Integrated chassis control for a three-axle electric bus with distributed driving motors and active rear steering system

NASA Astrophysics Data System (ADS)

Liu, Wei; He, Hongwen; Sun, Fengchun; Lv, Jiangyi

2017-05-01

This paper describes an integrated chassis control framework for a novel three-axle electric bus with active rear steering (ARS) axle and four motors at the middle and rear wheels. The proposed integrated framework consists of four parts: (1) an active speed limiting controller is designed for anti-body slip control and rollover prevention; (2) an ARS controller is designed for coordinating the tyre wear between the driving wheels; (3) an inter-axle torque distribution controller is designed for optimal torque distribution between the axles, considering anti-wheel slip and battery power limitations and (4) a data acquisition and estimation module for collecting the measured and estimated vehicle states. To verify the performances, a simulation platform is established in Trucksim software combined with Simulink. Three test cases are particularly designed to show the performances. The proposed algorithm is compared with a simple even control algorithm. The test results show satisfactory lateral stability and rollover prevention performances under severe steering conditions. The desired tyre wear coordinating performance is also realised, and the wheel slip ratios are restricted within stable region during intensive driving and emergency braking with complicated road conditions.

Directional biases reveal utilization of arm's biomechanical properties for optimization of motor behavior.

PubMed

Goble, Jacob A; Zhang, Yanxin; Shimansky, Yury; Sharma, Siddharth; Dounskaia, Natalia V

2007-09-01

Strategies used by the CNS to optimize arm movements in terms of speed, accuracy, and resistance to fatigue remain largely unknown. A hypothesis is studied that the CNS exploits biomechanical properties of multijoint limbs to increase efficiency of movement control. To test this notion, a novel free-stroke drawing task was used that instructs subjects to make straight strokes in as many different directions as possible in the horizontal plane through rotations of the elbow and shoulder joints. Despite explicit instructions to distribute strokes uniformly, subjects showed biases to move in specific directions. These biases were associated with a tendency to perform movements that included active motion at one joint and largely passive motion at the other joint, revealing a tendency to minimize intervention of muscle torque for regulation of the effect of interaction torque. Other biomechanical factors, such as inertial resistance and kinematic manipulability, were unable to adequately account for these significant biases. Also, minimizations of jerk, muscle torque change, and sum of squared muscle torque were analyzed; however, these cost functions failed to explain the observed directional biases. Collectively, these results suggest that knowledge of biomechanical cost functions regarding interaction torque (IT) regulation is available to the control system. This knowledge may be used to evaluate potential movements and to select movement of "low cost." The preference to reduce active regulation of interaction torque suggests that, in addition to muscle energy, the criterion for movement cost may include neural activity required for movement control.

Torque Compensator for Mirror Mountings

NASA Technical Reports Server (NTRS)

Howe, S. D.

1983-01-01

Device nulls flexural distributions of pivotal torques. Magnetic compensator for flexing pivot torque consists of opposing fixed and movable magnet bars. Magnetic torque varies nonlinearly as function of angle of tilt of movable bar. Positions of fixed magnets changed to improve magnetic torque linearity.

Singularity and steering logic for control moment gyros on flexible space structures

NASA Astrophysics Data System (ADS)

Hu, Quan; Guo, Chuandong; Zhang, Jun

2017-08-01

Control moment gyros (CMGs) are a widely used device for generating control torques for spacecraft attitude control without expending propellant. Because of its effectiveness and cleanness, it has been considered to be mounted on a space structure for active vibration suppression. The resultant system is the so-called gyroelastic body. Since CMGs could exert both torque and modal force to the structure, it can also be used to simultaneously achieve attitude maneuver and vibration reduction of a flexible spacecraft. In this paper, we consider the singularity problem in such application of CMGs. The dynamics of an unconstrained gyroelastic body is established, from which the output equations of the CMGs are extracted. Then, torque singular state and modal force singular state are defined and visualized to demonstrate the singularity. Numerical examples of several typical CMGs configurations on a gyroelastic body are given. Finally, a steering law allowing output error is designed and applied to the vibration suppression of a plate with distributed CMGs.

Electronic differential control of 2WD electric vehicle considering steering stability

NASA Astrophysics Data System (ADS)

Hua, Yiding; Jiang, Haobin; Geng, Guoqing

2017-03-01

Aiming at the steering wheel differential steering control technology of rear wheel independent driving electric wheel, considering the assisting effect of electronic differential control on vehicle steering, based on the high speed steering characteristic of electric wheel car, the electronic differential speed of auxiliary wheel steering is also studied. A yaw moment control strategy is applied to the vehicle at high speed. Based on the vehicle stability reference value, yaw rate is used to design the fuzzy controller to distribute the driving wheel torque. The simulation results show that the basic electronic differential speed function is realized based on the yaw moment control strategy, while the vehicle stability control is improved and the driving safety is enhanced. On the other hand, the torque control strategy can also assist steering of vehicle.

Two Axis Pointing System (TAPS) attitude acquisition, determination, and control

NASA Technical Reports Server (NTRS)

Azzolini, John D.; Mcglew, David E.

1990-01-01

The Two Axis Pointing System (TAPS) is a 2 axis gimbal system designed to provide fine pointing of Space Transportation System (STS) borne instruments. It features center-of-mass instrument mounting and will accommodate instruments of up to 1134 kg (2500 pounds) which fit within a 1.0 by 1.0 by 4.2 meter (40 by 40 by 166 inch) envelope. The TAPS system is controlled by a microcomputer based Control Electronics Assembly (CEA), a Power Distribution Unit (PDU), and a Servo Control Unit (SCU). A DRIRU-II inertial reference unit is used to provide incremental angles for attitude propagation. A Ball Brothers STRAP star tracker is used for attitude acquisition and update. The theory of the TAPS attitude determination and error computation for the Broad Band X-ray Telescope (BBXRT) are described. The attitude acquisition is based upon a 2 star geometric solution. The acquisition theory and quaternion algebra are presented. The attitude control combines classical position, integral and derivative (PID) control with techniques to compensate for coulomb friction (bias torque) and the cable harness crossing the gimbals (spring torque). Also presented is a technique for an adaptive bias torque compensation which adjusts to an ever changing frictional torque environment. The control stability margins are detailed, with the predicted pointing performance, based upon simulation studies. The TAPS user interface, which provides high level operations commands to facilitate science observations, is outlined.

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.

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.

Robust tuning of robot control systems

NASA Technical Reports Server (NTRS)

Minis, I.; Uebel, M.

1992-01-01

The computed torque control problem is examined for a robot arm with flexible, geared, joint drive systems which are typical in many industrial robots. The standard computed torque algorithm is not directly applicable to this class of manipulators because of the dynamics introduced by the joint drive system. The proposed approach to computed torque control combines a computed torque algorithm with torque controller at each joint. Three such control schemes are proposed. The first scheme uses the joint torque control system currently implemented on the robot arm and a novel form of the computed torque algorithm. The other two use the standard computed torque algorithm and a novel model following torque control system based on model following techniques. Standard tasks and performance indices are used to evaluate the performance of the controllers. Both numerical simulations and experiments are used in evaluation. The study shows that all three proposed systems lead to improved tracking performance over a conventional PD controller.

A dynamic method for magnetic torque measurement

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

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

Hessell, Steven M.; Morris, Robert L.; McGrogan, Sean W.

A powertrain including an engine and torque machines is configured to transfer torque through a multi-mode transmission to an output member. A method for controlling the powertrain includes employing a closed-loop speed control system to control torque commands for the torque machines in response to a desired input speed. Upon approaching a power limit of a power storage device transferring power to the torque machines, power limited torque commands are determined for the torque machines in response to the power limit and the closed-loop speed control system is employed to determine an engine torque command in response to the desiredmore » input speed and the power limited torque commands for the torque machines.« less

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.

A reactive torque control law for gyroscopically controlled space vehicles

NASA Technical Reports Server (NTRS)

Farmer, J. E.

1973-01-01

A method of control is developed based on the reactive torques as seen by the individual CMG gimbals. The application of a torque to the gimbal of a CMG rotates the momentum vector and applies a torque to the spacecraft according to well-known laws. The response (rotation) of the vehicle produces a reverse or reaction torque opposing the torque producing the gimbal movement. The reactive torque and the pseudoinverse control schemes are contrasted in order to point out the simplicity of the first method. Simulation was performed only to the extent necessary to prove that reactive torque stabilization and control is feasible.

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.

Multibody dynamics simulation of an all-wheel-drive motorcycle for handling and energy efficiency investigations

NASA Astrophysics Data System (ADS)

Griffin, J. W.; Popov, A. A.

2018-07-01

It is now possible, through electrical, hydraulic or mechanical means, to power the front wheel of a motorcycle. The aim of this is often to improve performance in limit-handling scenarios including off-road low-traction conditions and on-road high-speed cornering. Following on from research into active torque distribution in 4-wheeled vehicles, the possibility exists for efficiency improvements to be realised by reducing the total amount of energy dissipated as slip at the wheel-road contact. This paper presents the results of an investigation into the effect that varying the torque distribution ratio has on the energy consumption of the two-wheeled vehicle. A 13-degree of freedom multibody model was created, which includes the effects of suspension, aerodynamics and gyroscopic bodies. SimMechanics, from the MathWorks?, is used for automatic generation of equations of motion and time-domain simulation, in conjunction with MATLAB and Simulink. A simple driver model is used to control the speed and yaw rate of the motorcycle. The handling characteristics of the motorcycle are quantitatively analysed, and the impact of torque distribution on energy consumption is considered during straight line and cornering situations. The investigation has shown that only a small improvement in efficiency can be made by transferring a portion of the drive torque to the front wheel. Tyre longevity could be improved by reduced slip energy dissipation.

An overview of controls research on the NASA Langley Research Center grid

NASA Technical Reports Server (NTRS)

Montgomery, Raymond C.

1987-01-01

The NASA Langley Research Center has assembled a flexible grid on which control systems research can be accomplished on a two-dimensional structure that has many physically distributed sensors and actuators. The grid is a rectangular planar structure that is suspended by two cables attached to one edge so that out of plane vibrations are normal to gravity. There are six torque wheel actuators mounted to it so that torque is produced in the grid plane. Also, there are six rate gyros mounted to sense angular motion in the grid plane and eight accelerometers that measure linear acceleration normal to the grid plane. All components can be relocated to meet specific control system test requirements. Digital, analog, and hybrid control systems capability is provided in the apparatus. To date, research on this grid has been conducted in the areas of system and parameter identification, model estimation, distributed modal control, hierarchical adaptive control, and advanced redundancy management algorithms. The presentation overviews each technique and presents the most significant results generated for each area.

Propeller torque load and propeller shaft torque response correlation during ice-propeller interaction

NASA Astrophysics Data System (ADS)

Polić, Dražen; Ehlers, Sören; Æsøy, Vilmar

2017-03-01

Ships use propulsion machinery systems to create directional thrust. Sailing in ice-covered waters involves the breaking of ice pieces and their submergence as the ship hull advances. Sometimes, submerged ice pieces interact with the propeller and cause irregular fluctuations of the torque load. As a result, the propeller and engine dynamics become imbalanced, and energy propagates through the propulsion machinery system until equilibrium is reached. In such imbalanced situations, the measured propeller shaft torque response is not equal to the propeller torque. Therefore, in this work, the overall system response is simulated under the ice-related torque load using the Bond graph model. The energy difference between the propeller and propeller shaft is estimated and related to their corresponding mechanical energy. Additionally, the mechanical energy is distributed among modes. Based on the distribution, kinetic and potential energy are important for the correlation between propeller torque and propeller shaft response.

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

PubMed

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

2013-02-01

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

Torque exerted on the side of crustal blocks controls the kinematics of Ethiopian Rift

NASA Astrophysics Data System (ADS)

Muluneh, Ameha A.; Kidane, Tesfaye; Cuffaro, Marco; Doglioni, Carlo

2016-04-01

Plate tectonic stress at active plate boundary can arises from 1) a torque applied on the side of lithospheric blocks and 2) a torque at the base of the lithosphere due to the flow of the underlying mantle. In this paper we use a simple force balance analysis to compare side and basal shear stresses and their contribution in driving kinematics and deformation in the Ethiopian Rift (ER), in the northern part of the East African Rift System (EARS). Assuming the constraints of the ER given by the dimension of the lithospheric blocks, the strain rate, the viscosity of the low velocity zone (LVZ) and the depth of the brittle-ductile transition zone, the lateral torque is several orders of magnitude higher than the basal torque. The minor contribution of basal torque might be due to low viscosity in the LVZ. Both Africa and Somalia plates are moving to the ;west; relative to the mantle and there are not slabs that can justify this pull and consequent motion. Therefore, we invoke that westerly oriented tidal torque on Africa and Somalia plates in providing the necessary side torque in the region. This plate motion predicts significant sinistral transtension along the ER and rift parallel strike-slip faulting similar to the estimated angular velocity vector for tectonic blocks and GPS observations. Vertical axis block rotations are observed in areas where the lithospheric mantle is removed and strain is widely distributed.

Pressurized fluid torque driver control and method

NASA Technical Reports Server (NTRS)

Cook, Joseph S., Jr. (Inventor)

1994-01-01

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

Displaceable Gear Torque Controlled Driver

NASA Technical Reports Server (NTRS)

Cook, Joseph S., Jr. (Inventor)

1997-01-01

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

Removal torque of zirconia abutment screws under dry and wet conditions.

PubMed

Nigro, Frederico; Sendyk, Claudio L; Francischone, Carlos Eduardo; Francischone, Carlos Eduardo

2010-01-01

The aim of this study was to verify whether screw abutment lubrication can generate higher preload values compared to non-lubricated screws, a titanium abutment was screwed onto an implant analog and scanned with the Procera System to generate 20 zirconia abutments. MKIII Brånemark implants were clamped to a precision torque device, and the abutments were distributed in dry and wet groups with 10 specimens each. In the wet groups, the inner threads of the implants were filled with artificial saliva. All abutments were fastened with a Torqtite screw under 32 Ncm. Ten detorque measurements were performed per group pushing the reverse button of the Torque controller soon after screw tightening with values registered. The mean detorque values were calculated and compared by a Student's t test (α=0.05). The wet condition presented significantly higher mean detorque than the dry condition (31.5 ± 1.2 versus 27.5 ± 1.5 Ncm, respectively; p=0.0000024). In conclusion, there was always a loss in the initial torque values when the removal torque was measured under both conditions. The wet condition presented higher mean torque than the dry condition. Better preload values were established in the wet group, suggesting that the abutment screw must be lubricated in saliva to avoid further loosening.

Flexible Models for Solar Sail Control

NASA Technical Reports Server (NTRS)

Weaver Smith, Suzanne; Song, Haiping; Baker, John R.; Black, Jonathan; Muheim, Danniella M.

2005-01-01

Solar sails employ a unique form of propulsion, gaining momentum from incident and reflected photons. However, the momentum transferred by an individual photon is extremely small. Consequently, a solar sail must have an extremely large surface area and also be extremely light. The flexibility of the sail then must be considered when designing or evaluating control laws. In this paper, solar sail flexibility and its influence on control effectiveness is considered using idealized two-dimensional models to represent physical phenomena rather than a specific design. Differential equations of motion are derived for a distributed parameter model of a flexible solar sail idealized as a rotating central hub with two opposing flexible booms. This idealization is appropriate for solar sail designs in which the vibrational modes of the sail and supporting booms move together allowing the sail mass to be distributed along the booms in the idealized model. A reduced analytical model of the flexible response is considered. Linear feedback torque control is applied at the central hub. Two translational disturbances and a torque disturbance also act at the central hub representing the equivalent effect of deflecting sail shape about a reference line. Transient simulations explore different control designs and their effectiveness for controlling orientation, for reducing flexible motion and for disturbance rejection. A second model also is developed as a two-dimensional "pathfinder" model to calculate the effect of solar sail shape on the resultant thrust, in-plane force and torque at the hub. The analysis is then extended to larger models using the finite element method. The finite element modeling approach is verified by comparing results from a two-dimensional finite element model with those from the analytical model. The utility of the finite element modeling approach for this application is then illustrated through examples based on a full finite element model.

The Effect of a Combination of Implant Controller and Handpiece from Different Manufacturers on the Torque Value.

PubMed

Lee, Du-Hyeong; Kim, Yong-Gun; Lee, Jong-Ho; Hong, Sam-Pyo; Lim, Young-Jun; Lee, Kyu-Bok

2015-01-01

To determine the accuracy of applied torque of different implant controller and handpiece combinations by using an electronic torque gauge. Four combinations of the following devices were tested: Surgic XT controller (NSK), XIP10 controller (Saeshin), X-SG20L handpiece (NSK), CRB26LX handpiece (Saeshin). For five torque settings, 30 measurements were recorded at 30 revolutions per minute by using an electronic torque gauge fixed to jigs, and means were calculated. Applied torques were generally higher than the set torque of 10 and 20 Ncm and lower than the set values of 40 and 50 Ncm. The average torque deviations differed significantly among the combinations (P < .05). At 10 and 20 Ncm, the Surgic XT/X-SG20L combination yielded the closest value to the intended torque, followed by the XIP10/X-SG20L combination. At 30 Ncm, the XIP10/X-SG20L combination showed the nearest value. At 40 Ncm, the Surgic XT/X-SG20L, XIP10/CRB26LX, and XIP10/X-SG20L combinations showed deviations within 10%. At 50 Ncm, all the combinations showed lower applied torque than the set value. Large standard deviations were observed in the Surgic XT/CRB26LX (13.288) and Surgic XT/X-SG20L (7.858) combinations. Different combinations of implant controllers and handpieces do not generate significant variations in applied torque. The actual torque varies according to the torque setting. It is necessary to calibrate devices before use to reduce potentially problematic torque.

Distributed formation control of nonholonomic autonomous vehicle via RBF neural network

NASA Astrophysics Data System (ADS)

Yang, Shichun; Cao, Yaoguang; Peng, Zhaoxia; Wen, Guoguang; Guo, Konghui

2017-03-01

In this paper, RBF neural network consensus-based distributed control scheme is proposed for nonholonomic autonomous vehicles in a pre-defined formation along the specified reference trajectory. A variable transformation is first designed to convert the formation control problem into a state consensus problem. Then, the complete dynamics of the vehicles including inertia, Coriolis, friction model and unmodeled bounded disturbances are considered, which lead to the formation unstable when the distributed kinematic controllers are proposed based on the kinematics. RBF neural network torque controllers are derived to compensate for them. Some sufficient conditions are derived to accomplish the asymptotically stability of the systems based on algebraic graph theory, matrix theory, and Lyapunov theory. Finally, simulation examples illustrate the effectiveness of the proposed controllers.

The control of mono-articular muscles in multijoint leg extensions in man.

PubMed Central

van Ingen Schenau, G J; Dorssers, W M; Welter, T G; Beelen, A; de Groot, G; Jacobs, R

1995-01-01

1. Movements often require control of direction and a magnitude of force exerted externally on the environment. Bi-articular upper leg muscles appear to play a unique role in the regulation of the net torques about the hip and knee joints, necessary for the control of this external force. 2. The aim of this study was to test the hypothesis that the mono-articular muscles act as work generators in powerful dynamic leg extensions, which means that they should be activated primarily in the phases during which they can contribute to work, irrespective of the net joint torques required to control the external force. 3. Cycling movements of six trained subjects were analysed by means of inverse dynamics, yielding net joint torques as well as activity patterns and shortening velocities of four mono- and four bi-articular leg muscles. 4. The results show that the mono-articular muscles exert force only in the phase in which these muscles shorten, whereas this appears not to be the case for the bi-articular muscles. 5. Reciprocal patterns of activation of the rectus femoris and hamstring muscles appear to tune the distribution of net joint torques about the hip and knee joints, necessary to control the (changing) direction of the force on the pedal. 6. An analysis of running in man and additional related literature based on animal studies appears to provide further support for the hypothesis that mono- and bi-articular muscles have essentially different roles in these powerful multijoint leg extension tasks. PMID:7602524

Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle.

PubMed

Peng, Jiankun; He, Hongwen; Liu, Wei; Guo, Hongqiang

2015-01-01

This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved.

Hierarchical Control Strategy for the Cooperative Braking System of Electric Vehicle

PubMed Central

Peng, Jiankun; He, Hongwen; Guo, Hongqiang

2015-01-01

This paper provides a hierarchical control strategy for cooperative braking system of an electric vehicle with separated driven axles. Two layers are defined: the top layer is used to optimize the braking stability based on two sliding mode control strategies, namely, the interaxle control mode and signal-axle control strategies; the interaxle control strategy generates the ideal braking force distribution in general braking condition, and the single-axle control strategy can ensure braking safety in emergency braking condition; the bottom layer is used to maximize the regenerative braking energy recovery efficiency with a reallocated braking torque strategy; the reallocated braking torque strategy can recovery braking energy as much as possible in the premise of meeting battery charging power. The simulation results show that the proposed hierarchical control strategy is reasonable and can adapt to different typical road surfaces and load cases; the vehicle braking stability and safety can be guaranteed; furthermore, the regenerative braking energy recovery efficiency can be improved. PMID:26236772

Current control of PMSM based on maximum torque control reference frame

NASA Astrophysics Data System (ADS)

Ohnuma, Takumi

2017-07-01

This study presents a new method of current controls of PMSMs (Permanent Magnet Synchronous Motors) based on a maximum torque control reference frame, which is suitable for high-performance controls of the PMSMs. As the issues of environment and energy increase seriously, PMSMs, one of the AC motors, are becoming popular because of their high-efficiency and high-torque density in various applications, such as electric vehicles, trains, industrial machines, and home appliances. To use the PMSMs efficiently, a proper current control of the PMSMs is necessary. In general, a rotational coordinate system synchronizing with the rotor is used for the current control of PMSMs. In the rotating reference frame, the current control is easier because the currents on the rotating reference frame can be expressed as a direct current in the controller. On the other hand, the torque characteristics of PMSMs are non-linear and complex; the PMSMs are efficient and high-density though. Therefore, a complicated control system is required to involve the relation between the torque and the current, even though the rotating reference frame is adopted. The maximum torque control reference frame provides a simpler way to control efficiently the currents taking the torque characteristics of the PMSMs into consideration.

