PV) system uses a series of single-bandgap PV cells that have different spectral conversion efficiency properties to more fully utilize the solar spectrum. In such a system, one or more high-performance optical filters are usually required to split the solar spectrum and efficiently send them to the corresponding PV cells. An ideal spectral filter should have a rectangular shape with sharp transition wavelengths. A methodology of designing and modeling a transmission DCG hologram using coupled wave analysis for different PV bandgap combinations is described. To achieve a broad diffraction bandwidth and sharp cutoff wavelength, a cascaded structure of multiple thick holograms is described. A search algorithm is then developed to optimize both single- and two-layer cascaded holographic spectrum-splitting elements for the best bandgap combinations of two- and three-junction spectrum-splitting photovoltaic (SSPV) systems illuminated under the AM1.5 solar spectrum. The power conversion efficiencies of the optimized systems are found to be 42.56% and 48.41%, respectively, using the detailed balance method, and show an improvement compared with a tandem multijunction system. A fabrication method for cascaded DCG holographic filters is also described and used to prototype the optimized filter for the three-junction SSPV system.

Does Humeral Component Lateralization in Reverse Shoulder Arthroplasty Affect Rotator Cuff Torque? Evaluation in a Cadaver Model.

PubMed

Chan, Kevin; Langohr, G Daniel G; Mahaffy, Matthew; Johnson, James A; Athwal, George S

2017-10-01

Humeral component lateralization in reverse total shoulder arthroplasty (RTSA) may improve the biomechanical advantage of the rotator cuff, which could improve the torque generated by the rotator cuff and increase internal and external rotation of the shoulder. The purpose of this in vitro biomechanical study was to evaluate the effect of humeral component lateralization (or lateral offset) on the torque of the anterior and posterior rotator cuff. Eight fresh-frozen cadaveric shoulders from eight separate donors (74 ± 8 years; six males, two females) were tested using an in vitro simulator. All shoulders were prescreened for soft tissue deficit and/or deformity before testing. A custom RTSA prosthesis was implanted that allowed five levels of humeral component lateralization (15, 20, 25, 30, 35 mm), which avoided restrictions imposed by commercially available designs. The torques exerted by the anterior and posterior rotator cuff were measured three times and then averaged for varying humeral lateralization, abduction angle (0°, 45°, 90°), and internal and external rotation (-60°, -30°, 0°, 30°, 60°). A three-way repeated measures ANOVA (abduction angle, humeral lateralization, internal rotation and external rotation angles) with a significance level of α = 0.05 was used for statistical analysis. Humeral lateralization only affected posterior rotator cuff torque at 0° abduction, where increasing humeral lateralization from 15 to 35 mm at 60° internal rotation decreased external rotation torque by 1.6 ± 0.4 Nm (95% CI, -0.07 -1.56 Nm; p = 0.06) from 4.0 ± 0.3 Nm to 2.4 ± 0.6 Nm, respectively, but at 60° external rotation increased external rotation torque by 2.2 ± 0.5 Nm (95% CI, -4.2 to -0.2 Nm; p = 0.029) from 6.2 ± 0.5 Nm to 8.3 ± 0.5 Nm, respectively. Anterior cuff torque was affected by humeral lateralization in more arm positions than the posterior cuff, where increasing humeral lateralization from 15 to 35 mm when at 60° internal rotation increased internal rotation torque at 0°, 45°, and 90° abduction by 3.2 ± 0.5 Nm (95% CI, 1.1-5.2 Nm; p = 0.004) from 6.6 ± 0.6 Nm to 9.7 ± 0.6 Nm, 4.0 ± 0.3 Nm (95% CI, 2.8-5.0 Nm; p < 0.001) from 1.7 ± 1.0 Nm to 5.6 ± 0.9 Nm, and 2.2 ± 0.2 Nm (95% CI, 1.4-2.9 Nm; p < 0.001) from 0.6 ± 0.6 Nm to 2.8 ± 0.6 Nm, respectively. In neutral internal and external rotation, increasing humeral lateral offset from 15 to 35 mm increased the internal rotation torque at 45˚ and 90˚ abduction by 1.5 ± 0.3 Nm (95% CI, 0.2-2.7 Nm; p = 0.02) and 1.3 ± 0.2 Nm (95% CI, 0.4-2.3 Nm; p < 0.001), respectively. Humeral component lateralization improves rotator cuff torque. The results of this preliminary in vitro cadaveric study suggest that the lateral offset of the RTSA humeral component plays an important role in the torque generated by the anterior and posterior rotator cuff. However, further studies are needed before clinical application of these results. Increasing humeral offset may have adverse effects, such as the increased risk of implant modularity, increasing tension of the cuff and soft tissues, increased costs often associated with design modifications, and other possible as yet unforeseen negative consequences.

Gear Spline Coupling Program

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

Guo, Yi; Errichello, Robert

2013-08-29

An analytical model is developed to evaluate the design of a spline coupling. For a given torque and shaft misalignment, the model calculates the number of teeth in contact, tooth loads, stiffnesses, stresses, and safety factors. The analytic model provides essential spline coupling design and modeling information and could be easily integrated into gearbox design and simulation tools.

Design of a new engine mount for vertical and horizontal vibration control using magnetorheological fluid

NASA Astrophysics Data System (ADS)

Phu, D. X.; Choi, S. B.; Lee, Y. S.; Han, M. S.

2014-10-01

This paper presents a new design of a magnetorheological fluid (MR) mount for vibration control considering both vertical forces and horizontal moments such as are met in various engine systems, including a medium high-speed engine of ship. The newly designed mount, called a MR brake mount, offers several salient benefits such as small size and relatively high load capacity compared with a conventional MR engine mount that can control vertical vibration only. The principal design parameters of the proposed mount are optimally determined to achieve maximum torque with geometric and spatial constraints. Subsequently, the proposed MR mount is designed and manufactured based on the optimized design parameters. It is shown from experimental testing that the proposed mount, which combines MR mount with MR brake, can produce the desired force and torque to reduce unwanted vibration of a medium high-speed engine system of ship subjected to both vertical and horizontal exciting motions. In addition, it is verified that there is no large difference between experiment results and simulation results that are obtained from an analytical model derived in this work.

Timing of intermittent torque control with wire-driven gait training robot lifting toe trajectory for trip avoidance.

PubMed

Miyake, Tamon; Kobayashi, Yo; Fujie, Masakatsu G; Sugano, Shigeki

2017-07-01

Gait training robots are useful for changing gait patterns and decreasing risk of trip. Previous research has reported that decreasing duration of the assistance or guidance of the robot is beneficial for efficient gait training. Although robotic intermittent control method for assisting joint motion has been established, the effect of the robot intervention timing on change of toe clearance is unclear. In this paper, we tested different timings of applying torque to the knee, employing the intermittent control of a gait training robot to increase toe clearance throughout the swing phase. We focused on knee flexion motion and designed a gait training robot that can apply flexion torque to the knee with a wire-driven system. We used a method of timing detecting for the robot conducting torque control based on information from the hip, knee, and ankle angles to establish a non-time dependent parameter that can be used to adapt to gait change, such as gait speed. We carried out an experiment in which the conditions were four time points: starting the swing phase, lifting the foot, maintaining knee flexion, and finishing knee flexion. The results show that applying flexion torque to the knee at the time point when people start lifting their toe is effective for increasing toe clearance in the whole swing phase.

VHDL-AMS modelling and simulation of a planar electrostatic micromotor

NASA Astrophysics Data System (ADS)

Endemaño, A.; Fourniols, J. Y.; Camon, H.; Marchese, A.; Muratet, S.; Bony, F.; Dunnigan, M.; Desmulliez, M. P. Y.; Overton, G.