Universal adaptive torque control for PM motors for field-weakening region operation

DOEpatents

Royak, Semyon [Beachwood, OH; Harbaugh, Mark M [Richfield, OH; Breitzmann, Robert J [South Russel, OH; Nondahl, Thomas A [Wauwatosa, WI; Schmidt, Peter B [Franklin, WI; Liu, Jingbo [Milwaukee, WI

2011-03-29

The invention includes a motor controller and method for controlling a permanent magnet motor. In accordance with one aspect of the present technique, a permanent magnet motor is controlled by, among other things, receiving a torque command, determining a normalized torque command by normalizing the torque command to a characteristic current of the motor, determining a normalized maximum available voltage, determining an inductance ratio of the motor, and determining a direct-axis current based upon the normalized torque command, the normalized maximum available voltage, and the inductance ratio of the motor.

Speed And Power Control Of An Engine By Modulation Of The Load Torque

DOEpatents

Ziph, Benjamin; Strodtman, Scott; Rose, Thomas K

1999-01-26

A system and method of speed and power control for an engine in which speed and power of the engine is controlled by modulation of the load torque. The load torque is manipulated in order to cause engine speed, and hence power to be changed. To accomplish such control, the load torque undergoes a temporary excursion in the opposite direction of the desired speed and power change. The engine and the driven equipment will accelerate or decelerate accordingly as the load torque is decreased or increased, relative to the essentially fixed or constant engine torque. As the engine accelerates or decelerates, its power increases or decreases in proportion.

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.

The effect of 3 torque delivery systems on gold screw preload at the gold cylinder-abutment screw joint.

PubMed

Tan, Keson B; Nicholls, Jack I

2002-01-01

This study measured the gold screw preload at the gold cylinder-abutment screw joint interface obtained by 3 torque delivery systems. Using a precalibrated, strain-gauged standard abutment as the load cell, 3 torque delivery systems tested were shown to have significant differences in gold screw preload when a gold cylinder was attached. Mean preloads measured were 291.2 N for hand torque drivers set at 10 Ncm, 340.3 N for electronic torque controllers at low setting/10 Ncm, 384.4 N for electronic torque controllers at high setting/10 Ncm; and 140.8 N for hand-tightening with a prosthetic slot screwdriver. Significant differences in screw preload were also found between operators using a hand torque driver. Hand-tightening delivered insufficient preload and cannot be recommended for final gold screw tightening. Different electronic torque controller units set at 10 Ncm induced mean gold screw preloads that ranged from 264.1 N to as high as 501.2 N. Electronic torque controllers should be regularly recalibrated to ensure optimal output.

Accuracy of electronic implant torque controllers following time in clinical service.

PubMed

Mitrani, R; Nicholls, J I; Phillips, K M; Ma, T

2001-01-01

Tightening of the screws in implant-supported restorations has been reported to be problematic, in that if the applied torque is too low, screw loosening occurs. If the torque is too high, then screw fracture can take place. Thus, accuracy of the torque driver is of the utmost importance. This study evaluated 4 new electronic torque drivers (controls) and 10 test electronic torque drivers, which had been in clinical service for a minimum of 5 years. Torque values of the test drivers were measured and were compared with the control values using a 1-way analysis of variance. Torque delivery accuracy was measured using a technique that simulated the clinical situation. In vivo, the torque driver turns the screw until the selected tightening torque is reached. In this laboratory experiment, an implant, along with an attached abutment and abutment gold screw, was held firmly in a Tohnichi torque gauge. Calibration accuracy for the Tohnichi is +/- 3% of the scale value. During torque measurement, the gold screw turned a minimum of 180 degrees before contact was made between the screw and abutment. Three torque values (10, 20, and 32 N-cm) were evaluated, at both high- and low-speed settings. The recorded torque measurements indicated that the 10 test electronic torque drivers maintained a torque delivery accuracy equivalent to the 4 new (unused) units. Judging from the torque output values obtained from the 10 test units, the clinical use of the electronic torque driver suggests that accuracy did not change significantly over the 5-year period of clinical service.

A method for reduction of cogging torque in brushless DC motor considering the distribution of magnetization by 3DEMCN

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

Hur, J.; Hyun, D.S.; Hong, J.P.

1998-09-01

The method of reducing cogging torque and improving average torque has been studied by changing the dead zone angle of trapezoidal magnetization distribution of ring type rotor magnet in brushless DC motor (BLDCM). Because BLDCM has 3-D shape of overhang, 3-D analysis should be used for exact computation of its magnetic field. 3-D equivalent magnetic circuit network method (3-D EMCN) which can analyze an accurate 3-D magnetic field has been introduced. The analysis results of cogging torque using 3-D EMCN are compared with ones of 3-D finite element method (3-D FEM) and experimental data.

Closed-loop torque feedback for a universal field-oriented controller

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

De Doncker, R.W.A.A.; King, R.D.; Sanza, P.C.

A torque feedback system is employed in a universal field-oriented (UFO) controller to tune a torque-producing current command and a slip frequency command in order to achieve robust torque control of an induction machine even in the event of current regulator errors and during transitions between pulse width modulated (PWM) and square wave modes of operation. 1 figure.

Closed-loop torque feedback for a universal field-oriented controller

DOEpatents

De Doncker, R.W.A.A.; King, R.D.; Sanza, P.C.; Haefner, K.B.

1992-11-24

A torque feedback system is employed in a universal field-oriented (UFO) controller to tune a torque-producing current command and a slip frequency command in order to achieve robust torque control of an induction machine even in the event of current regulator errors and during transitions between pulse width modulated (PWM) and square wave modes of operation. 1 figure.

Closed-loop torque feedback for a universal field-oriented controller

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

De Doncker, Rik W. A. A.; King, Robert D.; Sanza, Peter C.

A torque feedback system is employed in a universal field-oriented (UFO) controller to tune a torque-producing current command and a slip frequency command in order to achieve robust torque control of an induction machine even in the event of current regulator errors and during transitions between pulse width modulated (PWM) and square wave modes of operation.

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.

14 CFR 23.397 - Limit control forces and -torques.

Code of Federal Regulations, 2012 CFR

2012-01-01

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

14 CFR 23.397 - Limit control forces and -torques.

Code of Federal Regulations, 2014 CFR

2014-01-01

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

14 CFR 23.397 - Limit control forces and -torques.

Code of Federal Regulations, 2010 CFR

2010-01-01

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

14 CFR 23.397 - Limit control forces and -torques.

Code of Federal Regulations, 2011 CFR

2011-01-01

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

14 CFR 23.397 - Limit control forces and -torques.

Code of Federal Regulations, 2013 CFR

2013-01-01

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

Computerized Torque Control for Large dc Motors

NASA Technical Reports Server (NTRS)

Willett, Richard M.; Carroll, Michael J.; Geiger, Ronald V.

1987-01-01

Speed and torque ranges in generator mode extended. System of shunt resistors, electronic switches, and pulse-width modulation controls torque exerted by large, three-phase, electronically commutated dc motor. Particularly useful for motor operating in generator mode because it extends operating range to low torque and high speed.

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.

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.

Charts for Determining Preliminary Values of Span-load, Shear, Bending-moment, and Accumulated-torque Distributions of Swept Wings of Various Taper Ratios

NASA Technical Reports Server (NTRS)

Wollner, Bertram C

1948-01-01

Contains charts for use in determining preliminary values of the spanwise-load, shear, bending-moment, and accumulated-torque distributions of swept wings. The charts are based on strip theory and include four aerodynamic-load distributions, two section-moment distributions, and two inertia-load distributions. The taper ratios considered cover the range from 1.0 to 0 and the results are applicable to any angle of sweep.

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.

Speed, not magnitude, of knee extensor torque production is associated with self-reported knee function early after anterior cruciate ligament reconstruction.

PubMed

Hsieh, Chao-Jung; Indelicato, Peter A; Moser, Michael W; Vandenborne, Krista; Chmielewski, Terese L

2015-11-01

To examine the magnitude and speed of knee extensor torque production at the initiation of advanced anterior cruciate ligament (ACL) reconstruction rehabilitation and the associations with self-reported knee function. Twenty-eight subjects who were 12 weeks post-ACL reconstruction and 28 age- and sex-matched physically active controls participated in this study. Knee extensor torque was assessed bilaterally with an isokinetic dynamometer at 60°/s. The variables of interest were peak torque, average rate of torque development, time to peak torque and quadriceps symmetry index. Knee function was assessed with the International Knee Documentation Committee Subjective Knee Form (IKDC-SKF). Peak torque and average rate of torque development were lower on the surgical side compared to the non-surgical side and controls. Quadriceps symmetry index was lower in subjects with ACL reconstruction compared to controls. On the surgical side, average rate of torque development was positively correlated with IKDC-SKF score (r = 0.379) while time to peak torque was negatively correlated with IKDC-SKF score (r = -0.407). At the initiation of advanced ACL reconstruction rehabilitation, the surgical side displayed deficits in peak torque and average rate of torque development. A higher rate of torque development and shorter time to peak torque were associated with better self-reported knee function. The results suggest that the rate of torque development should be addressed during advanced ACL reconstruction rehabilitation and faster knee extensor torque generation may lead to better knee function. III.

Heat Control via Torque Control in Friction Stir Welding

NASA Technical Reports Server (NTRS)

Venable, Richard; Colligan, Kevin; Knapp, Alan

2004-01-01

In a proposed advance in friction stir welding, the torque exerted on the workpiece by the friction stir pin would be measured and controlled in an effort to measure and control the total heat input to the workpiece. The total heat input to the workpiece is an important parameter of any welding process (fusion or friction stir welding). In fusion welding, measurement and control of heat input is a difficult problem. However, in friction stir welding, the basic principle of operation affords the potential of a straightforward solution: Neglecting thermal losses through the pin and the spindle that supports it, the rate of heat input to the workpiece is the product of the torque and the speed of rotation of the friction stir weld pin and, hence, of the spindle. Therefore, if one acquires and suitably processes data on torque and rotation and controls the torque, the rotation, or both, one should be able to control the heat input into the workpiece. In conventional practice in friction stir welding, one uses feedback control of the spindle motor to maintain a constant speed of rotation. According to the proposal, one would not maintain a constant speed of rotation: Instead, one would use feedback control to maintain a constant torque and would measure the speed of rotation while allowing it to vary. The torque exerted on the workpiece would be estimated as the product of (1) the torque-multiplication ratio of the spindle belt and/or gear drive, (2) the force measured by a load cell mechanically coupled to the spindle motor, and (3) the moment arm of the load cell. Hence, the output of the load cell would be used as a feedback signal for controlling the torque (see figure).

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

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

PubMed Central

2016-01-01

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

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

PubMed

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

2012-07-11

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

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.

Accuracy of torque-limiting devices: A comparative evaluation.

PubMed

Albayrak, Haydar; Gumus, Hasan Onder; Tursun, Funda; Kocaagaoglu, Hasan Huseyin; Kilinc, Halil Ibrahim

2017-01-01

To prevent the loosening of implant screws, clinicians should be aware of the output torque values needed to achieve the desired preload. Accurate torque-control devices are crucial in this regard; however, little information is currently available comparing the accuracy of mechanical with that of electronic torque-control devices. The purpose of this in vitro study was to identify and compare the accuracy of different types of torque-control devices. Devices from 5 different dental implant manufacturers were evaluated, including 2 spring-type (Straumann, Implance) mechanical devices (MTLD), 2 friction-type (Biohorizons, Dyna) MTLDs, and 1 (Megagen) electronic torque-control device (ETLD). For each manufacturer, 5 devices were tested 5 times with a digital torque tester, and the average for each device was calculated and recorded. The percentage of absolute deviations from the target torque values (PERDEV) were calculated and compared by using 1-way ANOVA. A 1-sample t test was used to evaluate the ability of each device to achieve its target torque value within a 95% confidence interval for the true population mean of measured values (α=.05 for all statistical analyses). One-way ANOVAs revealed statistically significant differences among torque-control devices (P<.001). ETLD showed higher PERDEVs (28.33 ±9.53) than MTLDs (P<.05), whereas PERDEVS of friction-type (7.56 ±3.64) and spring-type (10.85 ±4.11) MTLDs did not differ significantly. In addition, devices produced by Megagen had a significantly higher (P<.05) PERDEV (28.33 ±9.53) other devices, whereas no differences were found in devices manufactured by Biohorizons (7.31 ±5.34), Dyna (7.82 ±1.08), Implance (8.43 ±4.77), and Straumann (13.26 ±0.79). However, 1-sample t tests showed none of the torque-control devices evaluated in this study were capable of achieving their target torque values (P<.05). Within the limitations of this in vitro study, MTLDs were shown to be significantly more accurate than ETLDs. However, none of the torque-control devices evaluated were able to meet their target torque values successfully. Copyright © 2016 Editorial Council for the Journal of Prosthetic Dentistry. Published by Elsevier Inc. All rights reserved.

Controller for computer control of brushless dc motors. [automobile engines

NASA Technical Reports Server (NTRS)

Hieda, L. S. (Inventor)

1981-01-01

A motor speed and torque controller for brushless d.c. motors provides an unusually smooth torque control arrangement. The controller provides a means for controlling a current waveform in each winding of a brushless dc motor by synchronization of an excitation pulse train from a programmable oscillator. Sensing of torque for synchronization is provided by a light beam chopper mounted on the motor rotor shaft. Speed and duty cycle are independently controlled by controlling the frequency and pulse width output of the programmable oscillator. A means is also provided so that current transitions from one motor winding to another is effected without abrupt changes in output torque.

77 FR 36137 - Airworthiness Directives; AGUSTA S.p.A. Helicopters

Federal Register 2010, 2011, 2012, 2013, 2014

2012-06-18

... the upper end of collective control rod C2 to torque tube C3 is properly installed. This AD is... prevent separation of the collective control rod from the torque tube, loss of control of the collective... helicopters because the production quality control procedures did not require recording the applied torque on...

Advantages and disadvantages of new torque-controlled endodontic motors and low-torque NiTi rotary instrumentation.

PubMed

Gambarini, G

2001-12-01

The main problem with the NiTi rotary instrumentation technique is instrument failure. During shaping procedures, rotary instruments might lock and/or screw into canals and, consequently, be subjected to high levels of stress. This may frequently lead to instrument separation or deformation. If a high-torque motor is used, the applied forces are usually very high and the instrument-fracture limit is often exceeded, thus increasing the risk of intracanal failure. A possible solution of this problem is to use a low-torque endodontic motor, which operates below the maximum permissible torque limit of each and every rotary instrument. During clinical instrumentation of root canals, if a torque-controlled motor is loaded right up to the instrument-specific torque, the motor stops momentarily and/or starts rotating counter-clockwise (auto-reverse function) to disengage the locked instrument. These safety mechanisms were developed to reduce the risk of instrument fracture. The author fully discusses the rationale for selecting lower torque values in everyday endodontic practice, and provides clinicians with useful information on the advantages and disadvantages of new endodontic motors with torque control.

Technical Errors May Affect Accuracy of Torque Limiter in Locking Plate Osteosynthesis.

PubMed

Savin, David D; Lee, Simon; Bohnenkamp, Frank C; Pastor, Andrew; Garapati, Rajeev; Goldberg, Benjamin A

2016-01-01

In locking plate osteosynthesis, proper surgical technique is crucial in reducing potential pitfalls, and use of a torque limiter makes it possible to control insertion torque. We conducted a study of the ways in which different techniques can alter the accuracy of torque limiters. We tested 22 torque limiters (1.5 Nm) for accuracy using hand and power tools under different rotational scenarios: hand power at low and high velocity and drill power at low and high velocity. We recorded the maximum torque reached after each torque-limiting event. Use of torque limiters under hand power at low velocity and high velocity resulted in significantly (P < .0001) different mean (SD) measurements: 1.49 (0.15) Nm and 3.73 (0.79) Nm. Use under drill power at controlled low velocity and at high velocity also resulted in significantly (P < .0001) different mean (SD) measurements: 1.47 (0.14) Nm and 5.37 (0.90) Nm. Maximum single measurement obtained was 9.0 Nm using drill power at high velocity. Locking screw insertion with improper technique may result in higher than expected torque and subsequent complications. For torque limiters, the most reliable technique involves hand power at slow velocity or drill power with careful control of insertion speed until 1 torque-limiting event occurs.

A submicron device to rectify a square-wave angular velocity.

PubMed

Moradian, A; Miri, M F

2011-02-01

We study a system composed of two thick dielectric disks separated by a thin layer of an electrolyte solution. Initially both plates have the same surface charge distribution. The surface charge distribution has no rotational symmetry. We show that the top plate experiences a torque [Formula: see text]([Formula: see text]) if it rotates about its axis by an angle [Formula: see text] . The torque can be controlled by varying the electrolyte concentration, the separation and the surface charge density of the plates. For a specific example of charged rods attached to the plates, we find [Formula: see text]([Formula: see text]) [Formula: see text] sin(4[Formula: see text]) . We also study the dynamics of the system. We consider the case where the angular velocity of the bottom disk is a square-wave signal. We find that the average angular velocity of the top disk is not zero.

Torque command steering law for double-gimbaled control moment gyros applied to rotor energy storage

NASA Technical Reports Server (NTRS)

Kennel, H. F.

1984-01-01

A steering law is presented which has all the features required for space applications, assuming the CMG outer gimbal freedom is unlimited. The reason is the idea of mounting all the outer gimbal axes of the CMGs parallel to each other. This allows the decomposition of the steering law problem into a linear one for the inner gimbal angle rates and a planar one for the outer gimbal angle rates. The inner gimbal angle rates are calculated first, since they are not affected by the outer gimbal angle rates. For the calculation of the outer rates, the inner rates are then known quantities. An outer gimbal angle distribution function (to avoid singularities internal to the total angular momentum envelope) generates distribution rates next, and finally the pseudoinverse method is used to insure that the desired total torque is delivered.

Torque Control of a Rehabilitation Teaching Robot Using Magneto-Rheological Fluid Clutches

NASA Astrophysics Data System (ADS)

Hakogi, Hokuto; Ohaba, Motoyoshi; Kuramochi, Naimu; Yano, Hidenori

A new robot that makes use of MR-fluid clutches for simulating torque is proposed to provide an appropriate device for training physical therapy students in knee-joint rehabilitation. The feeling of torque provided by the robot is expected to correspond to the torque performance obtained by physical therapy experts in a clinical setting. The torque required for knee-joint rehabilitation, which is a function of the rotational angle and the rotational angular velocity of a knee movement, is modeled using a mechanical system composed of typical spring-mass-damper elements. The robot consists of two MR-fluid clutches, two induction motors, and a feedback control system. In the torque experiments, output torque is controlled using the spring and damper coefficients separately. The values of these coefficients are determined experimentally. The experimental results show that the robot would be suitable for training physical therapy students to experience similar torque feelings as needed in a clinical situation.

Compensation of an attitude disturbance torque caused by magnetic substances in LEO satellites

NASA Astrophysics Data System (ADS)

Inamori, Takaya; Wang, Jihe; Saisutjarit, Phongsatorn; Ohsaki, Hiroyuki

This research considers an attitude disturbance torque caused by ferromagnetic substances in a LEO satellite. In most LEO satellite missions, a gravity gradient torque, solar pressure torque, aerodynamic torque, and magnetic dipole moment torque are considered for their attitude control systems, however, the effect of the ferromagnetic substances causing a disturbance torque in the geomagnetic field is not considered in previous satellite missions. The ferromagnetic substances such as iron cores of MTQs and a magnetic hysteresis damper for a passive attitude control system are used in various small satellites. These substances cause a disturbance torque which is almost the same magnitude of the dipole magnetic disturbance and the dominant disturbance in the worst cases. This research proposes a method to estimate and compensate for the effect of the ferromagnetic substances using an extended Kalman filter. From simulation results, the research concludes that the proposed method is useful and attractive for precise attitude control for LEO satellite missions.

Maximum Torque and Momentum Envelopes for Reaction Wheel Arrays

NASA Technical Reports Server (NTRS)

Markley, F. Landis; Reynolds, Reid G.; Liu, Frank X.; Lebsock, Kenneth L.

2009-01-01

Spacecraft reaction wheel maneuvers are limited by the maximum torque and/or angular momentum that the wheels can provide. For an n-wheel configuration, the torque or momentum envelope can be obtained by projecting the n-dimensional hypercube, representing the domain boundary of individual wheel torques or momenta, into three dimensional space via the 3xn matrix of wheel axes. In this paper, the properties of the projected hypercube are discussed, and algorithms are proposed for determining this maximal torque or momentum envelope for general wheel configurations. Practical strategies for distributing a prescribed torque or momentum among the n wheels are presented, with special emphasis on configurations of four, five, and six wheels.

Torque equilibrium attitudes for the Space Station

NASA Technical Reports Server (NTRS)

Thompson, Roger C.

1993-01-01

All spacecraft orbiting in a low earth orbit (LEO) experience external torques due to environmental effects. Examples of these torques include those induced by aerodynamic, gravity-gradient, and solar forces. It is the gravity-gradient and aerodynamic torques that produce the greatest disturbances to the attitude of a spacecraft in LEO, and large asymmetric spacecraft, such as the space station, are affected to a greater degree because the magnitude of the torques will, in general, be larger in proportion to the moments of inertia. If left unchecked, these torques would cause the attitude of the space station to oscillate in a complex manner and the resulting motion would destroy the micro-gravity environment as well as prohibit the orbiter from docking. The application of control torques will maintain the proper attitude, but the controllers have limited momentum capacity. When any controller reaches its limit, propellant must then be used while the device is reset to a zero or negatively-biased momentum state. Consequently, the rate at which momentum is accumulated is a significant factor in the amount of propellant used and the frequency of resupply necessary to operate the station. A torque profile in which the area curve for a positive torque is not equal to the area under the curve for a negative torque is 'biased,' and the consequent momentum build-up about that axis is defined as secular momentum because it continues to grow with time. Conversely, when the areas are equal, the momentum is cyclic and bounded. A Torque Equilibrium Attitude (TEA) is thus defined as an attitude at which the external torques 'balance' each other as much as possible, and which will result in lower momentum growth in the controllers. Ideally, the positive and negative external moments experienced by a spacecraft at the TEA would exactly cancel each other out and small cyclic control torques would be required only for precise attitude control. Over time, the only momentum build-up in the controllers would be due to electro-mechanical losses within the device. However, the atmospheric torques are proportional to the density of the atmosphere and the density varies with the orbital position, time of day, time of year, and the solar cycle. In addition, there are unmodeled disturbances and uncertainties in the mass and inertias. Therefore, there is no constant attitude that will completely balance the environmental torques and the dynamic TEA cannot be solved in closed form. The objective of this research was to determine a method to calculate a dynamic TEA such that the rate of momentum build-up in the controllers would be minimized and to implement this method in the MATRIX(x) simulation software by Integrated Systems, Inc.