2003-09-01

System level simulation results of a planar electrostatic micromotor, based on analytical models of the static and dynamic torque behaviours, are presented. A planar variable capacitance (VC) electrostatic micromotor designed, fabricated and tested at LAAS (Toulouse) in 1995 is simulated using the high level language VHDL-AMS (VHSIC (very high speed integrated circuits) hardware description language-analog mixed signal). The analytical torque model is obtained by first calculating the overlaps and capacitances between different electrodes based on a conformal mapping transformation. Capacitance values in the order of 10-16 F and torque values in the order of 10-11 N m have been calculated in agreement with previous measurements and simulations from this type of motor. A dynamic model has been developed for the motor by calculating the inertia coefficient and estimating the friction-coefficient-based values calculated previously for other similar devices. Starting voltage results obtained from experimental measurement are in good agreement with our proposed simulation model. Simulation results of starting voltage values, step response, switching response and continuous operation of the micromotor, based on the dynamic model of the torque, are also presented. Four VHDL-AMS blocks were created, validated and simulated for power supply, excitation control, micromotor torque creation and micromotor dynamics. These blocks can be considered as the initial phase towards the creation of intellectual property (IP) blocks for microsystems in general and electrostatic micromotors in particular.

Tracking control of time-varying knee exoskeleton disturbed by interaction torque.

PubMed

Li, Zhan; Ma, Wenhao; Yin, Ziguang; Guo, Hongliang

2017-11-01

Knee exoskeletons have been increasingly applied as assistive devices to help lower-extremity impaired people to make their knee joints move through providing external movement compensation. Tracking control of knee exoskeletons guided by human intentions often encounters time-varying (time-dependent) issues and the disturbance interaction torque, which may dramatically put an influence up on their dynamic behaviors. Inertial and viscous parameters of knee exoskeletons can be estimated to be time-varying due to unexpected mechanical vibrations and contact interactions. Moreover, the interaction torque produced from knee joint of wearers has an evident disturbance effect on regular motions of knee exoskeleton. All of these points can increase difficultly of accurate control of knee exoskeletons to follow desired joint angle trajectories. This paper proposes a novel control strategy for controlling knee exoskeleton with time-varying inertial and viscous coefficients disturbed by interaction torque. Such designed controller is able to make the tracking error of joint angle of knee exoskeletons exponentially converge to zero. Meanwhile, the proposed approach is robust to guarantee the tracking error bounded when the interaction torque exists. Illustrative simulation and experiment results are presented to show efficiency of the proposed controller. Additionally, comparisons with gradient dynamic (GD) approach and other methods are also presented to demonstrate efficiency and superiority of the proposed control strategy for tracking joint angle of knee exoskeleton. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Experimental testing of prototype face gears for helicopter transmissions

NASA Technical Reports Server (NTRS)

Handschuh, R.; Lewicki, D.; Bossler, R.

1992-01-01

An experimental program to test the feasibility of using face gears in a high-speed and high-power environment was conducted. Four face gear sets were tested, two sets at a time, in a closed-loop test stand at pinion rotational speeds to 19,100 rpm and to 271 kW. The test gear sets were one-half scale of the helicopter design gear set. Testing the gears at one-eighth power, the test gear set had slightly increased bending and compressive stresses when compared to the full scale design. The tests were performed in the LeRC spiral bevel gear test facility. All four sets of gears successfully ran at 100 percent of design torque and speed for 30 million pinion cycles, and two sets successfully ran at 200 percent of torque for an additional 30 million pinion cycles. The results, although limited, demonstrated the feasibility of using face gears for high-speed, high-load applications.

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.

PI controller design for indirect vector controlled induction motor: A decoupling approach.

PubMed

Jain, Jitendra Kr; Ghosh, Sandip; Maity, Somnath; Dworak, Pawel

2017-09-01

Decoupling of the stator currents is important for smoother torque response of indirect vector controlled induction motors. Typically, feedforward decoupling is used to take care of current coupling that requires exact knowledge of motor parameters, additional circuitry and signal processing. In this paper, a method is proposed to design the regulating proportional-integral gains that minimize coupling without any requirement of the additional decoupler. The variation of the coupling terms for change in load torque is considered as the performance measure. An iterative linear matrix inequality based H ∞ control design approach is used to obtain the controller gains. A comparison between the feedforward and the proposed decoupling schemes is presented through simulation and experimental results. The results show that the proposed scheme is simple yet effective even without additional block or burden on signal processing. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Thrust Control Loop Design for Electric-Powered UAV

NASA Astrophysics Data System (ADS)

Byun, Heejae; Park, Sanghyuk

2018-04-01

This paper describes a process of designing a thrust control loop for an electric-powered fixed-wing unmanned aerial vehicle equipped with a propeller and a motor. In particular, the modeling method of the thrust system for thrust control is described in detail and the propeller thrust and torque force are modeled using blade element theory. A relation between current and torque of the motor is obtained using an experimental setup. Another relation between current, voltage and angular velocity is also obtained. The electric motor and the propeller dynamics are combined to model the thrust dynamics. The associated trim and linearization equations are derived. Then, the thrust dynamics are coupled with the flight dynamics to allow a proper design for the thrust loop in the flight control. The proposed method is validated by an application to a testbed UAV through simulations and flight test.

Minimum-Time and Vibration Avoidance Attitude Maneuver for Spacecraft with Torque and Momentum Limit Constraints in Redundant Reaction Wheel Configuration

NASA Technical Reports Server (NTRS)

Ha, Kong Q.; Femiano, Michael D.; Mosier, Gary E.

2004-01-01

This viewgraph presentation presents an algorithm for trajectory control of a spacecraft that minimizes the time to perform slews, including settling, by avoiding reaction wheel torque and momentum limits that would excite flexible structural modes. This algorithm was validated by simulation during the design of the NGST 'Yardstick' (precursor to JWST). Performance verification of a reduced form for single-axis slews was carried out using the MIT Origins Testbed. It is currently baselined for use by TPF-Coronagraph.

The Monitoring System of the Operating State of the Gear Wheels of the Torque Multiplier of the Desalination Plant Steam Generator

NASA Astrophysics Data System (ADS)

Danilin, A. I.; Neverov, V. V.; Danilin, S. A.; Shimanov, A. A.; Tsapkova, A. B.

2018-01-01

The article describes a noncontact operational control method based on the processing of a microwave signal reflected from the controlled teeth of the wheel. In this paper describes the influence of wear patterns on the characteristic information parameters of the analyzed signals. The block diagram in section 3 shows the experimental system for monitoring the operating state of the gear wheels of the steam compressor torque multiplier. The design of the primary converter is briefly described.

Design of transmission shafting

NASA Technical Reports Server (NTRS)

Loewenthal, S. H.

1978-01-01

Formula considers flexure fatigue characteristics of shaft material under combined cyclic bending and static torsion stress. Formula permits selecting shaft sizes that meet common loading conditions without adding on excessive shaft material. Formula is applicable to design of rotary power or torque transmission shafting external to machine elements.

Aerothermal Analysis and Design of the Gravity Recovery and Climate Experiment (GRACE) Spacecraft

NASA Technical Reports Server (NTRS)

Mazanek, Daniel D.; Kumar, Renjith R.; Qu, Min; Seywald, Hans

2000-01-01

The Gravity Recovery and Climate Experiment (GRACE) primary mission will be performed by making measurements of the inter-satellite range change between two co-planar, low altitude near-polar orbiting satellites. Understanding the uncertainties in the disturbance environment, particularly the aerodynamic drag and torques, is critical in several mission areas. These include an accurate estimate of the spacecraft orbital lifetime, evaluation of spacecraft attitude control requirements, and estimation of the orbital maintenance maneuver frequency necessitated by differences in the drag forces acting on both satellites. The FREEMOL simulation software has been developed and utilized to analyze and suggest design modifications to the GRACE spacecraft. Aerodynamic accommodation bounding analyses were performed and worst-case envelopes were obtained for the aerodynamic torques and the differential ballistic coefficients between the leading and trailing GRACE spacecraft. These analyses demonstrate how spacecraft aerodynamic design and analysis can benefit from a better understanding of spacecraft surface accommodation properties, and the implications for mission design constraints such as formation spacing control.

GRACE Mission Design: Impact of Uncertainties in Disturbance Environment and Satellite Force Models

NASA Technical Reports Server (NTRS)

Mazanek, Daniel D.; Kumar, Renjith R.; Seywald, Hans; Qu, Min

2000-01-01

The Gravity Recovery and Climate Experiment (GRACE) primary mission will be performed by making measurements of the inter-satellite range change between two co-planar, low altitude, near-polar orbiting satellites. Understanding the uncertainties in the disturbance environment, particularly the aerodynamic drag and torques, is critical in several mission areas. These include an accurate estimate of the spacecraft orbital lifetime, evaluation of spacecraft attitude control requirements, and estimation of the orbital maintenance maneuver frequency necessitated by differences in the drag forces acting on both satellites. The FREEMOL simulation software has been developed and utilized to analyze and suggest design modifications to the GRACE spacecraft. Aerodynamic accommodation bounding analyses were performed and worst-case envelopes were obtained for the aerodynamic torques and the differential ballistic coefficients between the leading and trailing GRACE spacecraft. These analyses demonstrate how spacecraft aerodynamic design and analysis can benefit from a better understanding of spacecraft surface accommodation properties, and the implications for mission design constraints such as formation spacing control.

Split-plot microarray experiments: issues of design, power and sample size.

PubMed

Tsai, Pi-Wen; Lee, Mei-Ling Ting

2005-01-01

This article focuses on microarray experiments with two or more factors in which treatment combinations of the factors corresponding to the samples paired together onto arrays are not completely random. A main effect of one (or more) factor(s) is confounded with arrays (the experimental blocks). This is called a split-plot microarray experiment. We utilise an analysis of variance (ANOVA) model to assess differentially expressed genes for between-array and within-array comparisons that are generic under a split-plot microarray experiment. Instead of standard t- or F-test statistics that rely on mean square errors of the ANOVA model, we use a robust method, referred to as 'a pooled percentile estimator', to identify genes that are differentially expressed across different treatment conditions. We illustrate the design and analysis of split-plot microarray experiments based on a case application described by Jin et al. A brief discussion of power and sample size for split-plot microarray experiments is also presented.

Torque Limit for Bolted Joint for Composites. Part A; TTTC Properties of Laminated Composites

NASA Technical Reports Server (NTRS)

Zhao, Yi

2003-01-01

The existing design code for torque limit of bolted joints for composites at Marshall Space Flight Center is MSFC-STD-486B, which was originally developed in 1960s for metallic materials. The theoretical basis for this code was a simplified mechanics analysis, which takes into account only the bolt, nut and washers, but not the structural members to be connected. The assumption was that metallic materials would not fail due to the bearing stress at the contact area between washer and the mechanical member. This is true for metallic materials; but for composite materials the results could be completely different. Unlike most metallic materials, laminated composite materials have superior mechanical properties (such as modulus and strength) in the in-plane direction, but not in the out-of-plane, or through-the-thickness (TTT) direction. During the torquing, TTT properties (particularly compressive modulus and compressive strength) play a dominant role in composite failure. Because of this concern, structural design engineers at Marshall are currently using a compromised empirical approach: using 50% of the torque value for composite members. Companies like Boeing is using a similar approach. An initial study was conducted last summer on this topic to develop theoretical model(s) that takes into consideration of composite members. Two simplified models were developed based on stress failure criterion and strain failure criterion, respective. However, these models could not be used to predict the torque limit because of the unavailability of material data, specifically, through-the-thickness compression (TTTC) modulus and strength. Therefore, the task for this summer is to experimentally determine the TTTC properties. Due to the time limitation, only one material has been tested: IM7/8552 with [0 degrees,plus or minus 45 degrees, 90 degree ] configuration. This report focuses the test results and their significance, while the experimentation will be described in a separate report by Mr. Kris Kostreva.

Multimedia Presentations of Mitosis: An Examination of Split-Attention, Modality, Redundancy, and Cueing

ERIC Educational Resources Information Center

Cook, Michelle; Visser, Ryan

2014-01-01

Multimedia presentations that combine visual and verbal information are widely used for instructional purposes. While the design of the text-graphic relationship is difficult, several design strategies with the potential to reduce cognitive load have been identified in the literature. The purpose of this study is to examine how split-attention,…

What Strains the Anterior Cruciate Ligament During a Pivot Landing?

PubMed Central

Oh, Youkeun K.; Lipps, David B.; Ashton-Miller, James A.; Wojtys, Edward M.

2015-01-01

Background The relative contributions of an axial tibial torque and frontal plane moment to anterior cruciate ligament (ACL) strain during pivot landings are unknown. Hypothesis The peak normalized relative strain in the anteromedial (AM) bundle of the ACL is affected by the direction of the axial tibial torque but not by the direction of the frontal plane moment applied concurrently during a simulated jump landing. Study Design Controlled and descriptive laboratory studies. Methods Fifteen adult male knees with pretensioned knee muscle-tendon unit forces were loaded under a simulated pivot landing test. Compression, flexion moment, internal or external tibial torque, and knee varus or valgus moment were simultaneously applied to the distal tibia while recording the 3D knee loads and tibiofemoral kinematics. The AM-ACL relative strain was measured using a 3-mm differential variable reluctance transducer. The results were analyzed using nonparametric Wilcoxon signed–rank tests. A 3D dynamic biomechanical knee model was developed using ADAMS and validated to help interpret the experimental results. Results The mean (SD) peak AM-ACL relative strain was 192% greater (P <.001) under the internal tibial torque combined with a knee varus or valgus moment (7.0% [3.9%] and 7.0% [4.1%], respectively) than under external tibial torque with the same moments (2.4% [2.5%] and 2.4% [3.2%], respectively). The knee valgus moment augmented the AM-ACL strain due to the slope of the tibial plateau inducing mechanical coupling (ie, internal tibial rotation and knee valgus moment); this augmentation occurred before medial knee joint space opening. Conclusion An internal tibial torque combined with a knee valgus moment is the worst-case ACL loading condition. However, it is the internal tibial torque that primarily causes large ACL strain. Clinical Relevance Limiting the maximum coefficient of friction between the shoe and playing surface should limit the peak internal tibial torque that can be applied to the knee during jump landings, thereby reducing peak ACL strain and the risk for noncontact injury. PMID:22223717

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

Preloads generated with repeated tightening in three types of screws used in dental implant assemblies.

PubMed

Byrne, Declan; Jacobs, Stuart; O'Connell, Brian; Houston, Frank; Claffey, Noel

2006-01-01

Abutment screw loosening, especially in the case of cemented single tooth restorations, is a cause of implant restoration failure. This study compared three screws (titanium alloy, gold alloy, and gold-coated) with similar geometry by recording the preload induced when torques of 10, 20, and 35 Ncm were used for fixation. Two abutment types were used-prefabricated preparable abutments and cast-on abutments. A custom-designed rig was used to measure preload in the abutment-screw-implant assembly with a strain gauge. Ten screws of each type were sequentially tightened to 10, 20, and 35 Ncm on ten of the two abutment types. The same screws were then loosened and re-tightened. This procedure was repeated. Thus, each screw was tightened on three occasions to the three insertion torques. A linear regression model was used to analyze the effects on preload values of screw type and abutment type for each of the three insertion torques. The results indicated that the gold-coated screw generated the highest preloads for all insertion torques and for each tightening episode. Further analysis focused on the effects of screw type and abutment type for each episode of tightening and for each fixation torque. The gold-coated screw, fixed to the prefabricated abutment, displayed higher preloads for the first tightening at 10, 20, and 35 Ncm. Conversely, the same screw fixed to the cast-on abutment showed higher values for the second and third tightening for all fixation torques. All screws showed decay in preload with the number of times tightened. Given the higher preloads generated using the gold-coated screw with both abutment types, it is more likely that this type of screw will maintain a secure joint when tightened for the second and third time. All screw types displayed some decay in preload with repeated tightening, irrespective of abutment type and insertion torque. The gold-coated screw showed markedly higher preloads for all insertion torques and for all instances of tightening when compared with the uncoated screws.