Control torque generation of a CMG-based small satellite with MTGAC system: a trade-off study

NASA Astrophysics Data System (ADS)

Salleh, M. B.; Suhadis, N. M.; Rajendran, P.; Mazlan, N. M.

2018-05-01

In this paper, the gimbal angle compensation method using magnetic control law has been adopted for a small satellite operating in low earth orbit under disturbance toques influence. Three light weight magnetic torquers have been used to generate the magnetic compensation torque to bring diverge gimbals at preferable angle. The magnetic control torque required to compensate the gimbal angle is based on the gimbal error rate which depends on the gimbal angle converging time. A simulation study has been performed without and with the MTGAC system to investigate the amount of generated control torque as a trade-off between the power consumption, attitude control performance and CMG dynamic performance. Numerical simulations show that the satellite with the MTGAC system generates more control torques which leads to the additional power requirement but in return results in a favorable attitude control performance and gimbal angle management.

Cerebellar ataxia: abnormal control of interaction torques across multiple joints.

PubMed

Bastian, A J; Martin, T A; Keating, J G; Thach, W T

1996-07-01

1. We studied seven subjects with cerebellar lesions and seven control subjects as they made reaching movements in the sagittal plane to a target directly in front of them. Reaches were made under three different conditions: 1) "slow-accurate," 2) "fast-accurate," and 3) "fast as possible." All subjects were videotaped moving in a sagittal plane with markers on the index finger, wrist, elbow, and shoulder. Marker positions were digitized and then used to calculate joint angles. For each of the shoulder, elbow and wrist joints, inverse dynamics equations based on a three-segment limb model were used to estimate the net torque (sum of components) and each of the component torques. The component torques consisted of the torque due to gravity, the dynamic interaction torques induced passively by the movement of the adjacent joint, and the torque produced by the muscles and passive tissue elements (sometimes called "residual" torque). 2. A kinematic analysis of the movement trajectory and the change in joint angles showed that the reaches of subjects with cerebellar lesions were abnormal compared with reaches of control subjects. In both the slow-accurate and fast-accurate conditions the cerebellar subjects made abnormally curved wrist paths; the curvature was greater in the slow-accurate condition. During the slow-accurate condition, cerebellar subjects showed target undershoot and tended to move one joint at a time (decomposition). During the fast-accurate reaches, the cerebellar subjects showed target overshoot. Additionally, in the fast-accurate condition, cerebellar subjects moved the joints at abnormal rates relative to one another, but the movements were less decomposed. Only three subjects were tested in the fast as possible condition; this condition was analyzed only to determine maximal reaching speeds of subjects with cerebellar lesions. Cerebellar subjects moved more slowly than controls in all three conditions. 3. A kinetic analysis of torques generated at each joint during the slow-accurate reaches and the fast-accurate reaches revealed that subjects with cerebellar lesions produced very different torque profiles compared with control subjects. In the slow-accurate condition, the cerebellar subjects produced abnormal elbow muscle torques that prevented the normal elbow extension early in the reach. In the fast-accurate condition, the cerebellar subjects produced inappropriate levels of shoulder muscle torque and also produced elbow muscle torques that did not very appropriately with the dynamic interaction torques that occurred at the elbow. Lack of appropriate muscle torque resulted in excessive contributions of the dynamic interaction torque during the fast-accurate reaches. 4. The inability to produce muscle torques that predict, accommodate, and compensate for the dynamic interaction torques appears to be an important cause of the classic kinematic deficits shown by cerebellar subjects during attempted reaching. These kinematic deficits include incoordination of the shoulder and the elbow joints, a curved trajectory, and overshoot. In the fast-accurate condition, cerebellar subjects often made inappropriate muscle torques relative to the dynamic interaction torques. Because of this, interaction torques often determined the pattern of incoordination of the elbow and shoulder that produced the curved trajectory and target overshoot. In the slow-accurate condition, we reason that the cerebellar subjects may use a decomposition strategy so as to simplify the movement and not have to control both joints simultaneously. From these results, we suggest that a major role of the cerebellum is in generating muscle torques at a joint that will predict the interaction torques being generated by other moving joints and compensate for them as they occur.

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.

Determination of torque speed current characteristics of a brushless DC motor by utilizing back-EMF of non-energized phase

NASA Astrophysics Data System (ADS)

Jang, G. H.; Yeom, J. H.; Kim, M. G.

2007-03-01

This paper presents a method to determine the torque constant and the torque-speed-current characteristics of a brushless DC (BLDC) motor by utilizing back-EMF variation of nonenergized phase. It also develops a BLDC motor controller with a digital signal processor (DSP) to monitor its current, voltage and speed in real time. Torque-speed-current characteristics of a BLDC motor are determined by using the proposed method and the developed controller. They are compared with the torque-speed-current characteristics measured by dynamometer experimentally. This research shows that the proposed method is an effective method to determine the torque constant and the torque-speed-current characteristics of the BLDC motor without using dynamometer.

EMG Versus Torque Control of Human-Machine Systems: Equalizing Control Signal Variability Does not Equalize Error or Uncertainty.

PubMed

Johnson, Reva E; Kording, Konrad P; Hargrove, Levi J; Sensinger, Jonathon W

2017-06-01

In this paper we asked the question: if we artificially raise the variability of torque control signals to match that of EMG, do subjects make similar errors and have similar uncertainty about their movements? We answered this question using two experiments in which subjects used three different control signals: torque, torque+noise, and EMG. First, we measured error on a simple target-hitting task in which subjects received visual feedback only at the end of their movements. We found that even when the signal-to-noise ratio was equal across EMG and torque+noise control signals, EMG resulted in larger errors. Second, we quantified uncertainty by measuring the just-noticeable difference of a visual perturbation. We found that for equal errors, EMG resulted in higher movement uncertainty than both torque and torque+noise. The differences suggest that performance and confidence are influenced by more than just the noisiness of the control signal, and suggest that other factors, such as the user's ability to incorporate feedback and develop accurate internal models, also have significant impacts on the performance and confidence of a person's actions. We theorize that users have difficulty distinguishing between random and systematic errors for EMG control, and future work should examine in more detail the types of errors made with EMG control.

An Enhanced Three-Level Voltage Switching State Scheme for Direct Torque Controlled Open End Winding Induction Motor

NASA Astrophysics Data System (ADS)

Kunisetti, V. Praveen Kumar; Thippiripati, Vinay Kumar

2018-01-01

Open End Winding Induction Motors (OEWIM) are popular for electric vehicles, ship propulsion applications due to less DC link voltage. Electric vehicles, ship propulsions require ripple free torque. In this article, an enhanced three-level voltage switching state scheme for direct torque controlled OEWIM drive is implemented to reduce torque and flux ripples. The limitations of conventional Direct Torque Control (DTC) are: possible problems during low speeds and starting, it operates with variable switching frequency due to hysteresis controllers and produces higher torque and flux ripple. The proposed DTC scheme can abate the problems of conventional DTC with an enhanced voltage switching state scheme. The three-level inversion was obtained by operating inverters with equal DC-link voltages and it produces 18 voltage space vectors. These 18 vectors are divided into low and high frequencies of operation based on rotor speed. The hardware results prove the validity of proposed DTC scheme during steady-state and transients. From simulation and experimental results, proposed DTC scheme gives less torque and flux ripples on comparison to two-level DTC. The proposed DTC is implemented using dSPACE DS-1104 control board interface with MATLAB/SIMULINK-RTI model.

An Enhanced Three-Level Voltage Switching State Scheme for Direct Torque Controlled Open End Winding Induction Motor

NASA Astrophysics Data System (ADS)

Kunisetti, V. Praveen Kumar; Thippiripati, Vinay Kumar

2018-06-01

Open End Winding Induction Motors (OEWIM) are popular for electric vehicles, ship propulsion applications due to less DC link voltage. Electric vehicles, ship propulsions require ripple free torque. In this article, an enhanced three-level voltage switching state scheme for direct torque controlled OEWIM drive is implemented to reduce torque and flux ripples. The limitations of conventional Direct Torque Control (DTC) are: possible problems during low speeds and starting, it operates with variable switching frequency due to hysteresis controllers and produces higher torque and flux ripple. The proposed DTC scheme can abate the problems of conventional DTC with an enhanced voltage switching state scheme. The three-level inversion was obtained by operating inverters with equal DC-link voltages and it produces 18 voltage space vectors. These 18 vectors are divided into low and high frequencies of operation based on rotor speed. The hardware results prove the validity of proposed DTC scheme during steady-state and transients. From simulation and experimental results, proposed DTC scheme gives less torque and flux ripples on comparison to two-level DTC. The proposed DTC is implemented using dSPACE DS-1104 control board interface with MATLAB/SIMULINK-RTI model.

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

PubMed Central

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

2012-01-01

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

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

NASA Technical Reports Server (NTRS)

Stickle, George W

1933-01-01

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

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.

Model of the multipolar engine with decreased cogging torque by asymmetrical distribution of the magnets

NASA Astrophysics Data System (ADS)

Goryca, Zbigniew; Paduszyński, Kamil; Pakosz, Artur

2018-03-01

This paper presents the results of field calculations of cogging torque for a 12-pole torque motor with an 18-slot stator. A constant angular velocity magnet and the same size gap between n-1 magnets were assumed. In these conditions, the effect of change of the n-th gap between magnets on the cogging torque was tested. Due to considerable length of the machine the calculations were performed using a 2D model. The n-th gap for which the cogging torque assumed the lowest value was evaluated. The cogging torque of the machine with symmetrical magnetic circuit (the same size of gap between magnets) was compared to the one of the asymmetrical machine. With proper choice of asymmetry, the cogging torque for the machine decreased by four times.

Controller for a High-Power, Brushless dc Motor

NASA Technical Reports Server (NTRS)

Fleming, David J.; Makdad, Terence A.

1987-01-01

Driving and braking torques controllable. Control circuit operates 7-kW, 45-lb-ft (61-N-m), three-phase, brushless dc motor in both motor and generator modes. In motor modes, energy from power source is pulse-width modulated to motor through modified "H-bridge" circuit, in generator mode, energy from motor is pulse-width modulated into bank of load resistors to provide variable braking torques. Circuit provides high-resolution torque control in both directions over wide range of speeds and torques. Tested successfully at bus voltages up to 200 Vdc and currents up to 45 A.

Servo Reduces Friction In Flexure Bearing

NASA Technical Reports Server (NTRS)

Clingman, W. Dean

1991-01-01

Proposed servocontrol device reduces such resistive torques as stiction, friction, ripple, and cogging in flexure bearing described in LAR-14348, "Flexure Bearing Reduces Startup Friction". Reduces frictional "bump" torque encountered when bearing ball runs into buildup of grease on bearing race. Also used as cable follower to reduce torque caused by cable and hoses when they bend because of motion of bearing. New device includes torquer across ball race. Torquer controlled by servo striving to keep flexure at null, removing torque to outer ring. In effect, device is inner control loop reducing friction, but does not control platforms or any outer-control-loop functions.

Effect of immobilization and retraining on torque-velocity relationship of human knee flexor and extensor muscles.

PubMed

Labarque, V L; Eijnde, B Op 't; Van Leemputte, M

2002-01-01

The effect of 2 weeks immobilization of the uninjured right knee and 10 weeks of retraining on muscle torque-velocity characteristics was investigated in nine young subjects. Left and right knee extension and flexion maximal voluntary isometric torque (Tmax) and dynamic torque at 60 degrees s(-1) (T60) and 180 degrees x s(-1) (T180) were measured before (PRE) and after immobilization (POST) and after 3 (R3) and 10 (R10) weeks of dynamic retraining. The torque-velocity relationship was quantified by expressing T60 and T180 relative to Tmax (NT60 and NT180, respectively). For the right extensor muscles, percutaneous biopsy samples were obtained from the vastus lateralis muscle and fibre type distribution was measured. POST extension and flexion torque (mean of Tmax, T60 and T180) decreased by 27% and 11%, respectively. During the course of the experiment, the changes in NT60 and NT180 were similar. POST extensor muscle NTV (mean of NT60 and NT180) was decreased significantly (12%, P<0.05), but no significant change was found for flexor muscle NTV (+ 3%). At R3 Tmax, dynamic torque and NTV were restored to normal. Unlike isometric torque, NTV did not change from R3 to R10. No changes in fibre type distribution were found. The adaptation of muscle length is suggested as the mechanism to explain the change in NTV.

Electronic 4-wheel drive control device

NASA Technical Reports Server (NTRS)

Hayato, S.; Takanori, S.; Shigeru, H.; Tatsunori, S.

1984-01-01

The internal rotation torque generated during operation of a 4-wheel drive vehicle is reduced using a control device whose clutch is attached to one part of the rear-wheel drive shaft. One torque sensor senses the drive torque associated with the rear wheel drive shaft. A second sensor senses the drive torque associated with the front wheel drive shaft. Revolution count sensors sense the revolutions of each drive shaft. By means of a microcomputer, the engagement of the clutch is changed to insure that the ratio of the torque sensors remains constant.

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

PubMed Central

Toney, Megan E.; Chang, Young-Hui

2016-01-01

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

Force-sensed interface for control and training space robot

NASA Astrophysics Data System (ADS)

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

2018-05-01

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

Method and system for determining the torque required to launch a vehicle having a hybrid drive-train

DOEpatents

Hughes, Douglas A.

2006-04-04

A method and system are provided for determining the torque required to launch a vehicle having a hybrid drive-train that includes at least two independently operable prime movers. The method includes the steps of determining the value of at least one control parameter indicative of a vehicle operating condition, determining the torque required to launch the vehicle from the at least one determined control parameter, comparing the torque available from the prime movers to the torque required to launch the vehicle, and controlling operation of the prime movers to launch the vehicle in response to the comparing step. The system of the present invention includes a control unit configured to perform the steps of the method outlined above.

A Biomechanical Comparison of Proportional Electromyography Control to Biological Torque Control Using a Powered Hip Exoskeleton.

PubMed

Young, Aaron J; Gannon, Hannah; Ferris, Daniel P

2017-01-01

Despite a large increase in robotic exoskeleton research, there are few studies that have examined human performance with different control strategies on the same exoskeleton device. Direct comparison studies are needed to determine how users respond to different types of control. The purpose of this study was to compare user performance using a robotic hip exoskeleton with two different controllers: a controller that targeted a biological hip torque profile and a proportional myoelectric controller. We tested both control approaches on 10 able-bodied subjects using a pneumatically powered hip exoskeleton. The state machine controller targeted a biological hip torque profile. The myoelectric controller used electromyography (EMG) of lower limb muscles to produce a proportional control signal for the hip exoskeleton. Each subject performed two 30-min exoskeleton walking trials (1.0 m/s) using each controller and a 10-min trial with the exoskeleton unpowered. During each trial, we measured subjects' metabolic cost of walking, lower limb EMG profiles, and joint kinematics and kinetics (torques and powers) using a force treadmill and motion capture. Compared to unassisted walking in the exoskeleton, myoelectric control significantly reduced metabolic cost by 13% ( p  = 0.005) and biological hip torque control reduced metabolic cost by 7% ( p  = 0.261). Subjects reduced muscle activity relative to the unpowered condition for a greater number of lower limb muscles using myoelectric control compared to the biological hip torque control. More subjects subjectively preferred the myoelectric controller to the biological hip torque control. Myoelectric control had more advantages (metabolic cost and muscle activity reduction) compared to a controller that targeted a biological torque profile for walking with a robotic hip exoskeleton. However, these results were obtained with a single exoskeleton device with specific control configurations while level walking at a single speed. Further testing on different exoskeleton hardware and with more varied experimental protocols, such as testing over multiple types of terrain, is needed to fully elucidate the potential benefits of myoelectric control for exoskeleton technology.

Load Dependency of Postural Control--Kinematic and Neuromuscular Changes in Response to over and under Load Conditions.

PubMed

Ritzmann, Ramona; Freyler, Kathrin; Weltin, Elmar; Krause, Anne; Gollhofer, Albert

2015-01-01

Load variation is associated with changes in joint torque and compensatory reflex activation and thus, has a considerable impact on balance control. Previous studies dealing with over (OL) and under loading (UL) used water buoyancy or additional weight with the side effects of increased friction and inertia, resulting in substantially modified test paradigms. The purpose of this study was to identify gravity-induced load dependency of postural control in comparable experimental conditions and to determine the underlying neuromuscular mechanisms. Balance performance was recorded under normal loading (NL, 1 g), UL (0.16 g 0.38 g) and OL (1.8 g) in monopedal stance. Center of pressure (COP) displacement and frequency distribution (low 0.15-0.5 Hz (LF), medium 0.5-2 Hz (MF), high 2-6 Hz (HF)) as well as ankle, knee and hip joint kinematics were assessed. Soleus spinal excitability was determined by H/M-recruitment curves (H/M-ratios). Compared to NL, OL caused an increase in ankle joint excursion, COP HF domain and H/M-ratio. Concomitantly, hip joint excursion and COP LF decreased. Compared to NL, UL caused modulations in the opposite direction: UL decreased ankle joint excursions, COP HF and H/M-ratio. Collaterally, hip joint excursion and COP LF increased. COP was augmented both in UL and in OL compared to NL. Subjects achieved postural stability in OL and UL with greater difficulty compared to NL. Reduced postural control was accompanied by modified balance strategies and compensatory reflex activation. With increasing load, a shift from hip to ankle strategy was observed. Accompanying, COP frequency distribution shifted from LF to HF and spinal excitability was enhanced. It is suggested that in OL, augmented ankle joint torques are compensated by quick reflex-induced postural reactions in distal muscles. Contrarily, UL is associated with diminished joint torques and thus, postural equilibrium may be controlled by the proximal segments to adjust the center of gravity above the base of support.

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.

Motor impairments related to brain injury timing in early hemiparesis. Part II: abnormal upper extremity joint torque synergies.

PubMed

Sukal-Moulton, Theresa; Krosschell, Kristin J; Gaebler-Spira, Deborah J; Dewald, Julius P A

2014-01-01

Extensive neuromotor development occurs early in human life, and the timing of brain injury may affect the resulting motor impairment. In Part I of this series, it was demonstrated that the distribution of weakness in the upper extremity depended on the timing of brain injury in individuals with childhood-onset hemiparesis. The goal of this study was to characterize how timing of brain injury affects joint torque synergies, or losses of independent joint control. Twenty-four individuals with hemiparesis were divided into 3 groups based on the timing of their injury: before birth (PRE-natal, n = 8), around the time of birth (PERI-natal, n = 8), and after 6 months of age (POST-natal, n = 8). Individuals with hemiparesis and 8 typically developing peers participated in maximal isometric shoulder, elbow, wrist, and finger torque generation tasks while their efforts were recorded by a multiple degree-of-freedom load cell. Motor output in 4 joints of the upper extremity was concurrently measured during 8 primary torque generation tasks to quantify joint torque synergies. There were a number of significant coupling patterns identified in individuals with hemiparesis that differed from the typically developing group. POST-natal differences were most noted in the coupling of shoulder abductors with elbow, wrist, and finger flexors, while the PRE-natal group demonstrated significant distal joint coupling with elbow flexion. The torque synergies measured provide indirect evidence for the use of bulbospinal pathways in the POST-natal group, while those with earlier injury may use relatively preserved ipsilateral corticospinal motor pathways.

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).

Turbine Windage Torque Tests.

DTIC Science & Technology

1981-01-01

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

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.

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.

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

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.

Mechanisms of quadriceps muscle weakness in knee joint osteoarthritis: the effects of prolonged vibration on torque and muscle activation in osteoarthritic and healthy control subjects.

PubMed

Rice, David A; McNair, Peter J; Lewis, Gwyn N

2011-01-01

A consequence of knee joint osteoarthritis (OA) is an inability to fully activate the quadriceps muscles, a problem termed arthrogenic muscle inhibition (AMI). AMI leads to marked quadriceps weakness that impairs physical function and may hasten disease progression. The purpose of the present study was to determine whether γ-loop dysfunction contributes to AMI in people with knee joint OA. Fifteen subjects with knee joint OA and 15 controls with no history of knee joint pathology participated in this study. Quadriceps and hamstrings peak isometric torque (Nm) and electromyography (EMG) amplitude were collected before and after 20 minutes of 50 Hz vibration applied to the infrapatellar tendon. Between-group differences in pre-vibration torque were analysed using a one-way analysis of covariance, with age, gender and body mass (kg) as the covariates. If the γ-loop is intact, vibration should decrease torque and EMG levels in the target muscle; if dysfunctional, then torque and EMG levels should not change following vibration. One-sample t tests were thus undertaken to analyse whether percentage changes in torque and EMG differed from zero after vibration in each group. In addition, analyses of covariance were utilised to analyse between-group differences in the percentage changes in torque and EMG following vibration. Pre-vibration quadriceps torque was significantly lower in the OA group compared with the control group (P = 0.005). Following tendon vibration, quadriceps torque (P < 0.001) and EMG amplitude (P ≤0.001) decreased significantly in the control group but did not change in the OA group (all P > 0.299). Hamstrings torque and EMG amplitude were unchanged in both groups (all P > 0.204). The vibration-induced changes in quadriceps torque and EMG were significantly different between the OA and control groups (all P < 0.011). No between-group differences were observed for the change in hamstrings torque or EMG (all P > 0.554). γ-loop dysfunction may contribute to AMI in individuals with knee joint OA, partially explaining the marked quadriceps weakness and atrophy that is often observed in this population.