Dual-mode disturbance-accommodating pointing controller for Hubble Space Telescope

NASA Astrophysics Data System (ADS)

Addington, Stewart I.; Johnson, C. D.

1995-03-01

Cyclic thermal expansions and mechanical stiction effects in the solar arrays on the Hubble Space Telescope (HST) are triggering repeated occurrences of damped, relaxation-type flex-body vibrations of the solar arrays. Those solar array vibrations are, in turn, causing unwanted deviations of the telescope from its specified pointing direction. In this paper we propose two strategies one can adopt in designing a telescope-pointing controller to cope with the aforementioned disturbances: 1) a total isolation (TI) control strategy whereby the HST controller torques are designed to adaptively counteract and cancel out the persistent disturbing torques that are causing the unwanted telescope motions and 2) an array damping (AD) control strategy whereby the HST controller torques are used to actively augment the natural dampening of the solar array vibrations and the attendant telescope motions, between triggerings of the stiction-related flex-body relaxation oscillations. Using the principles of disturbance accommodation control theory, a dual-mode controller for a generic, planar-motion (single-axis) model of the HST is proposed. This controller incorporates both the TI and AD modes of disturbance accommodation. Simulation studies of the closed-loop system using generic parameter values clearly indicate, qualitatively, the enhanced pointing performance such a controller can achieve.

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.

Influence of Micro Threads Alteration on Osseointegration and Primary Stability of Implants: An FEA and In Vivo Analysis in Rabbits.

PubMed

Chowdhary, Ramesh; Halldin, Anders; Jimbo, Ryo; Wennerberg, Ann

2015-06-01

To describe the early bone tissue response to implants with and without micro threads designed to the full length of an oxidized titanium implant. A pair of two-dimensional finite element models was designed using a computer aided three-dimensional interactive application files of an implant model with micro threads in between macro threads and one without micro threads. Oxidized titanium implants with (test implants n=20) and without (control implants n=20) micro thread were prepared. A total of 12 rabbits were used and each received four implants. Insertion torque while implant placement and removal torque analysis after 4 weeks was performed in nine rabbits, and histomorphometric analysis in three rabbits, respectively. Finite element analysis showed less stress accumulation in test implant models with 31Mpa when compared with 62.2 Mpa in control implant model. Insertion and removal torque analysis did not show any statistical significance between the two implant designs. At 4 weeks, there was a significant difference between the two groups in the percentage of new bone volume and bone-to-implant contact in the femur (p< .05); however, not in the tibia. The effect of micro threads was prominent in the femur suggesting that micro threads promote bone formation. The stress distribution supported by the micro threads was especially effective in the cancellous bone. © 2013 Wiley Periodicals, Inc.

Design of a 4-DOF MR haptic master for application to robot surgery: virtual environment work

NASA Astrophysics Data System (ADS)

Oh, Jong-Seok; Choi, Seung-Hyun; Choi, Seung-Bok

2014-09-01

This paper presents the design and control performance of a novel type of 4-degrees-of-freedom (4-DOF) haptic master in cyberspace for a robot-assisted minimally invasive surgery (RMIS) application. By using a controllable magnetorheological (MR) fluid, the proposed haptic master can have a feedback function for a surgical robot. Due to the difficulty in utilizing real human organs in the experiment, the cyberspace that features the virtual object is constructed to evaluate the performance of the haptic master. In order to realize the cyberspace, a volumetric deformable object is represented by a shape-retaining chain-linked (S-chain) model, which is a fast volumetric model and is suitable for real-time applications. In the haptic architecture for an RMIS application, the desired torque and position induced from the virtual object of the cyberspace and the haptic master of real space are transferred to each other. In order to validate the superiority of the proposed master and volumetric model, a tracking control experiment is implemented with a nonhomogenous volumetric cubic object to demonstrate that the proposed model can be utilized in real-time haptic rendering architecture. A proportional-integral-derivative (PID) controller is then designed and empirically implemented to accomplish the desired torque trajectories. It has been verified from the experiment that tracking the control performance for torque trajectories from a virtual slave can be successfully achieved.

A MEMS and agile optics-based dual-mode variable optical power splitter with no moving parts

NASA Astrophysics Data System (ADS)

Khwaja, Tariq S.; Suleman, Hamid; Reza, Syed Azer

2017-06-01

In this paper, we present a novel design of an optical power splitter. Owing to the inherent variable power split ratios that the proposed design delivers, it is ideal for use in communications, sensing and signal processing applications where variable power splitting is often quintessential. The proposed power splitter module is dual mode as it combines the use of a Micro-Electro-Mechanical Systems (MEMS) based Digital Micro-mirror Device (DMD) and an Electronically Controlled Tunable Lens (ECTL) to split the power of an input optical signal between two output ports - the designated port and the surplus port. The use of a reflective Digital Spatial Light Modulator (DSLM) such as the DMD provides a motion-free digital control of the split ratio between the two output ports. Although the digital step between two possible successive split ratios can be fairly minimal with the use of a high resolution DMD but it is a challenge to correctly ascertain the exact image pattern on the DMD to obtain any desired specific split ratio. To counter this challenge, we propose the synchronized use of a circular pattern on the DMD, which serves as a circular clear aperture with a tunable radius, and an ECTL. The radius of the circular pattern on the DMD provides a digital control of the split ratio between the two ports whereas the ECTL, depending on its controller, can provide either an analog or a digital control by altering the beam radius which is incident at the DMD circular pattern. The radius of the circular pattern on the DMD can be minimally changed by one micro-pixel thickness. Setting the radius of the circular pattern on the DMD to an appropriate value provides the closest "ball-park" split ratio whereas further tuning the ECTL aids in slightly altering from this digitally set value to obtain the exact desired split ratio in-between any two digitally-set successive split ratios that correspond to any clear aperture radius of the DMD pattern and its incremental minimal allowable change of one micropixel. We provide a detailed scheme to calculate the desired DMD aperture radius as well as the focal length setting of the ECTL to obtain any given split ratio. By setting tolerance limits on the split ratio, we also show that our method affords diversity by providing multiple possible solutions to achieve a desired optical power split ratio within the specified tolerances. We also demonstrate the validation of the proposed concept with initial experimental results and discussions. These experimental results show a repeatable splitter operation and the resulting power split ratios according to the theoretical predictions. With the experimental data, we also demonstrate the effectiveness of the method in obtaining any particular split ratio through different DMD and ECTL configurations with specific split ratio tolerance values.

None of the Rotor Residues of F1-ATPase Are Essential for Torque Generation

PubMed Central

Chiwata, Ryohei; Kohori, Ayako; Kawakami, Tomonari; Shiroguchi, Katsuyuki; Furuike, Shou; Adachi, Kengo; Sutoh, Kazuo; Yoshida, Masasuke; Kinosita, Kazuhiko

2014-01-01

F1-ATPase is a powerful rotary molecular motor that can rotate an object several hundred times as large as the motor itself against the viscous friction of water. Forced reverse rotation has been shown to lead to ATP synthesis, implying that the mechanical work against the motor’s high torque can be converted into the chemical energy of ATP. The minimal composition of the motor protein is α3β3γ subunits, where the central rotor subunit γ turns inside a stator cylinder made of alternately arranged α3β3 subunits using the energy derived from ATP hydrolysis. The rotor consists of an axle, a coiled coil of the amino- and carboxyl-terminal α-helices of γ, which deeply penetrates the stator cylinder, and a globular protrusion that juts out from the stator. Previous work has shown that, for a thermophilic F1, significant portions of the axle can be truncated and the motor still rotates a submicron sized bead duplex, indicating generation of up to half the wild-type (WT) torque. Here, we inquire if any specific interactions between the stator and the rest of the rotor are needed for the generation of a sizable torque. We truncated the protruding portion of the rotor and replaced part of the remaining axle residues such that every residue of the rotor has been deleted or replaced in this or previous truncation mutants. This protrusionless construct showed an unloaded rotary speed about a quarter of the WT, and generated one-third to one-half of the WT torque. No residue-specific interactions are needed for this much performance. F1 is so designed that the basic rotor-stator interactions for torque generation and control of catalysis rely solely upon the shape and size of the rotor at very low resolution. Additional tailored interactions augment the torque to allow ATP synthesis under physiological conditions. PMID:24853745

A fundamental model of quasi-static wheelchair biomechanics.