Mechanisms of quadriceps muscle weakness in knee joint osteoarthritis: the effects of prolonged vibration on torque and muscle activation in osteoarthritic and healthy control subjects

PubMed Central

2011-01-01

Introduction A consequence of knee joint osteoarthritis (OA) is an inability to fully activate the quadriceps muscles, a problem termed arthrogenic muscle inhibition (AMI). AMI leads to marked quadriceps weakness that impairs physical function and may hasten disease progression. The purpose of the present study was to determine whether γ-loop dysfunction contributes to AMI in people with knee joint OA. Methods Fifteen subjects with knee joint OA and 15 controls with no history of knee joint pathology participated in this study. Quadriceps and hamstrings peak isometric torque (Nm) and electromyography (EMG) amplitude were collected before and after 20 minutes of 50 Hz vibration applied to the infrapatellar tendon. Between-group differences in pre-vibration torque were analysed using a one-way analysis of covariance, with age, gender and body mass (kg) as the covariates. If the γ-loop is intact, vibration should decrease torque and EMG levels in the target muscle; if dysfunctional, then torque and EMG levels should not change following vibration. One-sample t tests were thus undertaken to analyse whether percentage changes in torque and EMG differed from zero after vibration in each group. In addition, analyses of covariance were utilised to analyse between-group differences in the percentage changes in torque and EMG following vibration. Results Pre-vibration quadriceps torque was significantly lower in the OA group compared with the control group (P = 0.005). Following tendon vibration, quadriceps torque (P < 0.001) and EMG amplitude (P ≤0.001) decreased significantly in the control group but did not change in the OA group (all P > 0.299). Hamstrings torque and EMG amplitude were unchanged in both groups (all P > 0.204). The vibration-induced changes in quadriceps torque and EMG were significantly different between the OA and control groups (all P < 0.011). No between-group differences were observed for the change in hamstrings torque or EMG (all P > 0.554). Conclusions γ-loop dysfunction may contribute to AMI in individuals with knee joint OA, partially explaining the marked quadriceps weakness and atrophy that is often observed in this population. PMID:21933392

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

NASA Astrophysics Data System (ADS)

Ding, Yang; Ming, Tingyu

2016-11-01

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

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.

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

Distributed adaptive asymptotically consensus tracking control of uncertain Euler-Lagrange systems under directed graph condition.

PubMed

Wang, Wei; Wen, Changyun; Huang, Jiangshuai; Fan, Huijin

2017-11-01

In this paper, a backstepping based distributed adaptive control scheme is proposed for multiple uncertain Euler-Lagrange systems under directed graph condition. The common desired trajectory is allowed totally unknown by part of the subsystems and the linearly parameterized trajectory model assumed in currently available results is no longer needed. To compensate the effects due to unknown trajectory information, a smooth function of consensus errors and certain positive integrable functions are introduced in designing virtual control inputs. Besides, to overcome the difficulty of completely counteracting the coupling terms of distributed consensus errors and parameter estimation errors in the presence of asymmetric Laplacian matrix, extra information transmission of local parameter estimates are introduced among linked subsystem and adaptive gain technique is adopted to generate distributed torque inputs. It is shown that with the proposed distributed adaptive control scheme, global uniform boundedness of all the closed-loop signals and asymptotically output consensus tracking can be achieved. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Distributed and self-adaptive vehicle speed estimation in the composite braking case for four-wheel drive hybrid electric car

NASA Astrophysics Data System (ADS)

Zhao, Z.-G.; Zhou, L.-J.; Zhang, J.-T.; Zhu, Q.; Hedrick, J.-K.

2017-05-01

Considering the controllability and observability of the braking torques of the hub motor, Integrated Starter Generator (ISG), and hydraulic brake for four-wheel drive (4WD) hybrid electric cars, a distributed and self-adaptive vehicle speed estimation algorithm for different braking situations has been proposed by fully utilising the Electronic Stability Program (ESP) sensor signals and multiple powersource signals. Firstly, the simulation platform of a 4WD hybrid electric car was established, which integrates an electronic-hydraulic composited braking system model and its control strategy, a nonlinear seven degrees-of-freedom vehicle dynamics model, and the Burckhardt tyre model. Secondly, combining the braking torque signals with the ESP signals, self-adaptive unscented Kalman sub-filter and main-filter adaptable to the observation noise were, respectively, designed. Thirdly, the fusion rules for the sub-filters and master filter were proposed herein, and the estimation results were compared with the simulated value of a real vehicle speed. Finally, based on the hardware in-the-loop platform and by picking up the regenerative motor torque signals and wheel cylinder pressure signals, the proposed speed estimation algorithm was tested under the case of moderate braking on the highly adhesive road, and the case of Antilock Braking System (ABS) action on the slippery road, as well as the case of ABS action on the icy road. Test results show that the presented vehicle speed estimation algorithm has not only a high precision but also a strong adaptability in the composite braking case.

40 CFR 1066.240 - Torque transducer verification.

Code of Federal Regulations, 2014 CFR

2014-07-01

... POLLUTION CONTROLS VEHICLE-TESTING PROCEDURES Dynamometer Specifications § 1066.240 Torque transducer verification. Verify torque-measurement systems by performing the verifications described in §§ 1066.270 and... 40 Protection of Environment 33 2014-07-01 2014-07-01 false Torque transducer verification. 1066...

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.

Damping torque analysis of VSC-based system utilizing power synchronization control

NASA Astrophysics Data System (ADS)

Fu, Q.; Du, W. J.; Zheng, K. Y.; Wang, H. F.

2017-05-01

Power synchronization control is a new control strategy of VSC-HVDC for connecting a weak power system. Different from the vector control method, this control method utilizes the internal synchronization mechanism in ac systems, in principle, similar to the operation of a synchronous machine. So that the parameters of controllers in power synchronization control will change the electromechanical oscillation modes and make an impact on the transient stability of power system. This paper present a mathematical model for small-signal stability analysis of VSC station used power synchronization control and analyse the impact of the dynamic interactions by calculating the contribution of the damping torque from the power synchronization control, besides, the parameters of controllers which correspond to damping torque and synchronous torque in the power synchronization control is defined respectively. At the end of the paper, an example power system is presented to demonstrate and validate the theoretical analysis and associated conclusions are made.

Bevel gear driver and method having torque limit selection

NASA Technical Reports Server (NTRS)

Cook, Joseph S., Jr. (Inventor)

1994-01-01

This invention comprises a torque drive mechanism utilizing axially translatable, mutually engageable transmission members having mating crown gears, driven and driving members with a three-element drive train being biased together by resilient means or by a fluid actuator system, the apparatus being operable to transmit a precisely controlled degree of torque to a driven member. The apparatus is applicable for use in hand tools and as a replacement for impact torque drivers, torque wrenches, motorized screw drivers, or the like, wherein the applied torque must be precisely controlled or limited. The bevel torque drive includes a drive gear which is axially displaceable and rotatable within cylindrical driver housing, a rotatable intermediate gear, and an output gear. Key rotationally secures displaceable gear with respect to input shaft but permits axial movement therebetween. A thrust bearing is preferably connected to the lower end of shaft for support to reduce play and friction between shaft and a transmission joint disc during rotation of the gear train. Coaxially mounted coiled spring is footed against displaceable gear for biasing the displaceable gear toward and into engagement with the intermediate gear for driving intermediate gear and output gear. Torque control is achieved by the use of straight or spiral beveled gears which are of configurations adapted to withdraw from mutual engagement upon the torque exceeding a predetermined limit. The novel, advantageous features of the invention include the configuration of the mating, crown gear sets and the axially translatable, slidable drive gear. The mechanism is capable of transmitting a high degree of torque within a narrow, compact transmission housing. The compact size and narrow, elongated configuration of the housing is particularly applicable for use in hand tools and in multiple torque driver mechanisms in which it is necessary to drive multiple fasteners which are located in close proximity. Prior torque drivers such as 'click-type' torque wrenches do not actually limit torque application but only provide an audible warning that the limit has been reached.

Interaction of In-wheel permanent magnet synchronous motor with tire dynamics

NASA Astrophysics Data System (ADS)

Song, Ziyou; Li, Jianqiu; Wei, Yintao; Xu, Liangfei; Ouyang, Minggao

2015-05-01

Drive wheel systems combined with the in-wheel permanent magnet synchronous motor (I-PMSM) and the tire are highly electromechanical-coupled. However, the deformation dynamics of this system, which may influence the system performance, is neglected in most existing literatures. For this reason, a deformable tire and a detailed I-PMSM are modeled using Matlab/Simulink. Furthermore, the influence of tire/road contact interface is accurately described by the non-linear relaxation length-based model and magic formula pragmatic model. The drive wheel model used in this paper is closer to that of a real tire in contrast to the rigid tire model which is widely used. Based on the near-precise model mentioned above, the sensitivity of the dynamic tire and I-PMSM parameters to the relative error of slip ratio estimation is analyzed. Additionally, the torsional and longitudinal vibrations of the drive wheel are presented both in time and frequency domains when a quarter vehicle is started under conditions of a specific torque curve, which includes an abrupt torque change from 30 N · m to 200 N · m. The parameters sensitivity on drive wheel vibrations is also studied, and the parameters include the mass distribution ratio of tire, the tire torsional stiffness, the tire damping coefficient, and the hysteresis band of the PMSM current control algorithm. Finally, different target torque curves are compared in the simulation, which shows that the estimation error of the slip ratio gets violent, and the longitudinal force includes more fluctuation components with the increasing change rate of the torque. This paper analyzes the influence of the drive wheel deformation on the vehicle dynamic control, and provides useful information regarding the electric vehicle traction control.

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

PubMed

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

1990-12-01

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

Dynamics and control of instrumented harmonic drives

NASA Technical Reports Server (NTRS)

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

1995-01-01

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

Manipulation of Spin-Torque Generation Using Ultrathin Au

NASA Astrophysics Data System (ADS)

An, Hongyu; Haku, Satoshi; Kanno, Yusuke; Nakayama, Hiroyasu; Maki, Hideyuki; Shi, Ji; Ando, Kazuya

2018-06-01

The generation and the manipulation of current-induced spin-orbit torques are of essential interest in spintronics. However, in spite of the vital progress in spin orbitronics, electric control of the spin-torque generation still remains elusive and challenging. We report on electric control of the spin-torque generation using ionic-liquid gating of ultrathin Au. We show that by simply depositing a SiO2 capping layer on an ultrathin-Au /Ni81Fe19 bilayer, the spin-torque generation efficiency is drastically enhanced by a maximum of 7 times. This enhancement is verified to be originated from the rough ultrathin-Au /Ni81Fe19 interface induced by the SiO2 deposition, which results in the enhancement of the interface spin-orbit scattering. We further show that the spin-torque generation efficiency from the ultrathin Au film can be reversibly manipulated by a factor of 2 using the ionic gating with an external electric field within a small range of 1 V. These results pave a way towards the efficient control of the spin-torque generation in spintronic applications.

40 CFR 1066.240 - Torque transducer verification and calibration.

Code of Federal Regulations, 2013 CFR

2013-07-01

...) AIR POLLUTION CONTROLS VEHICLE-TESTING PROCEDURES Dynamometer Specifications § 1066.240 Torque transducer verification and calibration. Calibrate torque-measurement systems as described in 40 CFR 1065.310. ... 40 Protection of Environment 34 2013-07-01 2013-07-01 false Torque transducer verification and...

40 CFR 1066.240 - Torque transducer verification and calibration.

Code of Federal Regulations, 2012 CFR

2012-07-01

...) AIR POLLUTION CONTROLS VEHICLE-TESTING PROCEDURES Dynamometer Specifications § 1066.240 Torque transducer verification and calibration. Calibrate torque-measurement systems as described in 40 CFR 1065.310. ... 40 Protection of Environment 34 2012-07-01 2012-07-01 false Torque transducer verification and...

Solar Sail Topology Variations Due to On-Orbit Thermal Effects

NASA Technical Reports Server (NTRS)

Banik, Jeremy A.; Lively, Peter S.; Taleghani, Barmac K.; Jenkins, Chrostopher H.

2006-01-01

The objective of this research was to predict the influence of non-uniform temperature distribution on solar sail topology and the effect of such topology variations on sail performance (thrust, torque). Specifically considered were the thermal effects due to on orbit attitude control maneuvers. Such maneuvers are expected to advance the sail to a position off-normal to the sun by as much as 35 degrees; a solar sail initially deformed by typical pre-tension and solar pressure loads may suffer significant thermally induced strains due to the non-uniform heating caused by these maneuvers. This on-orbit scenario was investigated through development of an automated analytical shape model that iterates many times between sail shape and sail temperature distribution before converging on a final coupled thermal structural affected sail topology. This model utilizes a validated geometrically non-linear finite element model and a thermal radiation subroutine. It was discovered that temperature gradients were deterministic for the off-normal solar angle cases as were thermally induced strains. Performance effects were found to be moderately significant but not as large as initially suspected. A roll torque was detected, and the sail center of pressure shifted by a distance that may influence on-orbit sail control stability.

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.

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

PubMed

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

2015-08-01

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

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

PubMed Central

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

2015-01-01

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

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

Unseren, M.A.

The report reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restricts the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for themore » closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.« less

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

Unseren, M.A.

The paper reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restrict the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for themore » closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.« less

Sensorless Load Torque Estimation and Passivity Based Control of Buck Converter Fed DC Motor

PubMed Central

Kumar, S. Ganesh; Thilagar, S. Hosimin

2015-01-01

Passivity based control of DC motor in sensorless configuration is proposed in this paper. Exact tracking error dynamics passive output feedback control is used for stabilizing the speed of Buck converter fed DC motor under various load torques such as constant type, fan type, propeller type, and unknown load torques. Under load conditions, sensorless online algebraic approach is proposed, and it is compared with sensorless reduced order observer approach. The former produces better response in estimating the load torque. Sensitivity analysis is also performed to select the appropriate control variables. Simulation and experimental results fully confirm the superiority of the proposed approach suggested in this paper. PMID:25893208

Magnetic attitude control torque generation of a gravity gradient stabilized satellite

NASA Astrophysics Data System (ADS)

Suhadis, N. M.; Salleh, M. B.; Rajendran, P.

2018-05-01

Magnetic torquer is used to generate a magnetic dipole moment onboard satellites whereby a control torque for attitude control purposes is generated when it couples with the geomagnetic field. This technique has been considered very attractive for satellites operated in Low Earth Orbit (LEO) as the strength of the geomagnetic field is relatively high below the altitude of 1000 km. This paper presents the algorithm used to generate required magnetic dipole moment by 3 magnetic torquers mounted onboard a gravity gradient stabilized satellite operated at an altitude of 540 km with nadir pointing mission. As the geomagnetic field cannot be altered and its magnitude and direction vary with respect to the orbit altitude and inclination, a comparison study of attitude control torque generation performance with various orbit inclination is performed where the structured control algorithm is simulated for 13°, 33° and 53° orbit inclinations to see how the variation of the satellite orbit affects the satellite's attitude control torque generation. Results from simulation show that the higher orbit inclination generates optimum magnetic attitude control torque for accurate nadir pointing mission.

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

PubMed

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

2015-11-01

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

Speed and Torque Control Strategies for Loss Reduction of Vertical Axis Wind Turbines

NASA Astrophysics Data System (ADS)

Argent, Michael; McDonald, Alasdair; Leithead, Bill; Giles, Alexander

2016-09-01

This paper builds on the work into modelling the generator losses for Vertical Axis Wind Turbines from their intrinsic torque cycling to investigate the effects of aerodynamic inefficiencies caused by the varying rotational speed resulting from different torque control strategies to the cyclic torque. This is achieved by modelling the wake that builds up from the rotation of the VAWT rotor to investigate how the wake responds to a changing rotor speed and how this in turn affects the torque produced by the blades as well as the corresponding change in generator losses and any changes to the energy extracted by the wind turbine rotor.

Muscle Torque Relative to Cross-Sectional Area and the Functional Muscle-Bone Unit in Children and Adolescents with Chronic Disease

PubMed Central

Lee, Dale Y.; Wetzsteon, Rachel J.; Zemel, Babette S.; Shults, Justine; Organ, Jason M.; Foster, Bethany J.; Herskovitz, Rita M.; Foerster, Debbie L.; Leonard, Mary B.

2015-01-01

Measures of muscle mass or size are often used as surrogates of forces acting on bone. However, chronic diseases may be associated with abnormal muscle force relative to muscle size. The muscle-bone unit was examined in 64 children and adolescents with new-onset Crohn’s disease (CD), 54 with chronic kidney disease (CKD), 51 treated with glucocorticoids for nephrotic syndrome (NS), and 264 healthy controls. Muscle torque was assessed by isometric ankle dynamometry. Calf muscle cross-sectional area (CSA) and tibia cortical section modulus (Zp) were assessed by quantitative CT. Log-linear regression was used to determine the relations among muscle CSA, muscle torque, and Zp, adjusted for tibia length, age, Tanner stage, sex, and race. Muscle CSA and muscle torque-relative-to-muscle CSA were significantly lower than controls in advanced CKD (CSA −8.7%, p = 0.01; torque −22.9%, p < 0.001) and moderate-to-severe CD (CSA −14.1%, p < 0.001; torque −7.6%, p = 0.05), but not in NS. Zp was 11.5% lower in advanced CKD (p = 0.005) compared to controls, and this deficit was attenuated to 6.7% (p = 0.05) with adjustment for muscle CSA. With additional adjustment for muscle torque and body weight, Zp was 5.9% lower and the difference with controls was no longer significant (p = 0.09). In participants with moderate-to-severe CD, Zp was 6.8% greater than predicted (p = 0.01) given muscle CSA and torque deficits (R2=0.92), likely due to acute muscle loss in newly diagnosed patients. Zp did not differ in NS, compared with controls. In conclusion, muscle torque relative to muscle CSA was significantly lower in CKD and CD, compared with controls, and was independently associated with Zp. Future studies are needed to determine if abnormal muscle strength contributes to progressive bone deficits in chronic disease, independent of muscle area. PMID:25264231

Knee-Extension Torque Variability and Subjective Knee Function in Patients with a History of Anterior Cruciate Ligament Reconstruction.

PubMed

Goetschius, John; Hart, Joseph M

2016-01-01

When returning to physical activity, patients with a history of anterior cruciate ligament reconstruction (ACL-R) often experience limitations in knee-joint function that may be due to chronic impairments in quadriceps motor control. Assessment of knee-extension torque variability may demonstrate underlying impairments in quadriceps motor control in patients with a history of ACL-R. To identify differences in maximal isometric knee-extension torque variability between knees that have undergone ACL-R and healthy knees and to determine the relationship between knee-extension torque variability and self-reported knee function in patients with a history of ACL-R. Descriptive laboratory study. Laboratory. A total of 53 individuals with primary, unilateral ACL-R (age = 23.4 ± 4.9 years, height = 1.7 ± 0.1 m, mass = 74.6 ± 14.8 kg) and 50 individuals with no history of substantial lower extremity injury or surgery who served as controls (age = 23.3 ± 4.4 years, height = 1.7 ± 0.1 m, mass = 67.4 ± 13.2 kg). Torque variability, strength, and central activation ratio (CAR) were calculated from 3-second maximal knee-extension contraction trials (90° of flexion) with a superimposed electrical stimulus. All participants completed the International Knee Documentation Committee (IKDC) Subjective Knee Evaluation Form, and we determined the number of months after surgery. Group differences were assessed using independent-samples t tests. Correlation coefficients were calculated among torque variability, strength, CAR, months after surgery, and IKDC scores. Torque variability, strength, CAR, and months after surgery were regressed on IKDC scores using stepwise, multiple linear regression. Torque variability was greater and strength, CAR, and IKDC scores were lower in the ACL-R group than in the control group (P < .05). Torque variability and strength were correlated with IKDC scores (P < .05). Torque variability, strength, and CAR were correlated with each other (P < .05). Torque variability alone accounted for 14.3% of the variance in IKDC scores. The combination of torque variability and number of months after surgery accounted for 21% of the variance in IKDC scores. Strength and CAR were excluded from the regression model. Knee-extension torque variability was moderately associated with IKDC scores in patients with a history of ACL-R. Torque variability combined with months after surgery predicted 21% of the variance in IKDC scores in these patients.

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.

Step-to-Step Ankle Inversion/Eversion Torque Modulation Can Reduce Effort Associated with Balance.

PubMed

Kim, Myunghee; Collins, Steven H

2017-01-01

Below-knee amputation is associated with higher energy expenditure during walking, partially due to difficulty maintaining balance. We previously found that once-per-step push-off work control can reduce balance-related effort, both in simulation and in experiments with human participants. Simulations also suggested that changing ankle inversion/eversion torque on each step, in response to changes in body state, could assist with balance. In this study, we investigated the effects of ankle inversion/eversion torque modulation on balance-related effort among amputees ( N = 5) using a multi-actuated ankle-foot prosthesis emulator. In stabilizing conditions, changes in ankle inversion/eversion torque were applied so as to counteract deviations in side-to-side center-of-mass acceleration at the moment of intact-limb toe off; higher acceleration toward the prosthetic limb resulted in a corrective ankle inversion torque during the ensuing stance phase. Destabilizing controllers had the opposite effect, and a zero gain controller made no changes to the nominal inversion/eversion torque. To separate the balance-related effects of step-to-step control from the potential effects of changes in average mechanics, average ankle inversion/eversion torque and prosthesis work were held constant across conditions. High-gain stabilizing control lowered metabolic cost by 13% compared to the zero gain controller ( p = 0.05). We then investigated individual responses to subject-specific stabilizing controllers following an enforced exploration period. Four of five participants experienced reduced metabolic rate compared to the zero gain controller (-15, -14, -11, -6, and +4%) an average reduction of 9% ( p = 0.05). Average prosthesis mechanics were unchanged across all conditions, suggesting that improvements in energy economy might have come from changes in step-to-step corrections related to balance. Step-to-step modulation of inversion/eversion torque could be used in new, active ankle-foot prostheses to reduce walking effort associated with maintaining balance.