PubMed

Leary, M; Gruijters, J; Mazur, M; Subic, A; Burton, M; Fuss, F K

2012-11-01

The performance of a wheelchair system is a function of user anatomy, including arm segment lengths and muscle parameters, and wheelchair geometry, in particular, seat position relative to the wheel hub. To quantify performance, researchers have proposed a number of predictive models. In particular, the model proposed by Richter is extremely useful for providing initial analysis as it is simple to apply and provides insight into the peak and transient joint torques required to achieve a given angular velocity. The work presented in this paper identifies and corrects a critical error; specifically that the Richter model incorrectly predicts that shoulder torque is due to an anteflexing muscle moment. This identified error was confirmed analytically, graphically and numerically. The authors have developed a corrected, fundamental model which identifies that the shoulder anteflexes only in the first half of the push phase and retroflexes in the second half. The fundamental model has been extended by the authors to obtain novel data on joint and net power as a function of push progress. These outcomes indicate that shoulder power is positive in the first half of the push phase (concentrically contracting anteflexors) and negative in the second half (eccentrically contracting retroflexors). As the eccentric contraction introduces adverse negative power, these considerations are essential when optimising wheelchair design in terms of the user's musculoskeletal system. The proposed fundamental model was applied to assess the effect of vertical seat position on joint torques and power. Increasing the seat height increases the peak positive (concentric) shoulder and elbow torques while reducing the associated (eccentric) peak negative torque. Furthermore, the transition from positive to negative shoulder torque (as well as from positive to negative power) occurs later in the push phase with increasing seat height. These outcomes will aid in the optimisation of manual wheelchair propulsion biomechanics by minimising adverse negative muscle power, and allow joint torques to be manipulated as required to minimise injury or aid in rehabilitation. Copyright © 2012. Published by Elsevier Ltd.

Torque and Muscle Activation Impairment Along With Insulin Resistance Are Associated With Falls in Women With Fibromyalgia.

PubMed

Góes, Suelen M; Stefanello, Joice M F; Homann, Diogo; Lodovico, Angélica; Hubley-Kozey, Cheryl L; Rodacki, André L F

2016-11-01

Góes, SM, Stefanello, JMF, Homann, D, Lodovico, A, Hubley-Kozey, CL, and Rodacki, ALF. Torque and muscle activation impairment along with insulin resistance are associated with falls in women with fibromyalgia. J Strength Cond Res 30(11): 3155-3164, 2016-Fibromyalgia (FM) is a chronic pain condition associated with reduced muscle strength, which can lead to functional incapacity and higher risk of falls. The purpose of the study was to compare maximal ankle joint torque, muscle activation, and metabolic changes between women with and without FM. In addition, the relationship between those aspects and retrospectively reported falls in women with FM was determined. Twenty-nine middle-aged women with FM and 30 controls were recruited. Fall history, pain intensity, and pain threshold were assessed. Plasma glucose levels and insulin resistance (IR) were determined. Peak torque and rate of torque development (RTD) were calculated, and muscle activation was assessed from maximum isometric voluntary ankle dorsiflexion and plantar flexion contractions. In addition, voluntary muscle activation failure of the anterior tibialis muscle during maximal dorsiflexion was calculated. When compared to controls, women with FM reported higher number of retrospectively reported falls, exhibited higher IR, showed reduced plantar flexion and dorsiflexion RTD, had lower plantar flexion peak torque, and demonstrated more antagonist coactivation and higher muscle activation failure (p ≤ 0.05). Higher muscle activation failure was explained by glucose level and pain intensity (adj R = 0.28; p ≤ 0.05). Reduced plantar flexion and dorsiflexion peak torque explained 80% of retrospectively reported falls variance; also, high antagonist coactivation (odds ratio [OR] = 1.6; p ≤ 0.05) and high IR (OR = 1.8; p ≤ 0.05) increased the chance of falls in the FM group. A combination of metabolic factors and muscle function increased the odds of retrospectively reporting a fall in FM. Both aspects may be considered in interventions designed for reducing falls in this population.

Rotorcraft convertible engines for the 1980s

NASA Technical Reports Server (NTRS)

Eisenberg, J. D.

1982-01-01

Two rotorcraft studies were executed. The goal was to identify attractive techniques for implementing convertible powerplants for the ABC, Folded Tilt Rotor, and X-wing type high speed, high-L/D rotorcraft; to determine the DOC and fuel savings benefits achieved thereby; and to define research required to bring these powerplants into existence by the 1990's. These studies are reviewed herein and the different methods of approach are pointed out as well as the key findings. Fan shaft engines using variable inlet guide vanes or torque converters, and turboprop powerplants appear attractive. Savings in DOC and fuel consumption of over 15 percent are predicted in some cases as a result of convertible engine use rather than using separate engines for the thrust and the shaft functions. Areas of required research are fan performance (including noise), integrated engine/rotorcraft control, torque converters, turbine design, airflow for rotorcraft torque control, bleed for lift flow, and transmissions and clutches.

Energy-efficient MRF clutch avoiding no-load losses

NASA Astrophysics Data System (ADS)

Güth, Dirk; Schamoni, Markus; Maas, Jürgen

2013-04-01

A challenge opposing a commercial use of actuators like brakes and clutches based on magnetorheological fluids (MRF) are durable no-load losses. A complete torque-free separation of these actuators is inherently not yet possible due to the permanent liquid intervention for the fluid engaging parts. Especially for applications with high rotational speeds up to some thousand RPM, this drawback of MRF actuators is not acceptable. In this paper, a novel approach will be presented that allows a controlled movement of the MRF from a torque-transmitting volume of the shear gap into an inactive volume of the shear gap, enabling a complete separation of the fluid engaging surfaces. This behavior is modeled for a novel clutch design by the use of the ferrohydrodynamics and therefore simulations are performed to investigate the transitions between engaged and idle mode. Measurements performed with a realized clutch show that the viscous induced drag torque can be reduced significantly.

Cyclic Parameter Refinement of 4S-10 Hybrid Flux-Switching Motor for Lightweight Electric Vehicle

NASA Astrophysics Data System (ADS)

Rani, J. Abd; Sulaiman, E.; Kumar, R.

2017-08-01

A great deal of attention has been given to the reduction of lighting the vehicle because the lighter the vehicle the energy consumption is comparatively low. Hence, the lightweight electric vehicle was introduced for lower carbon footprint and the sizing of the vehicle itself. One of the components to reduce the weight of the vehicle is the propulsion system which comprised of electric motor functioning as the source of torque to drive the propulsion system of the machine. This paper presents the refinement methodology for the optimized design of the 4S-10P E-Core hybrid excitation flux switching motor. The purpose of the refinement methodology is to improve the torque production of the optimized motor. The result of the successful improvement of the torque production is justifiable for a lightweight electric vehicle to drive the propulsion system.

Building complex simulations rapidly using MATRIX(x): The Space Station redesign

NASA Technical Reports Server (NTRS)

Carrington, C. K.

1994-01-01

MSFC's quick response to the Space Station redesign effort last year required the development of a computer simulation to model the attitude and station-keeping dynamics of a complex body with rotating solar arrays in orbit around the Earth. The simulation was written using a rapid-prototyping graphical simulation and design tool called MATRIX(x) and provided the capability to quickly remodel complex configuration changes by icon manipulation using a mouse. The simulation determines time-dependent inertia properties, and models forces and torques from gravity-gradient, solar radiation, and aerodynamic disturbances. Surface models are easily built from a selection of beams, plates, tetrahedrons, and cylinders. An optimization scheme was written to determine the torque equilibrium attitudes that balance gravity-gradient and aerodynamic torques over an orbit, and propellant-usage estimates were determined. The simulation has been adapted to model the attitude dynamics for small spacecraft.

Split2 Protein-Ligation Generates Active IL-6-Type Hyper-Cytokines from Inactive Precursors.

PubMed

Moll, Jens M; Wehmöller, Melanie; Frank, Nils C; Homey, Lisa; Baran, Paul; Garbers, Christoph; Lamertz, Larissa; Axelrod, Jonathan H; Galun, Eithan; Mootz, Henning D; Scheller, Jürgen

2017-12-15

Trans-signaling of the major pro- and anti-inflammatory cytokines Interleukin (IL)-6 and IL-11 has the unique feature to virtually activate all cells of the body and is critically involved in chronic inflammation and regeneration. Hyper-IL-6 and Hyper-IL-11 are single chain designer trans-signaling cytokines, in which the cytokine and soluble receptor units are trapped in one complex via a flexible peptide linker. Albeit, Hyper-cytokines are essential tools to study trans-signaling in vitro and in vivo, the superior potency of these designer cytokines are accompanied by undesirable stress responses. To enable tailor-made generation of Hyper-cytokines, we developed inactive split-cytokine-precursors adapted for posttranslational reassembly by split-intein mediated protein trans-splicing (PTS). We identified cutting sites within IL-6 (E 134 /S 135 ) and IL-11 (G 116 /S 117 ) and obtained inactive split-Hyper-IL-6 and split-Hyper-IL-11 cytokine precursors. After fusion with split-inteins, PTS resulted in reconstitution of active Hyper-cytokines, which were efficiently secreted from transfected cells. Our strategy comprises the development of a background-free cytokine signaling system from reversibly inactivated precursor cytokines.

Investigation of a New Flux-Modulated Permanent Magnet Brushless Motor for EVs

PubMed Central

Gu, Lingling; Luo, Yong; Han, Xuedong

2014-01-01

This paper presents a flux-modulated direct drive (FMDD) motor. The key is to integrate the magnetic gear with the PM motor while removing the gear inner-rotor. Hence, the proposed FMDD motor can achieve the low-speed high-torque output and high-speed compact design requirements as well as high-torque density with a simple structure. The output power equation is analytically derived. By using finite element analysis (FEA), the static characteristics of the proposed motor are obtained. Based on these characteristics, the system mathematical model can be established. Hence, the evaluation of system performances is conducted by computer simulation using the Matlab/Simulink. A prototype is designed and built for experimentation. Experimental results are given to verify the theoretical analysis and simulation. PMID:24883405

Investigation of a new flux-modulated permanent magnet brushless motor for EVs.

PubMed

Fan, Ying; Gu, Lingling; Luo, Yong; Han, Xuedong; Cheng, Ming

2014-01-01

This paper presents a flux-modulated direct drive (FMDD) motor. The key is to integrate the magnetic gear with the PM motor while removing the gear inner-rotor. Hence, the proposed FMDD motor can achieve the low-speed high-torque output and high-speed compact design requirements as well as high-torque density with a simple structure. The output power equation is analytically derived. By using finite element analysis (FEA), the static characteristics of the proposed motor are obtained. Based on these characteristics, the system mathematical model can be established. Hence, the evaluation of system performances is conducted by computer simulation using the Matlab/Simulink. A prototype is designed and built for experimentation. Experimental results are given to verify the theoretical analysis and simulation.

Evaluation of local cancellous bone amelioration by poly-L-DL-lactide copolymers to improve primary stability of dental implants: a biomechanical study in sheep.

PubMed

Stübinger, Stefan; Waser, Jasmin; Hefti, Thomas; Drechsler, Anika; Sidler, Michéle; Klein, Karina; von Rechenberg, Brigitte; Schlottig, Falko

2015-05-01

The aim of this study was to evaluate the clinical performance of local cancellous bone amelioration by a 70:30 poly-(L-lactide-co-D,L-Lacide) copolymer with two different implant designs on primary stability and after 4 and 12 weeks of healing time. In six sheep, n = 36 implants (TH) with a conditioned, sandblasted, thermal acid-etched micro-rough surface and n = 36 implants (NB) with a highly crystalline and phosphate-enriched anodized titanium oxide surface were placed in the pelvic bone. Using an ultrasound-based process named Constant Amelioration Process (CAP), half of peri-implant trabecular bone structures were locally tested with 70:30 poly-(L-lactide-co-D,L-Lacide) copolymer in both implant groups, TH and NB. The CAP technology employs ultrasonic energy to liquefy 70:30 poly-(L-lactide-co-D,L-Lacide) which enters the inter-trabecular space, leading to local reinforcement of the cancellous bone structure after solidification of the copolymer. The CAP test group was compared with reference implants placed with the conventional site preparation according to the manufacturers' description. Primary stability was assessed by the measurement of torque-in values and implant stability quotient (ISQ; n = 18 per group). Secondary stability was analyzed by biomechanical removal torque testing after 4 and 12 weeks (n = 9 per group). Insertion torque value (23.3 N cm ± 13.6) of reference TH implants demonstrated a statistically significant (P = 0.00) difference in comparison with test TH implants (41.9 N cm ± 19.5). Reference NB implants revealed a statistically significant (P = 0.03) lower insertion torque value (23.7 N cm ± 13.5) than test NB implants (39.7 N cm ± 18.6). ISQ values increased for all implants from initial implant placement until sacrifice at 12 weeks. Reference TH implants tended to result in an increase in torque values from 4 weeks (181.9 N cm ± 22.8) to 12 weeks (225.7 N cm ± 47.4). This trend could be also proven for implants of test sites (4 week: 176.8 N cm ± 24.1; 12 week: 201.5 N cm ± 53.4). For reference, NB implants a non-significant increase in removal torque values from 4 weeks (146. 7 N cm ± 18.0) to 12 weeks (170.2 N cm ± 40.4) was observed. Removal torque values of test NB implants did not increase from 4 weeks (153.3 N cm ± 21.5) to 12 weeks (146.1 N cm ± 37.5). Biomechanical data proved significantly enhanced primary stability of dental implants after local amelioration without long-term sequelae and irrespective of implant design. After 4- and 12-week healing time, removal torque of locally test implants was as high as for control implants, and osseointegration was therefore not influenced by the CAP process. No correlation between ISQ values and torque values was found. © 2014 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

A comparison of screw insertion torque and pullout strength.

PubMed

Ricci, William M; Tornetta, Paul; Petteys, Timothy; Gerlach, Darin; Cartner, Jacob; Walker, Zakiyyah; Russell, Thomas A

2010-06-01

Pullout strength of screws is a parameter used to evaluate plate screw fixation strength. However, screw fixation strength may be more closely related to its ability to generate sufficient insertion because stable nonlocked plate-screw fracture fixation requires sufficient compression between plate and bone such that no motion occurs between the plate and bone under physiological loads. Compression is generated by tightening of screws. In osteoporotic cancellous bone, sufficient screw insertion torque may not be generated before screw stripping. The effect of screw thread pitch on generation of maximum insertion torque (MIT) and pullout strength (POS) was investigated in an osteoporotic cancellous bone model and the relationship between MIT and POS was analyzed. Stainless steel screws with constant major (5.0 mm) and minor (2.7 mm) diameters but with varying thread pitches (1, 1.2, 1.5, 1.6, and 1.75 mm) were tested for MIT and POS in a validated osteoporotic surrogate for cancellous bone (density of 160 kg/m(3) [10 lbs/ft(3)]). MIT was measured with a torque-measuring hex driver for screws inserted through a one-third tubular plate. POS was measured after insertion of screws to a depth of 20 mm based on the Standard Specification and Test Methods for Metallic Medical Bone Screws (ASTM F 543-07). Five screws were tested for each failure mode and screw design. The relationship between MIT and compressive force between the plate and bone surrogate was evaluated using pressure-sensitive film. There was a significant difference in mean MIT based on screw pitch (P < 0.0001), whereas POS did not show statistically significant differences among the different screw pitches (P = 0.052). Small screw pitches (1.0 mm and 1.2 mm) had lower MIT and were distinguished from large pitches (1.5 mm, 1.6 mm, and the 1.75 mm) with higher MIT. For POS, only the 1-mm and 1.6-mm pitch screws were found to be different from each other. Linear regression analysis of MIT revealed a moderate correlation to the screw pitch (R(2) = 0.67, P < 0.0001), whereas the analysis of POS suggested no correlation to the screw pitch (R(2) = 0.28, P = 0.006). Pearson correlation analysis indicated no correlation between MIT and POS (P = 0.069, r = -0.37). A linear relationship of increased compression between the plate and bone surrogate was found for increasing screw torque (R(2) = 0.97). These results indicate that the ability of different screw designs to generate high screw insertion torque in a model of osteoporotic cancellous bone is unrelated to their pullout strength. Therefore, extrapolation of results for POS to identify optimal screw design for osteoporotic bone may not be valid. Screw designs that optimize MIT should be sought for fixation in osteoporotic bone.