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.

Torque control for electric motors

NASA Technical Reports Server (NTRS)

Bernard, C. A.

1980-01-01

Method for adjusting electric-motor torque output to accomodate various loads utilizes phase-lock loop to control relay connected to starting circuit. As load is imposed, motor slows down, and phase lock is lost. Phase-lock signal triggers relay to power starting coil and generate additional torque. Once phase lock is recoverd, relay restores starting circuit to its normal operating mode.

Microgrid Restraining Strategy Based on Improved DC Grid Connected DFIG Torque Ripple

NASA Astrophysics Data System (ADS)

Fei, Xia; Yang, Zhixiong; Zongze, Xia

2017-05-01

Aiming to the voltage of the stator side is generated by the modulation of the SSC in the improved topology, especially under the circumstance with the asymmTeric fault of stator side, DFIG’s electromagnTeic torque, amplifies ripple of grid-connected power for the grid side. The novel control mTehod suitable to stator side converter and rotor side converter based on reduced-order resonant controller (RORC) is proposed in this thesis, DFIG’s torque and output power performance are improved. Under the RORC control conditions the transfer functions of stator current and torque control system are established, the amplitude characteristic and the system stability of RORC control are analysed. The simulation results in Matlab/Simulink verify the correctness and validity of the proposed mTehod.

Control Strategies for Smoothing of Output Power of Wind Energy Conversion Systems

NASA Astrophysics Data System (ADS)

Pratap, Alok; Urasaki, Naomitsu; Senju, Tomonobu

2013-10-01

This article presents a control method for output power smoothing of a wind energy conversion system (WECS) with a permanent magnet synchronous generator (PMSG) using the inertia of wind turbine and the pitch control. The WECS used in this article adopts an AC-DC-AC converter system. The generator-side converter controls the torque of the PMSG, while the grid-side inverter controls the DC-link and grid voltages. For the generator-side converter, the torque command is determined by using the fuzzy logic. The inputs of the fuzzy logic are the operating point of the rotational speed of the PMSG and the difference between the wind turbine torque and the generator torque. By means of the proposed method, the generator torque is smoothed, and the kinetic energy stored by the inertia of the wind turbine can be utilized to smooth the output power fluctuations of the PMSG. In addition, the wind turbines shaft stress is mitigated compared to a conventional maximum power point tracking control. Effectiveness of the proposed method is verified by the numerical simulations.

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.

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.

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.

Wind-tunnel investigation at supersonic speeds of a remote-controlled canard missile with a free-rolling-tail brake torque system

NASA Technical Reports Server (NTRS)

Blair, A. B., Jr.

1985-01-01

Wind tunnel tests were conducted at Mach numbers 1.70, 2.16, and 2.86 to determine the static aerodynamic characteristics of a cruciform canard-controlled missile with fixed or free rolling tailfin afterbodies. Mechanical coupling effects of the free-rolling-tail afterbody were investigated by using an electronic electromagnetic brake system providing arbitrary tail-fin brake torques with continuous measurements of tail-to-mainframe torque and tail roll rate. Remote-controlled canards were deflected to provide pitch, yaw, and roll control. Results indicate that the induced rolling moment coefficients due to canard yaw control are reduced and linearized for the free-rolling-tail (free-tail) configuration. The canards of the latter provide conventional roll control for the entire angle-of-attack test range. For the free-tail configuration, the induced rolling moment coefficient due to canard yaw control increased and the canard roll control decreased with increases in brake torque, which simulated bearing friction torque. It appears that a compromise in regard to bearing friction, for example, low-cost bearings with some friction, may allow satisfactory free-tail aerodynamic characteristics that include reductions in adverse rolling-moment coefficients and lower tail roll rates.

Frequency control of a spin-torque oscillator using magnetostrictive anisotropy

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

Park, Min Gyu Albert; Lee, Seok-Hee, E-mail: bgpark@kaist.ac.kr, E-mail: shlee@kaist.edu; Baek, Seung-heon Chris

2016-01-11

We report the working principle of a spin-torque oscillator, of which the frequency is efficiently controlled by manipulating the magnetostrictive anisotropy. To justify the scheme, we simulate a conventional magnetic-tunnel junction-based oscillator which is fabricated on a piezoelectric material. By applying mechanical stress to a free layer using a piezoelectric material, the oscillation frequency can be controlled to ensure a broad tuning range without a significant reduction of the dynamic resistance variation. Such controllability, which appears in the absence of an external magnetic field, will not only enable the integration of spin-torque oscillators and conventional complimentary metal-oxide semiconductor technology butmore » will also broaden the applicability of spin-torque oscillators.« less

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.

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.

Torques Induced by Scattered Pebble-flow in Protoplanetary Disks

NASA Astrophysics Data System (ADS)

Benítez-Llambay, Pablo; Pessah, Martin E.

2018-03-01

Fast inward migration of planetary cores is a common problem in the current planet formation paradigm. Even though dust is ubiquitous in protoplanetary disks, its dynamical role in the migration history of planetary embryos has not been assessed. In this Letter, we show that the scattered pebble-flow induced by a low-mass planetary embryo leads to an asymmetric dust-density distribution that is able to exert a net torque. By analyzing a large suite of multifluid hydrodynamical simulations addressing the interaction between the disk and a low-mass planet on a fixed circular orbit, and neglecting dust feedback onto the gas, we identify two different regimes, gas- and gravity-dominated, where the scattered pebble-flow results in almost all cases in positive torques. We collect our measurements in a first torque map for dusty disks, which will enable the incorporation of the effect of dust dynamics on migration into population synthesis models. Depending on the dust drift speed, the dust-to-gas mass ratio/distribution, and the embryo mass, the dust-induced torque has the potential to halt inward migration or even induce fast outward migration of planetary cores. We thus anticipate that dust-driven migration could play a dominant role during the formation history of planets. Because dust torques scale with disk metallicity, we propose that dust-driven outward migration may enhance the occurrence of distant giant planets in higher-metallicity systems.

Satellite Attitude Control Utilizing the Earth's Magnetic Field

NASA Technical Reports Server (NTRS)

White, John S.; Shigemoto, Fred H.; Bourquin, Kent

1961-01-01

A study was conducted to determine the feasibility of a satellite attitude fine-control system using the interaction of the earth's magnetic field with current-carrying coils to produce torque. The approximate intensity of the earth's magnetic field was determined as a function of the satellite coordinates. Components of the magnetic field were found to vary essentially sinusoidally at approximately twice orbital frequency. Amplitude and distortion of the sinusoidal components were a function of satellite orbit. Two systems for two-axis attitude control evolved from this study, one using three coils and the other using two coils. The torques developed by the two systems differ only when the component of magnetic field along the tracking line is zero. For this case the two-coil system develops no torque whereas the three-coil system develops some effective torque which allows partial control. The equations which describe the three-coil system are complex in comparison to those of the two-coil system and require the measurement of all three components of the magnetic field as compared with only one for the two-coil case. Intermittent three-axis torquing can also be achieved. This torquing can be used for coarse attitude control, or for dumping the stored momentum of inertia reaction wheels. Such a system has the advantage of requiring no fuel aboard the satellite. For any of these magnetic torquing schemes the power required to produce the magnetic moment and the weight of the coil seem reasonable.

Development of a sliding mode control model for quiet upright stance.

PubMed

Zhang, Hongbo; Nussbaum, Maury A; Agnew, Michael J

2016-02-01

Human upright stance appears maintained or controlled intermittently, through some combination of passive and active ankle torques, respectively representing intrinsic and contractile contributions of the ankle musculature. Several intermittent postural control models have been proposed, though it has been challenging to accurately represent actual kinematics and kinetics and to separately estimate passive and active ankle torque components. Here, a simplified single-segment, 2D (sagittal plane) sliding mode control model was developed for application to track kinematics and kinetics during upright stance. The model was implemented and evaluated using previous experimental data consisting of whole body angular kinematics and ankle torques. Tracking errors for the whole-body center-of-mass (COM) angle and angular velocity, as well as ankle torque, were all within ∼10% of experimental values, though tracking performance for COM angular acceleration was substantially poorer. The model also enabled separate estimates of the contributions of passive and active ankle torques, with overall contributions estimated here to be 96% and 4% of the total ankle torque, respectively. Such a model may have future utility in understanding human postural control, though additional work is needed, such as expanding the model to multiple segments and to three dimensions. Copyright © 2015 IPEM. Published by Elsevier Ltd. All rights reserved.

Mode transition coordinated control for a compound power-split hybrid car

NASA Astrophysics Data System (ADS)

Wang, Chen; Zhao, Zhiguo; Zhang, Tong; Li, Mengna

2017-03-01

With a compound power-split transmission directly connected to the engine in hybrid cars, dramatic fluctuations in engine output torque result in noticeable jerks when the car is in mode transition from electric drive mode to hybrid drive mode. This study designed a mode transition coordinated control strategy, and verified that strategy's effectiveness with both simulations and experiments. Firstly, the mode transition process was analyzed, and ride comfort issues during the mode transition process were demonstrated. Secondly, engine ripple torque was modeled using the measured cylinder pumping pressure when the engine was not in operation. The complete dynamic plant model of the power-split hybrid car was deduced, and its effectiveness was validated by a comparison of experimental and simulation results. Thirdly, a coordinated control strategy was designed to determine the desired engine torque, motor torque, and the moment of fuel injection. Active damping control with two degrees of freedom, based on reference output shaft speed estimation, was designed to mitigate driveline speed oscillations. Carrier torque estimation based on transmission kinematics and dynamics was used to suppress torque disturbance during engine cranking. The simulation and experimental results indicate that the proposed strategy effectively suppressed vehicle jerks and improved ride comfort during mode transition.

Acceleration and torque feedback for robotic control - Experimental results

NASA Technical Reports Server (NTRS)

Mclnroy, John E.; Saridis, George N.

1990-01-01

Gross motion control of robotic manipulators typically requires significant on-line computations to compensate for nonlinear dynamics due to gravity, Coriolis, centripetal, and friction nonlinearities. One controller proposed by Luo and Saridis avoids these computations by feeding back joint acceleration and torque. This study implements the controller on a Puma 600 robotic manipulator. Joint acceleration measurement is obtained by measuring linear accelerations of each joint, and deriving a computationally efficient transformation from the linear measurements to the angular accelerations. Torque feedback is obtained by using the previous torque sent to the joints. The implementation has stability problems on the Puma 600 due to the extremely high gains inherent in the feedback structure. Since these high gains excite frequency modes in the Puma 600, the algorithm is modified to decrease the gain inherent in the feedback structure. The resulting compensator is stable and insensitive to high frequency unmodeled dynamics. Moreover, a second compensator is proposed which uses acceleration and torque feedback, but still allows nonlinear terms to be fed forward. Thus, by feeding the increment in the easily calculated gravity terms forward, improved responses are obtained. Both proposed compensators are implemented, and the real time results are compared to those obtained with the computed torque algorithm.

Advanced control concepts. [for shuttle ascent vehicles

NASA Technical Reports Server (NTRS)

Sharp, J. B.; Coppey, J. M.

1973-01-01

The problems of excess control devices and insufficient trim control capability on shuttle ascent vehicles were investigated. The trim problem is solved at all time points of interest using Lagrangian multipliers and a Simplex based iterative algorithm developed as a result of the study. This algorithm has the capability to solve any bounded linear problem with physically realizable constraints, and to minimize any piecewise differentiable cost function. Both solution methods also automatically distribute the command torques to the control devices. It is shown that trim requirements are unrealizable if only the orbiter engines and the aerodynamic surfaces are used.

Knee extension torque variability after exercise in ACL reconstructed knees.

PubMed

Goetschius, John; Kuenze, Christopher M; Hart, Joseph M

2015-08-01

The purpose of this study was to compare knee extension torque variability in patients with ACL reconstructed knees before and after exercise. Thirty two patients with an ACL reconstructed knee (ACL-R group) and 32 healthy controls (control group) completed measures of maximal isometric knee extension torque (90° flexion) at baseline and following a 30-min exercise protocol (post-exercise). Exercise included 30-min of repeated cycles of inclined treadmill walking and hopping tasks. Dependent variables were the coefficient of variation (CV) and raw-change in CV (ΔCV): CV = (torque standard deviation/torque mean x 100), ΔCV = (post-exercise - baseline). There was a group-by-time interaction (p = 0.03) on CV. The ACL-R group demonstrated greater CV than the control group at baseline (ACL-R = 1.07 ± 0.55, control = 0.79 ± 0.42, p = 0.03) and post-exercise (ACL-R = 1.60 ± 0.91, control = 0.94 ± 0.41, p = 0.001). ΔCV was greater (p = 0.03) in the ACL-R group (0.52 ± 0.82) than control group (0.15 ± 0.46). CV significantly increased from baseline to post-exercise (p = 0.001) in the ACL-R group, while the control group did not (p = 0.06). The ACL-R group demonstrated greater knee extension torque variability than the control group. Exercise increased torque variability more in the ACL-R group than control group. © 2015 Orthopaedic Research Society. Published by Wiley Periodicals, Inc.

Integrated High-Speed Torque Control System for a Robotic Joint

NASA Technical Reports Server (NTRS)

Davis, Donald R. (Inventor); Radford, Nicolaus A. (Inventor); Permenter, Frank Noble (Inventor); Valvo, Michael C. (Inventor); Askew, R. Scott (Inventor)

2013-01-01

A control system for achieving high-speed torque for a joint of a robot includes a printed circuit board assembly (PCBA) having a collocated joint processor and high-speed communication bus. The PCBA may also include a power inverter module (PIM) and local sensor conditioning electronics (SCE) for processing sensor data from one or more motor position sensors. Torque control of a motor of the joint is provided via the PCBA as a high-speed torque loop. Each joint processor may be embedded within or collocated with the robotic joint being controlled. Collocation of the joint processor, PIM, and high-speed bus may increase noise immunity of the control system, and the localized processing of sensor data from the joint motor at the joint level may minimize bus cabling to and from each control node. The joint processor may include a field programmable gate array (FPGA).

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.

Nonlinear SVM-DTC for induction motor drive using input-output feedback linearization and high order sliding mode control.

PubMed

Ammar, Abdelkarim; Bourek, Amor; Benakcha, Abdelhamid

2017-03-01

This paper presents a nonlinear Direct Torque Control (DTC) strategy with Space Vector Modulation (SVM) for an induction motor. A nonlinear input-output feedback linearization (IOFL) is implemented to achieve a decoupled torque and flux control and the SVM is employed to reduce high torque and flux ripples. Furthermore, the control scheme performance is improved by inserting a super twisting speed controller in the outer loop and a load torque observer to enhance the speed regulation. The combining of dual nonlinear strategies ensures a good dynamic and robustness against parameters variation and disturbance. The system stability has been analyzed using Lyapunov stability theory. The effectiveness of the control algorithm is investigated by simulation and experimental validation using Matlab/Simulink software with real-time interface based on dSpace 1104. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Improved direct torque control of an induction generator used in a wind conversion system connected to the grid.

PubMed

Abdelli, Radia; Rekioua, Djamila; Rekioua, Toufik; Tounzi, Abdelmounaïm

2013-07-01

This paper presents a modulated hysteresis direct torque control (MHDTC) applied to an induction generator (IG) used in wind energy conversion systems (WECs) connected to the electrical grid through a back-to-back converter. The principle of this strategy consists in superposing to the torque reference a triangular signal, as in the PWM strategy, with the desired switching frequency. This new modulated reference is compared to the estimated torque by using a hysteresis controller as in the classical direct torque control (DTC). The aim of this new approach is to lead to a constant frequency and low THD in grid current with a unit power factor and a minimum voltage variation despite the wind variation. To highlight the effectiveness of the proposed method, a comparison was made with classical DTC and field oriented control method (FOC). The obtained simulation results, with a variable wind profile, show an adequate dynamic of the conversion system using the proposed method compared to the classical approaches. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Postural control model interpretation of stabilogram diffusion analysis

NASA Technical Reports Server (NTRS)

Peterka, R. J.

2000-01-01

Collins and De Luca [Collins JJ. De Luca CJ (1993) Exp Brain Res 95: 308-318] introduced a new method known as stabilogram diffusion analysis that provides a quantitative statistical measure of the apparently random variations of center-of-pressure (COP) trajectories recorded during quiet upright stance in humans. This analysis generates a stabilogram diffusion function (SDF) that summarizes the mean square COP displacement as a function of the time interval between COP comparisons. SDFs have a characteristic two-part form that suggests the presence of two different control regimes: a short-term open-loop control behavior and a longer-term closed-loop behavior. This paper demonstrates that a very simple closed-loop control model of upright stance can generate realistic SDFs. The model consists of an inverted pendulum body with torque applied at the ankle joint. This torque includes a random disturbance torque and a control torque. The control torque is a function of the deviation (error signal) between the desired upright body position and the actual body position, and is generated in proportion to the error signal, the derivative of the error signal, and the integral of the error signal [i.e. a proportional, integral and derivative (PID) neural controller]. The control torque is applied with a time delay representing conduction, processing, and muscle activation delays. Variations in the PID parameters and the time delay generate variations in SDFs that mimic real experimental SDFs. This model analysis allows one to interpret experimentally observed changes in SDFs in terms of variations in neural controller and time delay parameters rather than in terms of open-loop versus closed-loop behavior.

Control of interjoint coordination during the swing phase of normal gait at different speeds

PubMed Central

Shemmell, Jonathan; Johansson, Jennifer; Portra, Vanessa; Gottlieb, Gerald L; Thomas, James S; Corcos, Daniel M

2007-01-01

Background It has been suggested that the control of unconstrained movements is simplified via the imposition of a kinetic constraint that produces dynamic torques at each moving joint such that they are a linear function of a single motor command. The linear relationship between dynamic torques at each joint has been demonstrated for multijoint upper limb movements. The purpose of the current study was to test the applicability of such a control scheme to the unconstrained portion of the gait cycle – the swing phase. Methods Twenty-eight neurologically normal individuals walked along a track at three different speeds. Angular displacements and dynamic torques produced at each of the three lower limb joints (hip, knee and ankle) were calculated from segmental position data recorded during each trial. We employed principal component (PC) analysis to determine (1) the similarity of kinematic and kinetic time series at the ankle, knee and hip during the swing phase of gait, and (2) the effect of walking speed on the range of joint displacement and torque. Results The angular displacements of the three joints were accounted for by two PCs during the swing phase (Variance accounted for – PC1: 75.1 ± 1.4%, PC2: 23.2 ± 1.3%), whereas the dynamic joint torques were described by a single PC (Variance accounted for – PC1: 93.8 ± 0.9%). Increases in walking speed were associated with increases in the range of motion and magnitude of torque at each joint although the ratio describing the relative magnitude of torque at each joint remained constant. Conclusion Our results support the idea that the control of leg swing during gait is simplified in two ways: (1) the pattern of dynamic torque at each lower limb joint is produced by appropriately scaling a single motor command and (2) the magnitude of dynamic torque at all three joints can be specified with knowledge of the magnitude of torque at a single joint. Walking speed could therefore be altered by modifying a single value related to the magnitude of torque at one joint. PMID:17466065

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

NASA Astrophysics Data System (ADS)

Umehara, Noritsugu; Kita, Shizuo

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

14 CFR Appendix E to Part 135 - Helicopter Flight Recorder Specifications

Code of Federal Regulations, 2011 CFR

2011-01-01

... Keying On-Off (Discrete) 1 0.25 sec Power in Each Engine: Free Power Turbine Speed and Engine Torque 0-130% (power Turbine Speed) Full range (Torque) ±2% 1 speed 1 torque (per engine) 0.2% 1 to 0.4% 1 Main... Controls (Collective, Longitudinal Cyclic, Lateral Cyclic, Pedal) 3 Full range ±3% 2 0.5% 1 Flight Control...

14 CFR Appendix E to Part 135 - Helicopter Flight Recorder Specifications

Code of Federal Regulations, 2014 CFR

2014-01-01

... Keying On-Off (Discrete) 1 0.25 sec Power in Each Engine: Free Power Turbine Speed and Engine Torque 0-130% (power Turbine Speed) Full range (Torque) ±2% 1 speed 1 torque (per engine) 0.2% 1 to 0.4% 1 Main... Controls (Collective, Longitudinal Cyclic, Lateral Cyclic, Pedal) 3 Full range ±3% 2 0.5% 1 Flight Control...

14 CFR Appendix E to Part 135 - Helicopter Flight Recorder Specifications

Code of Federal Regulations, 2012 CFR

2012-01-01

... Keying On-Off (Discrete) 1 0.25 sec Power in Each Engine: Free Power Turbine Speed and Engine Torque 0-130% (power Turbine Speed) Full range (Torque) ±2% 1 speed 1 torque (per engine) 0.2% 1 to 0.4% 1 Main... Controls (Collective, Longitudinal Cyclic, Lateral Cyclic, Pedal) 3 Full range ±3% 2 0.5% 1 Flight Control...

Load Dependency of Postural Control - Kinematic and Neuromuscular Changes in Response to over and under Load Conditions

PubMed Central

Ritzmann, Ramona; Freyler, Kathrin; Weltin, Elmar; Krause, Anne; Gollhofer, Albert

2015-01-01

Introduction Load variation is associated with changes in joint torque and compensatory reflex activation and thus, has a considerable impact on balance control. Previous studies dealing with over (OL) and under loading (UL) used water buoyancy or additional weight with the side effects of increased friction and inertia, resulting in substantially modified test paradigms. The purpose of this study was to identify gravity-induced load dependency of postural control in comparable experimental conditions and to determine the underlying neuromuscular mechanisms. Methods Balance performance was recorded under normal loading (NL, 1g), UL (0.16g; 0.38g) and OL (1.8g) in monopedal stance. Center of pressure (COP) displacement and frequency distribution (low 0.15-0.5Hz (LF), medium 0.5-2Hz (MF), high 2-6Hz (HF)) as well as ankle, knee and hip joint kinematics were assessed. Soleus spinal excitability was determined by H/M-recruitment curves (H/M-ratios). Results Compared to NL, OL caused an increase in ankle joint excursion, COP HF domain and H/M-ratio. Concomitantly, hip joint excursion and COP LF decreased. Compared to NL, UL caused modulations in the opposite direction: UL decreased ankle joint excursions, COP HF and H/M-ratio. Collaterally, hip joint excursion and COP LF increased. COP was augmented both in UL and in OL compared to NL. Conclusion Subjects achieved postural stability in OL and UL with greater difficulty compared to NL. Reduced postural control was accompanied by modified balance strategies and compensatory reflex activation. With increasing load, a shift from hip to ankle strategy was observed. Accompanying, COP frequency distribution shifted from LF to HF and spinal excitability was enhanced. It is suggested that in OL, augmented ankle joint torques are compensated by quick reflex-induced postural reactions in distal muscles. Contrarily, UL is associated with diminished joint torques and thus, postural equilibrium may be controlled by the proximal segments to adjust the center of gravity above the base of support. PMID:26053055

A new paradigm for human stick balancing: a suspended not an inverted pendulum.

PubMed

Lee, Kwee-Yum; O'Dwyer, Nicholas; Halaki, Mark; Smith, Richard

2012-09-01

We studied 14 skilled subjects balancing a stick (a television antenna, 52 cm, 34 g) on their middle fingertip. Comprehensive three-dimensional analyses revealed that the movement of the finger was 1.75 times that of the stick tip, such that the balanced stick behaved more like a normal noninverted pendulum than the inverted pendulum common to engineering models for stick balancing using motors. The average relation between the torque applied to the stick and its angle of deviation from the vertical was highly linear, consistent with simple harmonic motion. We observed clearly greater rotational movement of the stick in the anteroposterior plane than the mediolateral plane. Despite this magnitude difference, the duration of stick oscillatory cycles was very similar in both planes, again consistent with simple harmonic motion. The control parameter in balancing was the ratio of active torque applied to the stick relative to gravitational torque. It determined both the pivot point and oscillatory cycle period of the pendulum. The pivot point was located at the radius of gyration (about the centre of mass) of the stick from its centre of mass, showing that the subjects attuned to the gravitational dynamics and mass distribution of the stick. Hence, the key to controlling instability here was mastery of the physics of the unstable object. The radius of gyration may--similar to centre of mass--contribute to the kinesthesis of rotating limb segments and control of their gravitational dynamics.

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.

Remote control canard missile with a free-rolling tail brake torque system

NASA Technical Reports Server (NTRS)

Blair, A. B., Jr.

1981-01-01

An experimental wind-tunnel investigation has been conducted at supersonic Mach numbers to determine the static aerodynamic characteristics of a cruciform canard-controlled missile with fixed and free-rolling tail-fin afterbodies. Mechanical coupling effects of the free-rolling tail afterbody were investigated using an electronic/electromagnetic brake system that provides arbitrary tail-fin brake torques with continuous measurements of tail-to-mainframe torque and tail-roll rate. Results are summarized to show the effects of fixed and free-rolling tail-fin afterbodies that include simulated measured bearing friction torques on the longitudinal and lateral-directional aerodynamic characteristics.

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.

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.

Self-current induced spin-orbit torque in FeMn/Pt multilayers

NASA Astrophysics Data System (ADS)

Xu, Yanjun; Yang, Yumeng; Yao, Kui; Xu, Baoxi; Wu, Yihong

2016-05-01

Extensive efforts have been devoted to the study of spin-orbit torque in ferromagnetic metal/heavy metal bilayers and exploitation of it for magnetization switching using an in-plane current. As the spin-orbit torque is inversely proportional to the thickness of the ferromagnetic layer, sizable effect has only been realized in bilayers with an ultrathin ferromagnetic layer. Here we demonstrate that, by stacking ultrathin Pt and FeMn alternately, both ferromagnetic properties and current induced spin-orbit torque can be achieved in FeMn/Pt multilayers without any constraint on its total thickness. The critical behavior of these multilayers follows closely three-dimensional Heisenberg model with a finite Curie temperature distribution. The spin torque effective field is about 4 times larger than that of NiFe/Pt bilayer with a same equivalent NiFe thickness. The self-current generated spin torque is able to switch the magnetization reversibly without the need for an external field or a thick heavy metal layer. The removal of both thickness constraint and necessity of using an adjacent heavy metal layer opens new possibilities for exploiting spin-orbit torque for practical applications.

A frequency and pulse-width co-modulation strategy for transcutaneous neuromuscular electrical stimulation based on sEMG time-domain features

NASA Astrophysics Data System (ADS)

Zhou, Yu-Xuan; Wang, Hai-Peng; Bao, Xue-Liang; Lü, Xiao-Ying; Wang, Zhi-Gong

2016-02-01

Objective. Surface electromyography (sEMG) is often used as a control signal in neuromuscular electrical stimulation (NMES) systems to enhance the voluntary control and proprioceptive sensory feedback of paralyzed patients. Most sEMG-controlled NMES systems use the envelope of the sEMG signal to modulate the stimulation intensity (current amplitude or pulse width) with a constant frequency. The aims of this study were to develop a strategy that co-modulates frequency and pulse width based on features of the sEMG signal and to investigate the torque-reproduction performance and the level of fatigue resistance achieved with our strategy. Approach. We examined the relationships between wrist torque and two stimulation parameters (frequency and pulse width) and between wrist torque and two sEMG time-domain features (mean absolute value (MAV) and number of slope sign changes (NSS)) in eight healthy volunteers. By using wrist torque as an intermediate variable, customized and generalized transfer functions were constructed to convert the two features of the sEMG signal into the two stimulation parameters, thereby establishing a MAV/NSS dual-coding (MNDC) algorithm. Wrist torque reproduction performance was assessed by comparing the torque generated by the algorithms with that originally recorded during voluntary contractions. Muscle fatigue was assessed by measuring the decline percentage of the peak torque and by comparing the torque time integral of the response to test stimulation trains before and after fatigue sessions. Main Results. The MNDC approach could produce a wrist torque that closely matched the voluntary wrist torque. In addition, a smaller decay in the wrist torque was observed after the MNDC-coded fatigue stimulation was applied than after stimulation using pulse-width modulation alone. Significance. Compared with pulse-width modulation stimulation strategies that are based on sEMG detection, the MNDC strategy is more effective for both voluntary muscle force reproduction and muscle fatigue reduction.

Investigation of Motorcycle Steering Torque Components

NASA Astrophysics Data System (ADS)

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

2011-10-01

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

Impact of Mass and Weight Distribution on Manual Wheelchair Propulsion Torque.

PubMed

Sprigle, Stephen; Huang, Morris

2015-01-01

Propulsion effort of manual wheelchairs, a major determinant of user mobility, is a function of human biomechanics and mechanical design. Human studies that investigate both variables simultaneously have resulted in largely inconsistent outcomes, motivating the implementation of a robotic propulsion system that characterizes the inherent mechanical performance of wheelchairs. This study investigates the impacts of mass and mass distribution on manual wheelchair propulsion by configuring an ultra-lightweight chair to two weights (12-kg and 17.6-kg) and two load distributions (70% and 55% on drive wheels). The propulsion torques of these four configurations were measured for a straight maneuver and a fixed-wheel turn, on both tile and carpet. Results indicated that increasing mass to 17.6-kg had the largest effect on straight acceleration, requiring 7.4% and 5.8% more torque on tile and carpet, respectively. Reducing the drive wheel load to 55% had the largest effect on steady-state straight motion and on both turning acceleration and steady-state turning; for tile and carpet, propulsion torque increased by 13.5% and 11.8%, 16.5% and 4.1%, 73% and 5.1%, respectively. These results demonstrate the robot's high sensitivity, and support the clinical importance of evaluating effects of wheelchair mass and axle position on propulsion effort across maneuvers and surfaces.

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.

Performance evaluation of a six-axis generalized force-reflecting teleoperator

NASA Technical Reports Server (NTRS)

Hannaford, B.; Wood, L.; Guggisberg, B.; Mcaffee, D.; Zak, H.

1989-01-01

Work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having a dissimilar master (cable-driven, force-reflecting hand controller) and a slave (PUMA 560 robot with custom controller), an extremely high sampling rate (1000 Hz), and a low loop computation delay (5 msec). In a series of experiments with this system and five trained test operators covering over 100 hours of teleoperation, performance was measured in a series of generic and application-driven tasks with and without force feedback, and with control shared between teleoperation and local sensor referenced control. Measurements defining task performance included 100-Hz recording of six-axis force/torque information from the slave manipulator wrist, task completion time, and visual observation of predefined task errors. The task consisted of high precision peg-in-hole insertion, electrical connectors, velcro attach-de-attach, and a twist-lock multi-pin connector. Each task was repeated three times under several operating conditions: normal bilateral telemanipulation, forward position control without force feedback, and shared control. In shared control, orientation was locally servo controlled to comply with applied torques, while translation was under operator control. All performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was optimal for the bare-handed operator.

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.

The comparison respond of braking torque control between PID and SMC controller for electric powered wheelchair descending on slope condition

NASA Astrophysics Data System (ADS)

Asyraf, S. M.; Heerwan, P. M.; Izhar, I. M.

2018-04-01

During descending on a slope, the speed of Electric Powered Wheelchair (EPW) tends to changed rapidly. Normally, most EPW is provided with mechanical braking system which transfers human pulling force of the lever creating friction at the tire. However, the task is difficult for the users are elderly or paralyses. However, even for normal user with good strength, in fear condition they tend to give sudden braking which leads to tire locking up and skidding, eventually EPW unstable. These problems will cause accident and injuries to the users if speed does not properly control. In this paper, the automated braking torque control method was proposed in EPW as alternative to solve this problem and increase the mobility and stability especially during descending on slope in other to help the user of the EPW as their daily transportation. In this research, Proportional-Integral-Derivative and Sliding Mode Control controller are compared to determine the best response for torque braking control. The rapid change of speed can be controlled by the braking torque using proposed controllers based on the desired constant speed set by the control designer. Moreover, the sudden braking that caused tire to lock up and skid can be avoided. Furthermore, result from SMC shows this controller have good time respond to maintain the speed based on desired value when descending at slope condition by controlling the braking torque compared to the PID controller.

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.

Brake blending strategy for a hybrid vehicle

DOEpatents

Boberg, Evan S.

2000-12-05

A hybrid electric powertrain system is provided including a transmission for driving a pair of wheels of a vehicle and a heat engine and an electric motor/generator coupled to the transmission. A friction brake system is provided for applying a braking torque to said vehicle. A controller unit generates control signals to the electric motor/generator and the friction brake system for controllably braking the vehicle in response to a drivers brake command. The controller unit determines and amount of regenerative torque available and compares this value to a determined amount of brake torque requested for determining the control signals to the electric motor/generator and the friction brake system.

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.

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.

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.

Tilted orthodontic micro implants: a photoelastic stress analysis.

PubMed

Çehreli, Seçil; Özçırpıcı, Ayça Arman; Yılmaz, Alev

2013-10-01

The aim of this study was to examine peri-implant stresses around orthodontic micro implants upon torque-tightening and static load application by quasi-three-dimensional photoelastic stress analysis. Self-tapping orthodontic micro implants were progressively inserted into photoelastic models at 30, 45, 70, and 90 degrees and insertion torques were measured. Stress patterns (isochromatic fringe orders) were recorded by the quasi-three-dimensional photoelastic method using a circular polariscope after insertion and 250 g static force application. Torque-tightening of implants generated peri-implant stresses. Upon insertion, 90 degree placed implants displayed the lowest and homogeneous stress distribution followed by 30, 70, and 45 degree tilted implants. Static loading did not dramatically alter stress fields around the implants tested. The highest alteration in stress distribution was observed for the 90 degree placed implant, while 70 degree tilted implant had the lowest stresses among tilted implants. Torque-tightening of orthodontic micro implants creates a stress field that is not dramatically altered after application of static lateral moderate orthodontic loads, particularly at the cervical region of tilted implants.

Atypical Brain Torque in Boys With Developmental Stuttering

PubMed Central

Mock, Jeffrey Ryan; Zadina, Janet N.; Corey, David M.; Cohen, Jeremy D.; Lemen, Lisa C.; Foundas, Anne L.

2017-01-01

The counterclockwise brain torque, defined as a larger right prefrontal and left parietal-occipital lobe, is a consistent brain asymmetry. Reduced or reversed lobar asymmetries are markers of atypical cerebral laterality and have been found in adults who stutter. It was hypothesized that atypical brain torque would be more common in children who stutter. MRI-based morphology measures were completed in boys who stutter (n=14) and controls (n=14), ages 8–13. The controls had the expected brain torque configurations whereas the boys who stutter were atypical. These results support the hypothesis that developmental stuttering is associated with atypical prefrontal and parietal-occipital lobe asymmetries. PMID:22799762

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

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.

Unusual negative permeability of single magnetic nanowire excited by the spin transfer torque effect

NASA Astrophysics Data System (ADS)

Han, Mangui; Zhou, Wu

2018-07-01

Due to the effect of spin transfer torque, negative imaginary parts of permeability (μ″ < 0) are reported in a ferromagnetic nanowire. It is found that negative μ″ values are resulted from the interaction of spin polarized conduction electrons with the spatially non-uniform distributed magnetic moments at both ends of nanowires. The results are well explained from the effect of spin transfer torque on the precession of magnetization under the excitation of both the pulsed magnetic field and static electric field.

Torque Control of Underactuated Tendon-driven Robotic Fingers

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

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.

Torque ripple reduction of brushless DC motor based on adaptive input-output feedback linearization.

PubMed

Shirvani Boroujeni, M; Markadeh, G R Arab; Soltani, J

2017-09-01

Torque ripple reduction of Brushless DC Motors (BLDCs) is an interesting subject in variable speed AC drives. In this paper at first, a mathematical expression for torque ripple harmonics is obtained. Then for a non-ideal BLDC motor with known harmonic contents of back-EMF, calculation of desired reference current amplitudes, which are required to eliminate some selected harmonics of torque ripple, are reviewed. In order to inject the reference harmonic currents to the motor windings, an Adaptive Input-Output Feedback Linearization (AIOFBL) control is proposed, which generates the reference voltages for three phases voltage source inverter in stationary reference frame. Experimental results are presented to show the capability and validity of the proposed control method and are compared with the vector control in Multi-Reference Frame (MRF) and Pseudo-Vector Control (P-VC) method results. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

The control of satellites with microgravity constraints: The COMET Control System

NASA Astrophysics Data System (ADS)

Grossman, Walter; Freesland, Douglas

1994-05-01

The COMET attitude determination and control system, using inverse dynamics and a novel torque distribution/momentum management technique, has shown great flexibility, performance, and robustness. Three-axis control with two wheels is an inherent consequence of inverse dynamics control which allows for reduction in spacecraft weight and cost, or alternatively, provides a simple means of failure-redundancy for three-wheel spacecraft. The control system, without modification, has continued to perform well in spite of large changes in spacecraft mass properties and mission orbit altitude that have occurred during development. This flexibility has obviated imposition of early stringent ADACS design constraints and has greatly reduced commonly incurred ADACS modification costs and delay associated with program maturation.

The control of satellites with microgravity constraints: The COMET Control System

NASA Technical Reports Server (NTRS)

Grossman, Walter; Freesland, Douglas

1994-01-01

The COMET attitude determination and control system, using inverse dynamics and a novel torque distribution/momentum management technique, has shown great flexibility, performance, and robustness. Three-axis control with two wheels is an inherent consequence of inverse dynamics control which allows for reduction in spacecraft weight and cost, or alternatively, provides a simple means of failure-redundancy for three-wheel spacecraft. The control system, without modification, has continued to perform well in spite of large changes in spacecraft mass properties and mission orbit altitude that have occurred during development. This flexibility has obviated imposition of early stringent ADACS design constraints and has greatly reduced commonly incurred ADACS modification costs and delay associated with program maturation.

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.

Methods and apparatus for twist bend coupled (TCB) wind turbine blades

DOEpatents

Moroz, Emilian Mieczyslaw; LeMieux, David Lawrence; Pierce, Kirk Gee

2006-10-10

A method for controlling a wind turbine having twist bend coupled rotor blades on a rotor mechanically coupled to a generator includes determining a speed of a rotor blade tip of the wind turbine, measuring a current twist distribution and current blade loading, and adjusting a torque of a generator to change the speed of the rotor blade tip to thereby increase an energy capture power coefficient of the wind turbine.

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.

Exoskeleton control for lower-extremity assistance based on adaptive frequency oscillators: adaptation of muscle activation and movement frequency.

PubMed

Aguirre-Ollinger, Gabriel

2015-01-01

In this article, we analyze a novel strategy for assisting the lower extremities based on adaptive frequency oscillators. Our aim is to use the control algorithm presented here as a building block for the control of powered lower-limb exoskeletons. The algorithm assists cyclic movements of the human extremities by synchronizing actuator torques with the estimated net torque exerted by the muscles. Synchronization is produced by a nonlinear dynamical system combining an adaptive frequency oscillator with a form of adaptive Fourier analysis. The system extracts, in real time, the fundamental frequency component of the net muscle torque acting on a specific joint. Said component, nearly sinusoidal in shape, is the basis for the assistive torque waveform delivered by the exoskeleton. The action of the exoskeleton can be interpreted as a virtual reduction in the mechanical impedance of the leg. We studied the ability of human subjects to adapt their muscle activation to the assistive torque. Ten subjects swung their extended leg while coupled to a stationary hip joint exoskeleton. The experiment yielded a significant decrease, with respect to unassisted movement, of the activation levels of an agonist/antagonist pair of muscles controlling the hip joint's motion, which suggests the exoskeleton control has potential for assisting human gait. A moderate increase in swing frequency was observed as well. We theorize that the increase in frequency can be explained by the impedance model of the assisted leg. Per this model, subjects adjust their swing frequency in order to control the amount of reduction in net muscle torque. © IMechE 2015.

Complete analytical solution of electromagnetic field problem of high-speed spinning ball

NASA Astrophysics Data System (ADS)

Reichert, T.; Nussbaumer, T.; Kolar, J. W.

2012-11-01

In this article, a small sphere spinning in a rotating magnetic field is analyzed in terms of the resulting magnetic flux density distribution and the current density distribution inside the ball. From these densities, the motor torque and the eddy current losses can be calculated. An analytical model is derived, and its results are compared to a 3D finite element analysis. The model gives insight into the torque and loss characteristics of a solid rotor induction machine setup, which aims at rotating the sphere beyond 25 Mrpm.

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

NASA Technical Reports Server (NTRS)

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

1996-01-01

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

Self-consistent perturbed equilibrium with neoclassical toroidal torque in tokamaks

DOE PAGES

Park, Jong-Kyu; Logan, Nikolas C.

2017-03-01

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

Self-current induced spin-orbit torque in FeMn/Pt multilayers

PubMed Central

Xu, Yanjun; Yang, Yumeng; Yao, Kui; Xu, Baoxi; Wu, Yihong

2016-01-01

Extensive efforts have been devoted to the study of spin-orbit torque in ferromagnetic metal/heavy metal bilayers and exploitation of it for magnetization switching using an in-plane current. As the spin-orbit torque is inversely proportional to the thickness of the ferromagnetic layer, sizable effect has only been realized in bilayers with an ultrathin ferromagnetic layer. Here we demonstrate that, by stacking ultrathin Pt and FeMn alternately, both ferromagnetic properties and current induced spin-orbit torque can be achieved in FeMn/Pt multilayers without any constraint on its total thickness. The critical behavior of these multilayers follows closely three-dimensional Heisenberg model with a finite Curie temperature distribution. The spin torque effective field is about 4 times larger than that of NiFe/Pt bilayer with a same equivalent NiFe thickness. The self-current generated spin torque is able to switch the magnetization reversibly without the need for an external field or a thick heavy metal layer. The removal of both thickness constraint and necessity of using an adjacent heavy metal layer opens new possibilities for exploiting spin-orbit torque for practical applications. PMID:27185656

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 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

Displaceable Spur Gear Torque Controlled Driver and Method

NASA Technical Reports Server (NTRS)

Cook, Joseph S., Jr. (Inventor)

1996-01-01

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

Displaceable spur gear torque controlled driver and method

NASA Technical Reports Server (NTRS)

Cook, Joseph S., Jr. (Inventor)

1994-01-01

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

A feedback linearization approach to spacecraft control using momentum exchange devices. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Dzielski, John Edward

1988-01-01

Recent developments in the area of nonlinear control theory have shown how coordiante changes in the state and input spaces can be used with nonlinear feedback to transform certain nonlinear ordinary differential equations into equivalent linear equations. These feedback linearization techniques are applied to resolve two problems arising in the control of spacecraft equipped with control moment gyroscopes (CMGs). The first application involves the computation of rate commands for the gimbals that rotate the individual gyroscopes to produce commanded torques on the spacecraft. The second application is to the long-term management of stored momentum in the system of control moment gyroscopes using environmental torques acting on the vehicle. An approach to distributing control effort among a group of redundant actuators is described that uses feedback linearization techniques to parameterize sets of controls which influence a specified subsystem in a desired way. The approach is adapted for use in spacecraft control with double-gimballed gyroscopes to produce an algorithm that avoids problematic gimbal configurations by approximating sets of gimbal rates that drive CMG rotors into desirable configurations. The momentum management problem is stated as a trajectory optimization problem with a nonlinear dynamical constraint. Feedback linearization and collocation are used to transform this problem into an unconstrainted nonlinear program. The approach to trajectory optimization is fast and robust. A number of examples are presented showing applications to the proposed NASA space station.

Role of external torque in the formation of ion thermal internal transport barriers

NASA Astrophysics Data System (ADS)

Jhang, Hogun; Kim, S. S.; Diamond, P. H.

2012-04-01

We present an analytic study of the impact of external torque on the formation of ion internal transport barriers (ITBs). A simple analytic relation representing the effect of low external torque on transport bifurcations is derived based on a two field transport model of pressure and toroidal momentum density. It is found that the application of an external torque can either facilitate or hamper bifurcation in heat flux driven plasmas depending on its sign relative to the direction of intrinsic torque. The ratio between radially integrated momentum (i.e., external torque) density to power input is shown to be a key macroscopic control parameter governing the characteristics of bifurcation.