Vision-based stabilization of nonholonomic mobile robots by integrating sliding-mode control and adaptive approach

NASA Astrophysics Data System (ADS)

Cao, Zhengcai; Yin, Longjie; Fu, Yili

2013-01-01

Vision-based pose stabilization of nonholonomic mobile robots has received extensive attention. At present, most of the solutions of the problem do not take the robot dynamics into account in the controller design, so that these controllers are difficult to realize satisfactory control in practical application. Besides, many of the approaches suffer from the initial speed and torque jump which are not practical in the real world. Considering the kinematics and dynamics, a two-stage visual controller for solving the stabilization problem of a mobile robot is presented, applying the integration of adaptive control, sliding-mode control, and neural dynamics. In the first stage, an adaptive kinematic stabilization controller utilized to generate the command of velocity is developed based on Lyapunov theory. In the second stage, adopting the sliding-mode control approach, a dynamic controller with a variable speed function used to reduce the chattering is designed, which is utilized to generate the command of torque to make the actual velocity of the mobile robot asymptotically reach the desired velocity. Furthermore, to handle the speed and torque jump problems, the neural dynamics model is integrated into the above mentioned controllers. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, the simulation of the control law is implemented in perturbed case, and the results show that the control scheme can solve the stabilization problem effectively. The proposed control law can solve the speed and torque jump problems, overcome external disturbances, and provide a new solution for the vision-based stabilization of the mobile robot.

Dynamic nature of abutment screw retightening: finite element study of the effect of retightening on the settling effect.

PubMed

Bulaqi, Haddad Arabi; Mousavi Mashhadi, Mahmoud; Safari, Hamed; Samandari, Mohammad Mahdi; Geramipanah, Farideh

2015-05-01

A fundamental problem in fully understanding the dynamic nature of screw loosening is lack of recognition of the entire process of screw tightening and retightening. The purpose of this study was to explain the dynamic nature of abutment screw retightening by using finite element methods to investigate the effect of the coefficient of friction and retightening on the settling effect. Precise computer models were designed of a Straumann dental implant, a directly attached crown, an abutment screw, and the bone surrounding the implant. All threaded interfaces were designed with a spiral thread helix with a specific coefficient of static and kinetic friction, and the surfaces were characterized as fine, regular, and rough. Abaqus software was used for dynamic simulation, which involved applying rotational displacement to the abutment screw and torque controlling during the steps of tightening, relaxation, retightening, and second relaxation and at different coefficients of friction. The obtained torque and preload values were compared to the predicted values. When surfaces changed from fine to rough, the remaining torque and preload decreased, and the settling effect increased. Upon retightening, the remaining torque and preload increased, and the settling effect also decreased. The reduction of the coefficient of friction contributes to increases in the preload and decreases in the settling effect. Retightening reduced the settling effect and had an insignificant effect on the preload. At high coefficients of friction, the retightening effect was intensified. Copyright © 2015 Editorial Council for the Journal of Prosthetic Dentistry. Published by Elsevier Inc. All rights reserved.

Mechanical stability of a novel screw design after repeated insertion: can the double-thread screw serve as a back up?

PubMed

Wiendieck, Kurt; Müller, Helge; Buchfelder, Michael; Sommer, Björn

2018-06-01

We investigated mechanical pull-out behavior and tightening torque of a novel dual-core pedicle "6T screw" (6T). The aim of this study was to test if these changes in screw geometry are increasing the strength of the pedicle screw fixation after repeated insertion. Three different types of pedicle screws were inserted in rigid foam blocks. Tightening torque and pull-out strength were measured during two repetitive insertions of a standard 6.5×45-mm conical screw. The third insertion into the pilot hole was performed using either standard 6.5×45-mm or 7.2×45-mm conical screws or the novel 6.5×45-mm (6T) screw. Additionally, we performed a surface analysis to investigate the bone/screw interface. The maximal tightening torque at the third insertion of the novel 6T screw was 194% higher compared to the standard 6.5×45-mm conical screw and 135% higher compared to the standard 7.2×45-mm conical screw. The pull-out strength of the 6T screw showed no significant changes, and surface analysis revealed a compression of the screw-foam interface due to the different internal diameters. The modified geometrical design of the 6T screw seems to have no statistically significant effect on the pull-out strength, although it achieved a higher tightening torque. This might be due to the different pitch angle cutting a new thread into the material and also to the enlarged inner diameter.

Energy harvesting using AC machines with high effective pole count

NASA Astrophysics Data System (ADS)

Geiger, Richard Theodore

In this thesis, ways to improve the power conversion of rotating generators at low rotor speeds in energy harvesting applications were investigated. One method is to increase the pole count, which increases the generator back-emf without also increasing the I2R losses, thereby increasing both torque density and conversion efficiency. One machine topology that has a high effective pole count is a hybrid "stepper" machine. However, the large self inductance of these machines decreases their power factor and hence the maximum power that can be delivered to a load. This effect can be cancelled by the addition of capacitors in series with the stepper windings. A circuit was designed and implemented to automatically vary the series capacitance over the entire speed range investigated. The addition of the series capacitors improved the power output of the stepper machine by up to 700%. At low rotor speeds, with the addition of series capacitance, the power output of the hybrid "stepper" was more than 200% that of a similarly sized PMDC brushed motor. Finally, in this thesis a hybrid lumped parameter / finite element model was used to investigate the impact of number, shape and size of the rotor and stator teeth on machine performance. A typical off-the-shelf hybrid stepper machine has significant cogging torque by design. This cogging torque is a major problem in most small energy harvesting applications. In this thesis it was shown that the cogging and ripple torque can be dramatically reduced. These findings confirm that high-pole-count topologies, and specifically the hybrid stepper configuration, are an attractive choice for energy harvesting applications.

Effects of underestimating the kinematics of trunk rotation on simultaneous reaching movements: predictions of a biomechanical model

PubMed Central

2013-01-01

Background Rotation of the torso while reaching produces torques (e.g., Coriolis torque) that deviate the arm from its planned trajectory. To ensure an accurate reaching movement, the brain may take these perturbing torques into account during movement planning or, alternatively, it may correct hand trajectory during movement execution. Irrespective of the process selected, it is expected that an underestimation of trunk rotation would likely induce inaccurate shoulder and elbow torques, resulting in hand deviation. Nonetheless, it is still undetermined to what extent a small error in the perception of trunk rotations, translating into an inappropriate selection of motor commands, would affect reaching accuracy. Methods To investigate, we adapted a biomechanical model (J Neurophysiol 89: 276-289, 2003) to predict the consequences of underestimating trunk rotations on right hand reaching movements performed during either clockwise or counter clockwise torso rotations. Results The results revealed that regardless of the degree to which the torso rotation was underestimated, the amplitude of hand deviation was much larger for counter clockwise rotations than for clockwise rotations. This was attributed to the fact that the Coriolis and centripetal joint torques were acting in the same direction during counter clockwise rotation yet in opposite directions during clockwise rotations, effectively cancelling each other out. Conclusions These findings suggest that in order to anticipate and compensate for the interaction torques generated during torso rotation while reaching, the brain must have an accurate prediction of torso rotation kinematics. The present study proposes that when designing upper limb prostheses controllers, adding a sensor to monitor trunk kinematics may improve prostheses control and performance. PMID:23758968

A new device to study isoload eccentric exercise.

PubMed

Guilhem, Gaël; Cornu, Christophe; Nordez, Antoine; Guével, Arnaud

2010-12-01

This study was designed to develop a new device allowing mechanical analysis of eccentric exercise against a constant load, with a view in mind to compare isoload (IL) and isokinetic (IK) eccentric exercises. A plate-loaded resistance training device was integrated to an IK dynamometer, to perform the acquisition of mechanical parameters (i.e., external torque, angular velocity). To determine the muscular torque produced by the subject, load torque was experimentally measured (TLexp) at 11 different loads from 30° to 90° angle (0° = lever arm in horizontal position). TLexp was modeled to take friction effect and torque variations into account. Validity of modeled load torque (TLmod) was tested by determining the root mean square (RMS) error, bias, and 2SD between the descending part of TLexp (from 30° to 90°) and TLmod. Validity of TLexp was tested by a linear regression and a Passing-Bablok regression. A pilot analysis on 10 subjects was performed to determine the contribution of the torque because of the moment of inertia to the amount of external work (W). Results showed the validity of TLmod (bias = 0%; RMS error = 0.51%) and TLexp SEM = 4.1 N·m; Intraclass correlation coefficient (ICC) = 1.00; slope = 0.99; y-intercept = -0.13). External work calculation showed a satisfactory reproducibility (SEM = 38.3 J; ICC = 0.98) and moment of inertia contribution to W showed a low value (3.2 ± 2.0%). Results allow us to validate the new device developed in this study. Such a device could be used in future work to study IL eccentric exercise and to compare the effect of IL and IK eccentric exercises in standardized conditions.

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.

Fracture strength of orthodontic mini-implants

PubMed Central

Assad-Loss, Tatiana Feres; Kitahara-Céia, Flávia Mitiko Fernandes; Silveira, Giordani Santos; Elias, Carlos Nelson; Mucha, José Nelson

2017-01-01

ABSTRACT Objective: This study aimed at evaluating the design and dimensions of five different brands of orthodontic mini-implants, as well as their influence on torsional fracture strength. Methods: Fifty mini-implants were divided into five groups corresponding to different manufactures (DEN, RMO, CON, NEO, SIN). Twenty-five mini-implants were subjected to fracture test by torsion in the neck and the tip, through arbors attached to a Universal Mechanical Testing Machine. The other 25 mini-implants were subjected to insertion torque test into blocks of pork ribs using a torquimeter and contra-angle handpiece mounted in a surgical motor. The shape of the active tip of the mini-implants was evaluated under microscopy. The non-parametric Friedman test and Snedecor’s F in analysis of variance (ANOVA) were used to evaluate the differences between groups. Results: The fracture torque of the neck ranged from 23.45 N.cm (DEN) to 34.82 N.cm (SIN), and of the tip ranged from 9.35 N.cm (CON) to 24.36 N.cm (NEO). Insertion torque values ranged from 6.6 N.cm (RMO) to 10.2 N.cm (NEO). The characteristics that most influenced the results were outer diameter, inner diameter, the ratio between internal and external diameters, and the existence of milling in the apical region of the mini-implant. Conclusions: The fracture torques were different for both the neck and the tip of the five types evaluated. NEO and SIN mini-implants showed the highest resistance to fracture of the neck and tip. The fracture torques of both tip and neck were higher than the torque required to insert mini-implants. PMID:28746487

Study on Optimum Design of Multi-Pole Interior Permanent Magnet Motor with Concentrated Windings

NASA Astrophysics Data System (ADS)

Kano, Yoshiaki; Kosaka, Takashi; Matsui, Nobuyuki

Interior Permanent Magnet Synchronous Motors (IPMSM) have been found in many applications because of their high-power density and high-efficiency. The existence of a complex magnetic circuit, however, makes the design of this machine quite complicated. Although FEM is commonly used in the IPMSM design, one of disadvantages is long CPU times. This paper presents a simple non-linear magnetic analysis for a multi-pole IPMSM as a preliminary design tool of FEM. The proposed analysis consists of the geometric-flux-tube-based equivalent-magnetic-circuit model. The model includes saturable permeances taking into account the local magnetic saturation in the core. As a result, the proposed analysis is capable of calculating the flux distribution and the torque characteristics in the presence of magnetic saturation. The effectiveness of the proposed analysis is verified by comparing with FEM in terms of the analytical accuracy and the computation time for two IPMSMs with different specifications. After verification, the proposed analysis-based optimum design is examined, by which the minimization of motor volume is realized while satisfying the necessary maximum torque for target applications.

Development of a Piezoelectric Rotary Hammer Drill

NASA Technical Reports Server (NTRS)

Domm, Lukas N.

2011-01-01

The Piezoelectric Rotary Hammer Drill is designed to core through rock using a combination of rotation and high frequency hammering powered by a single piezoelectric actuator. It is designed as a low axial preload, low mass, and low power device for sample acquisition on future missions to extraterrestrial bodies. The purpose of this internship is to develop and test a prototype of the Piezoelectric Rotary Hammer Drill in order to verify the use of a horn with helical or angled cuts as a hammering and torque inducing mechanism. Through an iterative design process using models in ANSYS Finite Element software and a Mason's Equivalent Circuit model in MATLAB, a horn design was chosen for fabrication based on the predicted horn tip motion, electromechanical coupling, and neutral plane location. The design was then machined and a test bed assembled. The completed prototype has proven that a single piezoelectric actuator can be used to produce both rotation and hammering in a drill string through the use of a torque inducing horn. Final data results include bit rotation produced versus input power, and best drilling rate achieved with the prototype.

Design and Control of a Pneumatically Actuated Transtibial Prosthesis.

PubMed

Zheng, Hao; Shen, Xiangrong

2015-04-01

This paper presents the design and control of a pneumatically actuated transtibial prosthesis, which utilizes a pneumatic cylinder-type actuator to power the prosthetic ankle joint to support the user's locomotion. The pneumatic actuator has multiple advantages over the traditional electric motor, such as light weight, low cost, and high power-to-weight ratio. The objective of this work is to develop a compact and lightweight transtibial prosthesis, leveraging the multiple advantages provided by this highly competitive actuator. In this paper, the design details of the prosthesis are described, including the determination of performance specifications, the layout of the actuation mechanism, and the calculation of the torque capacity. Through the authors' design calculation, the prosthesis is able to provide sufficient range of motion and torque capacity to support the locomotion of a 75 kg individual. The controller design is also described, including the underlying biomechanical analysis and the formulation of the finite-state impedance controller. Finally, the human subject testing results are presented, with the data indicating that the prosthesis is able to generate a natural walking gait and sufficient power output for its amputee user.

Design and Control of a Pneumatically Actuated Transtibial Prosthesis

PubMed Central

Zheng, Hao; Shen, Xiangrong

2015-01-01

This paper presents the design and control of a pneumatically actuated transtibial prosthesis, which utilizes a pneumatic cylinder-type actuator to power the prosthetic ankle joint to support the user's locomotion. The pneumatic actuator has multiple advantages over the traditional electric motor, such as light weight, low cost, and high power-to-weight ratio. The objective of this work is to develop a compact and lightweight transtibial prosthesis, leveraging the multiple advantages provided by this highly competitive actuator. In this paper, the design details of the prosthesis are described, including the determination of performance specifications, the layout of the actuation mechanism, and the calculation of the torque capacity. Through the authors’ design calculation, the prosthesis is able to provide sufficient range of motion and torque capacity to support the locomotion of a 75 kg individual. The controller design is also described, including the underlying biomechanical analysis and the formulation of the finite-state impedance controller. Finally, the human subject testing results are presented, with the data indicating that the prosthesis is able to generate a natural walking gait and sufficient power output for its amputee user. PMID:26146497

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.