Robot Position Sensor Fault Tolerance

NASA Technical Reports Server (NTRS)

Aldridge, Hal A.

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. A new method is proposed that utilizes analytical redundancy to allow for continued operation during joint position sensor failure. Joint torque sensors are used with a virtual passive torque controller to make the robot joint stable without position feedback and improve position tracking performance in the presence of unknown link dynamics and end-effector loading. Two Cartesian accelerometer based methods are proposed to determine the position of the joint. The joint specific position determination method utilizes two triaxial accelerometers attached to the link driven by the joint with the failed position sensor. The joint specific method is not computationally complex and the position error is bounded. The system wide position determination method utilizes accelerometers distributed on different robot links and the end-effector to determine the position of sets of multiple joints. The system wide method requires fewer accelerometers than the joint specific method to make all joint position sensors fault tolerant but is more computationally complex and has lower convergence properties. Experiments were conducted on a laboratory manipulator. Both position determination methods were shown to track the actual position satisfactorily. A controller using the position determination methods and the virtual passive torque controller was able to servo the joints to a desired position during position sensor failure.

Spatial EMG potential distribution pattern of vastus lateralis muscle during isometric knee extension in young and elderly men.

PubMed

Watanabe, Kohei; Kouzaki, Motoki; Merletti, Roberto; Fujibayashi, Mami; Moritani, Toshio

2012-02-01

The aim of the present study was to compare spatial electromyographic (EMG) potential distribution during force production between elderly and young individuals using multi-channel surface EMG (SEMG). Thirteen elderly (72-79years) and 13 young (21-27years) healthy male volunteers performed ramp submaximal contraction during isometric knee extension from 0% to 65% of maximal voluntary contraction. During contraction, multi-channel EMG was recorded from the vastus lateralis muscle. To evaluate alteration in heterogeneity and pattern in spatial EMG potential distribution, coefficient of variation (CoV), modified entropy and correlation coefficients with initial torque level were calculated from multi-channel SEMG at 5% force increment. Increase in CoV and decrease in modified entropy of RMS with increase of exerted torque were significantly smaller in elderly group (p<0.05) and correlation coefficients with initial torque level were significantly higher in elderly group than in young group at moderate torque levels (p<0.05). These data suggest that the increase of heterogeneity and the change in the activation pattern are smaller in elderly individuals than in young individuals. We speculated that multi-channel SEMG pattern in elderly individual reflects neuromuscular activation strategy regulated predominantly by clustering of similar type of muscle fibers in aged muscle. Copyright © 2011 Elsevier Ltd. All rights reserved.

Central Safety Factor and Normalized Beta Control Under Near-Zero Input Torque Constraints in DIII-D

NASA Astrophysics Data System (ADS)

Pajares, Andres; Wehner, William; Schuster, Eugenio; Burrell, Keith; Ferron, John; Walker, Michael; Humphreys, David; Lehigh University Team; Atomics Team, General

2017-10-01

DIII-D experiments have assessed the capability of combined central safety factor (q0) and normalized beta (βN) control under near-zero net torque to facilitate access to QH-mode with reverse Ip and normal Bt. Regulation of q0 and βN can prevent magneto-hydrodynamic instabilities that deteriorate plasma performance in discharges with a monotonically increasing safety-factor profile. Zero-input-torque scenarios are of special interest because future burning plasma tokamaks such as ITER will most likely operate with very low input torque, which makes these scenarios more susceptible to locked modes. To support studies of such scenarios, a controller for simultaneous regulation of q0 and βN has been developed using near-zero net input torque actuators including balanced neutral beam injection (NBI) and electron-cyclotron heating & current drive (ECH/ECCD). Experimental results show that in spite of the presence of locked modes the use of feedback control resulted in good tracking of the commanded q0 and βN when both ECCD/ECH and NBI were available. Supported by the US DOE under DE-SC0010661 and DE-FC02-04ER54698.

Electromagnetic tweezers with independent force and torque control

NASA Astrophysics Data System (ADS)

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

2016-08-01

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

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

NASA Astrophysics Data System (ADS)

Mansuripur, Masud

2017-10-01

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

Synergies and strategies underlying normal and vestibulary deficient control of balance: implication for neuroprosthetic control.

PubMed

Allum, J H; Honegger, F

1993-01-01

Future developments of neuroprosthetic control will probably permit locomotion and posture to be maintained without the aid of crutches and will therefore require some form of balance control. Three fundamental questions will arise. First, the question of the location of imbalance-sensing transducers must be assessed. Secondly, the synergy, which is the relative amplitude and timing of muscle activity, and/or the strategy of joint torques required to re-establish a stable posture for different types of balance disturbances must be addressed. Thirdly, the control laws that map either trunk muscle activity or imbalance-sensing transducer outputs into multi-joint postural control of standing by paraplegic individuals must be generated. The most appropriate means of gathering the relevant information applicable to neuroprosthetic control systems is through the detailed analysis of normal and non-normal human models. In order to gain such detailed insights into normal balance control and its dependence on head angular and linear accelerations, the synergy and strategy of balance corrections in normal subjects or patients with vestibular deficits were investigated for two types of support surface perturbation, a dorsiflexion rotation (ROT) and a rearward translation (TRANS). These experimentally induced perturbations to upright stance were adjusted to cause equal amplitudes of ankle dorsiflexion, thus providing additional information about the role of lower leg proprioception on balance control. Synergies defined on the basis of peak cross-correlations of each recorded muscle's EMG to that of the largest muscle response were significantly different for TRANS and ROT. Translation synergies consisted of a sequential coactivation at several levels (soleus and abdominals some 30 msec before hamstrings, and trapezius some 15 msec before paraspinals), whereas the sequential activation of paraspinals and tibialis anterior dominated the balance synergy to ROT. Likewise, response strategies, defined using cross-correlations of joint torques, differed. That for TRANS was organised as a multi-link strategy with neck torques leading those of all other joints by 40 msec or more; hip joint lead ankle torques by 30 msec. That for ROT was organised around hip and ankle torques without a major correlation to neck torques. Vestibulary deficient subjects developed weaker synergies with respect to subjects with normal balance systems under eyes-open conditions and there was no clear synergy with eyes closed. Consequently, hip torques were delayed some 180 msec with respect to ankle torques, and correlations to neck torques were completely out of phase under eyes-closed conditions. Fundamental changes in TRANS synergies and strategies also occurred in vestibulary deficient subjects for eyes-open and eyes-closed conditions.(ABSTRACT TRUNCATED AT 400 WORDS)

Semiparametric Identification of Human Arm Dynamics for Flexible Control of a Functional Electrical Stimulation Neuroprosthesis

PubMed Central

Schearer, Eric M.; Liao, Yu-Wei; Perreault, Eric J.; Tresch, Matthew C.; Memberg, William D.; Kirsch, Robert F.; Lynch, Kevin M.

2016-01-01

We present a method to identify the dynamics of a human arm controlled by an implanted functional electrical stimulation neuroprosthesis. The method uses Gaussian process regression to predict shoulder and elbow torques given the shoulder and elbow joint positions and velocities and the electrical stimulation inputs to muscles. We compare the accuracy of torque predictions of nonparametric, semiparametric, and parametric model types. The most accurate of the three model types is a semiparametric Gaussian process model that combines the flexibility of a black box function approximator with the generalization power of a parameterized model. The semiparametric model predicted torques during stimulation of multiple muscles with errors less than 20% of the total muscle torque and passive torque needed to drive the arm. The identified model allows us to define an arbitrary reaching trajectory and approximately determine the muscle stimulations required to drive the arm along that trajectory. PMID:26955041

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

PubMed Central

2014-01-01

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

Combines Attitude Control and Energy Storage for Small Satellites using Variable Speed Control Moment Gyroscopes

DTIC Science & Technology

2008-06-24

CMG torque amplification property in which a small amount of CMG gimbal motor input torque results in a relatively large slewing torque gives it a... properties these actuators provide [74–77]. 2.1.3 Magnetic Levitation and Bearing Technology Magnetic bearings for flywheel rotor suspension has a rich...2.1: Example of Magnetic and Ball Bearing Properties [21] Bearing ID OD Height Radial Static Max Speed (mm) (mm) (mm) Capacity(N) (RPM) MB-R-25-205 25

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

Park, Jong-Kyu; Logan, Nikolas C.

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

Torque Splitting by a Concentric Face Gear Transmission

NASA Technical Reports Server (NTRS)

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

2002-01-01

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

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

NASA Astrophysics Data System (ADS)

Abdel-Aziz, Yehia A.; Shoaib, Muhammad

2014-07-01

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

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

PubMed

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

1999-04-01

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

Discharge properties of motor units during steady isometric contractions performed with the dorsiflexor muscles

PubMed Central

Klass, Malgorzata; Duchateau, Jacques; Enoka, Roger M.

2012-01-01

The purpose of this study was to record the discharge characteristics of tibialis anterior motor units over a range of target forces and to import these data, along with previously reported observations, into a computational model to compare experimental and simulated measures of torque variability during isometric contractions with the dorsiflexor muscles. The discharge characteristics of 44 motor units were quantified during brief isometric contractions at torques that ranged from recruitment threshold to an average of 22 ± 14.4% maximal voluntary contraction (MVC) torque above recruitment threshold. The minimal [range: 5.8–19.8 pulses per second (pps)] and peak (range: 8.6–37.5 pps) discharge rates of motor units were positively related to the recruitment threshold torque (R2 ≥ 0.266; P < 0.001). The coefficient of variation for interspike interval at recruitment was positively associated with recruitment threshold torque (R2 = 0.443; P < 0.001) and either decreased exponentially or remained constant as target torque increased above recruitment threshold torque. The variability in the simulated torque did not differ from the experimental values once the recruitment range was set to ∼85% MVC torque, and the association between motor twitch contraction times and peak twitch torque was defined as a weak linear association (R2 = 0.096; P < 0.001). These results indicate that the steadiness of isometric contractions performed with the dorsiflexor muscle depended more on the distributions of mechanical properties than discharge properties across the population of motor units in the tibialis anterior. PMID:22442023

Discharge properties of motor units during steady isometric contractions performed with the dorsiflexor muscles.

PubMed

Jesunathadas, Mark; Klass, Malgorzata; Duchateau, Jacques; Enoka, Roger M

2012-06-01

The purpose of this study was to record the discharge characteristics of tibialis anterior motor units over a range of target forces and to import these data, along with previously reported observations, into a computational model to compare experimental and simulated measures of torque variability during isometric contractions with the dorsiflexor muscles. The discharge characteristics of 44 motor units were quantified during brief isometric contractions at torques that ranged from recruitment threshold to an average of 22 ± 14.4% maximal voluntary contraction (MVC) torque above recruitment threshold. The minimal [range: 5.8-19.8 pulses per second (pps)] and peak (range: 8.6-37.5 pps) discharge rates of motor units were positively related to the recruitment threshold torque (R(2) ≥ 0.266; P < 0.001). The coefficient of variation for interspike interval at recruitment was positively associated with recruitment threshold torque (R(2) = 0.443; P < 0.001) and either decreased exponentially or remained constant as target torque increased above recruitment threshold torque. The variability in the simulated torque did not differ from the experimental values once the recruitment range was set to ∼85% MVC torque, and the association between motor twitch contraction times and peak twitch torque was defined as a weak linear association (R(2) = 0.096; P < 0.001). These results indicate that the steadiness of isometric contractions performed with the dorsiflexor muscle depended more on the distributions of mechanical properties than discharge properties across the population of motor units in the tibialis anterior.

Compact, Lightweight Servo-Controllable Brakes

NASA Technical Reports Server (NTRS)

Lovchik, Christopher S.; Townsend, William; Guertin, Jeffrey; Matsuoka, Yoky

2010-01-01

Compact, lightweight servo-controllable brakes capable of high torques are being developed for incorporation into robot joints. A brake of this type is based partly on the capstan effect of tension elements. In a brake of the type under development, a controllable intermediate state of torque is reached through on/off switching at a high frequency.

Functional shoulder ratios with high velocities of shoulder internal rotation are most sensitive to determine shoulder rotation torque imbalance: a cross-sectional study with elite handball players and controls.

PubMed

Castro, Marcelo Peduzzi de; Fonseca, Pedro; Morais, Sara Tribuzi; Borgonovo-Santos, Márcio; Coelho, Eduardo Filipe Cruz; Ribeiro, Daniel Cury; Vilas-Boas, João Paulo

2017-12-04

The aim of the present study was to determine which approach to calculating shoulder ratios is the most sensitive for determining shoulder torque imbalance in handball players. Twenty-six participants (handball athletes, n = 13; healthy controls, n = 13) performed isokinetic concentric and eccentric shoulder internal rotation (IR) and external rotation (ER) assessment at 60, 180 and 300°/s. We used eight approaches to calculating shoulder ratios: four concentric (i.e. concentric ER torque divided by concentric IR torque), and four functional (i.e. eccentric ER torque divided by concentric IR torque) at the velocities of 60, 180 and 300°/s for both IR and ER, and combining 60°/s of ER and 300°/s of IR. A three factorial ANOVA (factors: shoulder ratios, upper limb sides, and groups) along with Tukey's post-hoc analysis, and effect sizes were calculated. The findings suggested the functional shoulder ratio combining 60°/s of ER and 300°/s of IR is the most sensitive to detect differences between upper limbs for handball players, and between players and controls for the dominant side. The functional shoulder ratio combining 60°/s of ER with 300°/s of IR seems to present advantages over the other approaches for identifying upper limb asymmetries and differences in shoulder torque balance related to throwing.

Manipulation of dielectric Rayleigh particles using highly focused elliptically polarized vector fields.

PubMed

Gu, Bing; Xu, Danfeng; Rui, Guanghao; Lian, Meng; Cui, Yiping; Zhan, Qiwen

2015-09-20

Generation of vectorial optical fields with arbitrary polarization distribution is of great interest in areas where exotic optical fields are desired. In this work, we experimentally demonstrate the versatile generation of linearly polarized vector fields, elliptically polarized vector fields, and circularly polarized vortex beams through introducing attenuators in a common-path interferometer. By means of Richards-Wolf vectorial diffraction method, the characteristics of the highly focused elliptically polarized vector fields are studied. The optical force and torque on a dielectric Rayleigh particle produced by these tightly focused vector fields are calculated and exploited for the stable trapping of dielectric Rayleigh particles. It is shown that the additional degree of freedom provided by the elliptically polarized vector field allows one to control the spatial structure of polarization, to engineer the focusing field, and to tailor the optical force and torque on a dielectric Rayleigh particle.

Multi-jet propulsion organized by clonal development in a colonial siphonophore

PubMed Central

Costello, John H.; Colin, Sean P.; Gemmell, Brad J.; Dabiri, John O.; Sutherland, Kelly R.

2015-01-01

Physonect siphonophores are colonial cnidarians that are pervasive predators in many neritic and oceanic ecosystems. Physonects employ multiple, clonal medusan individuals, termed nectophores, to propel an aggregate colony. Here we show that developmental differences between clonal nectophores of the physonect Nanomia bijuga produce a division of labour in thrust and torque production that controls direction and magnitude of whole-colony swimming. Although smaller and less powerful, the position of young nectophores near the apex of the nectosome allows them to dominate torque production for turning, whereas older, larger and more powerful individuals near the base of the nectosome contribute predominantly to forward thrust production. The patterns we describe offer insight into the biomechanical success of an ecologically important and widespread colonial animal group, but, more broadly, provide basic physical understanding of a natural solution to multi-engine organization that may contribute to the expanding field of underwater-distributed propulsion vehicle design. PMID:26327286

Multi-jet propulsion organized by clonal development in a colonial siphonophore

NASA Astrophysics Data System (ADS)

Costello, John; Colin, Sean; Gemmell, Brad; Dabiri, John; Sutherland, Kelly

2015-11-01

Physonect siphonophores are colonial cnidarians that are pervasive predators in many neritic and oceanic ecosystems. Physonects employ multiple, clonal medusan individuals, termed nectophores, to propel an aggregate colony. Here we show that developmental differences between clonal nectophores of the physonect Nanomia bijuga produce a division of labor in thrust and torque production that controls direction and magnitude of whole colony swimming. Although smaller and less powerful, the position of young nectophores near the apex of the nectosome allows them to dominate torque production for turning whereas older, larger and more powerful individuals near the base of the nectosome contribute predominantly to forward thrust production. The patterns we describe offer insight into the biomechanical success of an ecologically important and widespread colonial animal group, but more broadly, provide basic physical understanding of a natural solution to multi-engine organization that may contribute to the expanding field of underwater distributed propulsion vehicle design.

Multi-jet propulsion organized by clonal development in a colonial siphonophore.

PubMed

Costello, John H; Colin, Sean P; Gemmell, Brad J; Dabiri, John O; Sutherland, Kelly R

2015-09-01

Physonect siphonophores are colonial cnidarians that are pervasive predators in many neritic and oceanic ecosystems. Physonects employ multiple, clonal medusan individuals, termed nectophores, to propel an aggregate colony. Here we show that developmental differences between clonal nectophores of the physonect Nanomia bijuga produce a division of labour in thrust and torque production that controls direction and magnitude of whole-colony swimming. Although smaller and less powerful, the position of young nectophores near the apex of the nectosome allows them to dominate torque production for turning, whereas older, larger and more powerful individuals near the base of the nectosome contribute predominantly to forward thrust production. The patterns we describe offer insight into the biomechanical success of an ecologically important and widespread colonial animal group, but, more broadly, provide basic physical understanding of a natural solution to multi-engine organization that may contribute to the expanding field of underwater-distributed propulsion vehicle design.

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.

System for computer controlled shifting of an automatic transmission

DOEpatents

Patil, Prabhakar B.

1989-01-01

In an automotive vehicle having an automatic transmission that driveably connects a power source to the driving wheels, a method to control the application of hydraulic pressure to a clutch, whose engagement produces an upshift and whose disengagement produces a downshift, the speed of the power source, and the output torque of the transmission. The transmission output shaft torque and the power source speed are the controlled variables. The commanded power source torque and commanded hydraulic pressure supplied to the clutch are the control variables. A mathematical model is formulated that describes the kinematics and dynamics of the powertrain before, during and after a gear shift. The model represents the operating characteristics of each component and the structural arrangement of the components within the transmission being controlled. Next, a close loop feedback control is developed to determine the proper control law or compensation strategy to achieve an acceptably smooth gear ratio change, one in which the output torque disturbance is kept to a minimum and the duration of the shift is minimized. Then a computer algorithm simulating the shift dynamics employing the mathematical model is used to study the effects of changes in the values of the parameters established from a closed loop control of the clutch hydraulic and the power source torque on the shift quality. This computer simulation is used also to establish possible shift control strategies. The shift strategies determine from the prior step are reduced to an algorithm executed by a computer to control the operation of the power source and the transmission.

Closed loop computer control for an automatic transmission

DOEpatents

Patil, Prabhakar B.

1989-01-01

In an automotive vehicle having an automatic transmission that driveably connects a power source to the driving wheels, a method to control the application of hydraulic pressure to a clutch, whose engagement produces an upshift and whose disengagement produces a downshift, the speed of the power source, and the output torque of the transmission. The transmission output shaft torque and the power source speed are the controlled variables. The commanded power source torque and commanded hydraulic pressure supplied to the clutch are the control variables. A mathematical model is formulated that describes the kinematics and dynamics of the powertrain before, during and after a gear shift. The model represents the operating characteristics of each component and the structural arrangement of the components within the transmission being controlled. Next, a close loop feedback control is developed to determine the proper control law or compensation strategy to achieve an acceptably smooth gear ratio change, one in which the output torque disturbance is kept to a minimum and the duration of the shift is minimized. Then a computer algorithm simulating the shift dynamics employing the mathematical model is used to study the effects of changes in the values of the parameters established from a closed loop control of the clutch hydraulic and the power source torque on the shift quality. This computer simulation is used also to establish possible shift control strategies. The shift strategies determined from the prior step are reduced to an algorithm executed by a computer to control the operation of the power source and the transmission.

Ankle and hip postural strategies defined by joint torques

NASA Technical Reports Server (NTRS)

Runge, C. F.; Shupert, C. L.; Horak, F. B.; Zajac, F. E.; Peterson, B. W. (Principal Investigator)

1999-01-01

Previous studies have identified two discrete strategies for the control of posture in the sagittal plane based on EMG activations, body kinematics, and ground reaction forces. The ankle strategy was characterized by body sway resembling a single-segment-inverted pendulum and was elicited on flat support surfaces. In contrast, the hip strategy was characterized by body sway resembling a double-segment inverted pendulum divided at the hip and was elicited on short or compliant support surfaces. However, biomechanical optimization models have suggested that hip strategy should be observed in response to fast translations on a flat surface also, provided the feet are constrained to remain in contact with the floor and the knee is constrained to remain straight. The purpose of this study was to examine the experimental evidence for hip strategy in postural responses to backward translations of a flat support surface and to determine whether analyses of joint torques would provide evidence for two separate postural strategies. Normal subjects standing on a flat support surface were translated backward with a range of velocities from fast (55 cm/s) to slow (5 cm/s). EMG activations and joint kinematics showed pattern changes consistent with previous experimental descriptions of mixed hip and ankle strategy with increasing platform velocity. Joint torque analyses revealed the addition of a hip flexor torque to the ankle plantarflexor torque during fast translations. This finding indicates the addition of hip strategy to ankle strategy to produce a continuum of postural responses. Hip torque without accompanying ankle torque (pure hip strategy) was not observed. Although postural control strategies have previously been defined by how the body moves, we conclude that joint torques, which indicate how body movements are produced, are useful in defining postural control strategies. These results also illustrate how the biomechanics of the body can transform discrete control patterns into a continuum of postural corrections.

Control of spin-orbit torques through crystal symmetry in WTe2/ferromagnet bilayers

NASA Astrophysics Data System (ADS)

MacNeill, D.; Stiehl, G. M.; Guimaraes, M. H. D.; Buhrman, R. A.; Park, J.; Ralph, D. C.

2017-03-01

Recent discoveries regarding current-induced spin-orbit torques produced by heavy-metal/ferromagnet and topological-insulator/ferromagnet bilayers provide the potential for dramatically improved efficiency in the manipulation of magnetic devices. However, in experiments performed to date, spin-orbit torques have an important limitation--the component of torque that can compensate magnetic damping is required by symmetry to lie within the device plane. This means that spin-orbit torques can drive the most current-efficient type of magnetic reversal (antidamping switching) only for magnetic devices with in-plane anisotropy, not the devices with perpendicular magnetic anisotropy that are needed for high-density applications. Here we show experimentally that this state of affairs is not fundamental, but rather one can change the allowed symmetries of spin-orbit torques in spin-source/ferromagnet bilayer devices by using a spin-source material with low crystalline symmetry. We use WTe2, a transition-metal dichalcogenide whose surface crystal structure has only one mirror plane and no two-fold rotational invariance. Consistent with these symmetries, we generate an out-of-plane antidamping torque when current is applied along a low-symmetry axis of WTe2/Permalloy bilayers, but not when current is applied along a high-symmetry axis. Controlling spin-orbit torques by crystal symmetries in multilayer samples provides a new strategy for optimizing future magnetic technologies.

Concentric and eccentric torque of the hip musculature in individuals with and without patellofemoral pain.

PubMed

Boling, Michelle C; Padua, Darin A; Alexander Creighton, R

2009-01-01

Individuals suffering from patellofemoral pain have previously been reported to have decreased isometric strength of the hip musculature; however, no researchers have investigated concentric and eccentric torque of the hip musculature in individuals with patellofemoral pain. To compare concentric and eccentric torque of the hip musculature in individuals with and without patellofemoral pain. Case control. Research laboratory. Twenty participants with patellofemoral pain (age = 26.8 +/- 4.5 years, height = 171.8 +/- 8.4 cm, mass = 72.4 +/- 16.8 kg) and 20 control participants (age = 25.6 +/- 2.8 years, height = 169.5 +/- 8.9 cm, mass = 70.0 +/- 16.9 kg) were tested. Volunteers with patellofemoral pain met the following criteria: knee pain greater than or equal to 3 cm on a 10-cm visual analog scale, insidious onset of symptoms not related to trauma, pain with palpation of the patellar facets, and knee pain during 2 of the following activities: stair climbing, jumping or running, squatting, kneeling, or prolonged sitting. Control participants were excluded if they had a prior history of patellofemoral pain, knee surgery in the past 2 years, or current lower extremity injury that limited participation in physical activity. Concentric and eccentric torque of the hip musculature was measured on an isokinetic dynamometer. All volunteers performed 5 repetitions of each strength test. Separate multivariate analyses of variance were performed to compare concentric and eccentric torque of the hip extensors, abductors, and external rotators between groups. Average and peak concentric and eccentric torque of the hip extensors, abductors, and external rotators. Torque measures were normalized to the participant's body weight multiplied by height. The patellofemoral pain group was weaker than the control group for peak eccentric hip abduction torque (F(1,38) = 6.630, P = .014), and average concentric (F(1,38) = 4.156, P = .048) and eccentric (F(1,38) = 4.963, P = .032) hip external rotation torque. The patellofemoral pain group displayed weakness in eccentric hip abduction and hip external rotation, which may allow for increased hip adduction and internal rotation during functional movements.

FMR and torque studies of highly stressed magnetostrictive polycrystalline CoPd alloy films

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

Dubowik, J.; Szymanski, B.

1994-03-01

Ferromagnetic resonance (FMR) and torque curves have been measured in electrodeposited CoPd alloy films with composition ranged from Co{sub 13}Pd{sub 83} to Co{sub 45}Pd{sub 55}. The authors show that the origin of the multimode structure of FMR spectra in these strongly magnetostrictive polycrystalline films can be satisfactory explained on the basis of the independent-grain-approach for a textured microstructure. The fourfold periodicity of the torque curves for the compositional range of 30--35 at% is assumed to be oriented by inhomogeneous distribution of the magnetization direction.

Static stretching vs. dynamic warm-ups: a comparison of their effects on torque and electromyography output of the quadriceps and hamstring muscles.

PubMed

Williams, N; Coburn, J; Gillum, T

2015-11-01

The aim of this paper was to determine if two different warm-up protocols differently affect torque of the quadriceps and hamstrings, and electromyography (EMG) output of the rectus femoris (RF) and vastus lateralis (VL) when completing 30 maximal leg extensions and curls. Twenty-one healthy male (N.=8) and female (N.=13) subjects volunteered to participate in a familiarization session and three testing sessions. The three testing sessions control, dynamic, and static were completed in a counterbalanced order on non-consecutive days. First, subjects warmed-up on a treadmill for five minutes before completing six dynamic movements, six static-stretches, or no stretches. They then rested for five minutes before completing 30 maximal leg extensions and curls at a speed of 60 s-1. A significant decrease in quadriceps torque output over time was determined for the dynamic protocol when compared to the control (P<0.01) and static (P<0.05) protocols. A significant decrease was found in peak quadriceps torque for the dynamic protocol (P<0.01) when compared to the static, and a significant increase was found for the static protocol (P<0.05) when compared to the control. A significant decrease in average quadriceps torque was found for the dynamic protocol when compared to the static (P<0.05) and control (P<0.01) protocols. No difference was found in hamstring torque or EMG output of the RF and VL. Short duration static-stretching has the ability to increase peak and average torque of the leg extensors, while some types of anaerobic exercise involving maximal contractions to fatigue may be hindered by performing dynamic movements as part of the warm-up.

Neuromuscular function of the quadriceps muscle during isometric maximal, submaximal and submaximal fatiguing voluntary contractions in knee osteoarthrosis patients

PubMed Central

Jacksteit, Robert; Jackszis, Mario; Feldhege, Frank; Weippert, Matthias; Mittelmeier, Wolfram; Bader, Rainer; Skripitz, Ralf; Behrens, Martin

2017-01-01

Introduction Knee osteoarthrosis (KOA) is commonly associated with a dysfunction of the quadriceps muscle which contributes to alterations in motor performance. The underlying neuromuscular mechanisms of muscle dysfunction are not fully understood. The main objective of this study was to analyze how KOA affects neuromuscular function of the quadriceps muscle during different contraction intensities. Materials and methods The following parameters were assessed in 20 patients and 20 healthy controls: (i) joint position sense, i.e. position control (mean absolute error, MAE) at 30° and 50° of knee flexion, (ii) simple reaction time task performance, (iii) isometric maximal voluntary torque (IMVT) and root mean square of the EMG signal (RMS-EMG), (iv) torque control, i.e. accuracy (MAE), absolute fluctuation (standard deviation, SD), relative fluctuation (coefficient of variation, CV) and periodicity (mean frequency, MNF) of the torque signal at 20%, 40% and 60% IMVT, (v) EMG-torque relationship at 20%, 40% and 60% IMVT and (vi) performance fatigability, i.e. time to task failure (TTF) at 40% IMVT. Results Compared to the control group, the KOA group displayed: (i) significantly higher MAE of the angle signal at 30° (99.3%; P = 0.027) and 50° (147.9%; P < 0.001), (ii) no significant differences in reaction time, (iii) significantly lower IMVT (-41.6%; P = 0.001) and tendentially lower RMS-EMG of the rectus femoris (-33.7%; P = 0.054), (iv) tendentially higher MAE of the torque signal at 20% IMVT (65.9%; P = 0.068), significantly lower SD of the torque signal at all three torque levels and greater MNF at 60% IMVT (44.8%; P = 0.018), (v) significantly increased RMS-EMG of the vastus lateralis at 20% (70.8%; P = 0.003) and 40% IMVT (33.3%; P = 0.034), significantly lower RMS-EMG of the biceps femoris at 20% (-63.6%; P = 0.044) and 40% IMVT (-41.3%; P = 0.028) and tendentially lower at 60% IMVT (-24.3%; P = 0.075) and (vi) significantly shorter TTF (-51.1%; P = 0.049). Conclusion KOA is not only associated with a deterioration of IMVT and neuromuscular activation, but also with an impaired position and torque control at submaximal torque levels, an altered EMG-torque relationship and a higher performance fatigability of the quadriceps muscle. It is recommended that the rehabilitation includes strengthening and fatiguing exercises at maximal and submaximal force levels. PMID:28505208

Spin-orbit torques in high-resistivity-W/CoFeB/MgO

NASA Astrophysics Data System (ADS)

Takeuchi, Yutaro; Zhang, Chaoliang; Okada, Atsushi; Sato, Hideo; Fukami, Shunsuke; Ohno, Hideo

2018-05-01

Magnetic heterostructures consisting of high-resistivity (238 ± 5 µΩ cm)-W/CoFeB/MgO are prepared by sputtering and their spin-orbit torques are evaluated as a function of W thickness through an extended harmonic measurement. W thickness dependence of the spin-orbit torque with the Slonczewski-like symmetry is well described by the drift-diffusion model with an efficiency parameter, the so-called effective spin Hall angle, of -0.62 ± 0.03. In contrast, the field-like spin-orbit torque is one order of magnitude smaller than the Slonczewski-like torque and shows no appreciable dependence on the W thickness, suggesting a different origin from the Slonczewski-like torque. The results indicate that high-resistivity W is promising for low-current and reliable spin-orbit torque-controlled devices.

40 CFR 86.1333-90 - Transient test cycle generation.

Code of Federal Regulations, 2012 CFR

2012-07-01

... zero percent speed specified in the engine dynamometer schedules (appendix I (f)(1), (f)(2), or (f)(3... feedback torque equal to zero (using, for example, clutch disengagement, speed to torque control switching... reference speed and reference torque are zero percent values. For each idle segment that is ten seconds or...

40 CFR 86.1333-90 - Transient test cycle generation.

Code of Federal Regulations, 2013 CFR

2013-07-01

... zero percent speed specified in the engine dynamometer schedules (appendix I (f)(1), (f)(2), or (f)(3... feedback torque equal to zero (using, for example, clutch disengagement, speed to torque control switching... reference speed and reference torque are zero percent values. For each idle segment that is ten seconds or...

40 CFR 86.1333-90 - Transient test cycle generation.

Code of Federal Regulations, 2011 CFR

2011-07-01

... zero percent speed specified in the engine dynamometer schedules (appendix I (f)(1), (f)(2), or (f)(3... feedback torque equal to zero (using, for example, clutch disengagement, speed to torque control switching... reference speed and reference torque are zero percent values. For each idle segment that is ten seconds or...

Experiments in cooperative-arm object manipulation with a two-armed free-flying robot. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Koningstein, Ross

1990-01-01

Developing computed-torque controllers for complex manipulator systems using current techniques and tools is difficult because they address the issues pertinent to simulation, as opposed to control. A new formulation of computed-torque (CT) control that leads to an automated computer-torque robot controller program is presented. This automated tool is used for simulations and experimental demonstrations of endpoint and object control from a free-flying robot. A new computed-torque formulation states the multibody control problem in an elegant, homogeneous, and practical form. A recursive dynamics algorithm is presented that numerically evaluates kinematics and dynamics terms for multibody systems given a topological description. Manipulators may be free-flying, and may have closed-chain constraints. With the exception of object squeeze-force control, the algorithm does not deal with actuator redundancy. The algorithm is used to implement an automated 2D computed-torque dynamics and control package that allows joint, endpoint, orientation, momentum, and object squeeze-force control. This package obviates the need for hand-derivation of kinematics and dynamics, and is used for both simulation and experimental control. Endpoint control experiments are performed on a laboratory robot that has two arms to manipulate payloads, and uses an air bearing to achieve very-low drag characteristics. Simulations and experimental data for endpoint and object controllers are presented for the experimental robot - a complex dynamic system. There is a certain rather wide set of conditions under which CT endpoint controllers can neglect robot base accelerations (but not motions) and achieve comparable performance including base accelerations in the model. The regime over which this simplification holds is explored by simulation and experiment.

America’s Cup Sailing: Effect of Standing Arm-Cranking (“Grinding”) Direction on Muscle Activity, Kinematics, and Torque Application

PubMed Central

Pearson, Simon N.; Hume, Patria A.; Cronin, John; Slyfield, David

2016-01-01

Grinding is a key physical element in America’s Cup sailing. This study aimed to describe kinematics and muscle activation patterns in relation to torque applied in forward and backward grinding. Ten male America’s Cup sailors (33.6 ± 5.7 years, 97.9 ± 13.4 kg, 186.6 ± 7.4 cm) completed forward and backward grinding on a customised grinding ergometer. In forward grinding peak torque (77 Nm) occurred at 95° (0° = crank vertically up) on the downward section of the rotation at the end of shoulder flexion and elbow extension. Backward grinding torque peaked at 35° (69 Nm) following the pull action (shoulder extension, elbow flexion) across the top of the rotation. During forward grinding, relatively high levels of torque (>50 Nm) were maintained through the majority (72%) of the cycle, compared to 47% for backward grinding, with sections of low torque corresponding with low numbers of active muscles. Variation in torque was negatively associated with forward grinding performance (r = −0.60; 90% CI −0.88 to −0.02), but positively associated with backward performance (r = 0.48; CI = −0.15 to 0.83). Magnitude and distribution of torque generation differed according to grinding direction and presents an argument for divergent training methods to improve forward and backward grinding performance.

Stability enhancement and fuel economy of the 4-wheel-drive hybrid electric vehicles by optimal tyre force distribution

NASA Astrophysics Data System (ADS)

Goodarzi, Avesta; Mohammadi, Masoud

2014-04-01

In this paper, vehicle stability control and fuel economy for a 4-wheel-drive hybrid vehicle are investigated. The integrated controller is designed within three layers. The first layer determines the total yaw moment and total lateral force made by using an optimal controller method to follow the desired dynamic behaviour of a vehicle. The second layer determines optimum tyre force distribution in order to optimise tyre usage and find out how the tyres should share longitudinal and lateral forces to achieve a target vehicle response under the assumption that all four wheels can be independently steered, driven, and braked. In the third layer, the active steering, wheel slip, and electrical motor torque controllers are designed. In the front axle, internal combustion engine (ICE) is coupled to an electric motor (EM). The control strategy has to determine the power distribution between ICE and EM to minimise fuel consumption and allowing the vehicle to be charge sustaining. Finally, simulations performed in MATLAB/SIMULINK environment show that the proposed structure could enhance the vehicle stability and fuel economy in different manoeuvres.

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.

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

NASA Technical Reports Server (NTRS)

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

2001-01-01

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

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

NASA Astrophysics Data System (ADS)

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

1999-07-01

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

Chronic Plantarflexor Stretching During Ankle Immobilization Helps Preserve Calf Girth, Plantarflexion Peak Torque, and Ankle Dorsiflexion Motion.

PubMed

Wilson, Samantha; Christensen, Bryan; Gange, Kara; Todden, Christopher; Hatterman-Valenti, Harlene; Albrecht, Jay M

2017-09-27

Chronic plantarflexor (PF) stretching during ankle immobilization helps preserve calf girth, plantarflexion peak torque, and ankle dorsiflexion (DF) motion. Immobilization can lead to decreases in muscle peak torque, muscle size, and joint ROM. Recurrent static stretching during a period of immobilization may reduce the extent of these losses. To investigate the effects of chronic static stretching on PF peak torque, calf girth, and DF range of motion (ROM) after two weeks of ankle immobilization. Randomized controlled clinical trial. Athletic training facility. Thirty-six healthy college-aged (19.81±2.48) females. Subjects were randomly assigned to one of three groups: control group, immobilized group (IM), and immobilized plus stretching group (IM+S). Each group participated in a familiarization period, a pre-test, and, two weeks later, a post-test. The IM group and IM+S group wore the Aircast FP Walker for two weeks on the left leg. During this time, the IM+S group participated in a stretching program, which consisted of two 10-minute stretching procedures each day for the 14 days. One-way ANOVA was used to determine differences in the change of ankle girth, PF peak torque, and DF ROM between groups with an α level of < 0.05. A significant difference was noted between groups in girth (F 2,31 =5.64, P=0.009), DF ROM (F 2,31 =26.13, P<0.0001), and PF peak torque (F 2,31 =7.74, P=0.002). Post-hoc testing also showed a significance difference between change in calf girth of the control group compared to the IM group (P=0.007) and a significant difference in change of peak torque in the IM+S group and the IM group (P=0.001). Also, a significant difference was shown in DF ROM between the control group and IM+S group (P=0.006), the control group and the IM group (P<0.0001), and the IM+S group and the IM group (P<0.0001). Chronic static stretching during two weeks of immobilization may decrease the loss of calf girth, ankle PF peak torque, and ankle DF ROM.

Effects of inactivation of the anterior interpositus nucleus on the kinematic and dynamic control of multijoint movement.

PubMed

Cooper, S E; Martin, J H; Ghez, C

2000-10-01

We previously showed that inactivating the anterior interpositus nucleus in cats disrupts prehension; paw paths, normally straight and accurate, become curved, hypometric, and more variable. In the present study, we determined the joint kinematic and dynamic origins of this impairment. Animals were restrained in a hammock and trained to reach and grasp a cube of meat from a narrow food well at varied heights; movements were monitored using the MacReflex analysis system. The anterior interpositus nucleus was inactivated by microinjection of the GABA agonist muscimol (0.25-0.5 microgram in 0.5 microliter saline). For each joint, we computed the torque due to gravity, inertial resistance (termed self torque), interjoint interactions (termed interaction torque), and the combined effects of active muscle contraction and passive soft tissue stretch (termed generalized muscle torque). Inactivation produced significant reductions in the amplitude, velocity, and acceleration of elbow flexion. However, these movements continued to scale normally with target height. Shoulder extension was reduced by inactivation but wrist angular displacement and velocity were not. Inactivation also produced changes in the temporal coordination between elbow, shoulder, and wrist kinematics. Dynamic analysis showed that elbow flexion both before and during inactivation was produced by the combined action of muscle and interaction torque, but that the timing depended on muscle torque. Elbow interaction and muscle torques were scaled to target height both before and during inactivation. Inactivation produced significant reductions in elbow flexor interaction and muscle torques. The duration of elbow flexor muscle torque was prolonged to compensate for the reduction in flexor interaction torque. Shoulder extension was produced by extensor interaction and muscle torques both before and during inactivation. Inactivation produced a reduction in shoulder extension, primarily by reduced interaction torque, but without compensation. Wrist plantarflexion, which occurred during elbow flexion, was driven by plantarflexor interaction and gravitational torques both before and during inactivation. Muscle torque acted in the opposite direction with a phase lead to restrain the plantarflexor interaction torque. During inactivation, there was a reduction in plantarflexor interaction torque and a loss of the phase lead of the muscle torque. Our findings implicate the C1/C3 anterior interpositus zone of the cerebellum in the anticipatory control of intersegmental dynamics during reaching, which zone is required for coordinating the motions of the shoulder and wrist with those of the elbow. In contrast, this cerebellar zone does not play a role in scaling the movement to match a target.

Modeling the effect of control on the wake of a utility-scale turbine via large-eddy simulation

NASA Astrophysics Data System (ADS)

Yang, Xiaolei; Annoni, Jennifer; Seiler, Pete; Sotiropoulos, Fotis

2014-06-01

A model of the University of Minnesota EOLOS research turbine (Clipper Liberty C96) is developed, integrating the C96 torque control law with a high fidelity actuator line large- eddy simulation (LES) model. Good agreement with the blade element momentum theory is obtained for the power coefficient curve under uniform inflow. Three different cases, fixed rotor rotational speed ω, fixed tip-speed ratio (TSR) and generator torque control, have been simulated for turbulent inflow. With approximately the same time-averaged ω, the time- averaged power is in good agreement with measurements for all three cases. Although the time-averaged aerodynamic torque is nearly the same for the three cases, the root-mean-square (rms) of the aerodynamic torque fluctuations is significantly larger for the case with fixed ω. No significant differences have been observed for the time-averaged flow fields behind the turbine for these three cases.

Straight and chopped dc performance data for a Prestolite MTC-4001 motor and a general electric EV-1 controller

NASA Technical Reports Server (NTRS)

Edie, P. C.

1981-01-01

Performance data on the Prestolite MTC-4001 series wound dc motor and General Electric EV-1 Chopper Controller is supplied for the electric vehicle manufacturer. Data are provided for both straight and chopped dc input to the motor, at 2 motor temperature levels. Testing was done at 6 voltage increments to the motor, and 2 voltage increments to the controller. Data results are presented in both tabular and graphical forms. Tabular information includes motor voltage and current input data, motor speed and torque output data, power data and temperature data. Graphical information includes torque-speed, motor power output-speed, torque-current, and efficiency-speed plots under the various operating conditions. The data resulting from this testing show the speed-torque plots to have the most variance with operating temperature. The maximum motor efficiency is between 76% and 82%, regardless of temperature or mode of operation.

Bio-inspired sensing and control for disturbance rejection and stabilization

NASA Astrophysics Data System (ADS)

Gremillion, Gregory; Humbert, James S.

2015-05-01

The successful operation of small unmanned aircraft systems (sUAS) in dynamic environments demands robust stability in the presence of exogenous disturbances. Flying insects are sensor-rich platforms, with highly redundant arrays of sensors distributed across the insect body that are integrated to extract rich information with diminished noise. This work presents a novel sensing framework in which measurements from an array of accelerometers distributed across a simulated flight vehicle are linearly combined to directly estimate the applied forces and torques with improvements in SNR. In simulation, the estimation performance is quantified as a function of sensor noise level, position estimate error, and sensor quantity.

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.

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

PubMed

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

2016-01-01

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

Optimal spacecraft attitude control using collocation and nonlinear programming

NASA Astrophysics Data System (ADS)

Herman, A. L.; Conway, B. A.

1992-10-01

Direct collocation with nonlinear programming (DCNLP) is employed to find the optimal open-loop control histories for detumbling a disabled satellite. The controls are torques and forces applied to the docking arm and joint and torques applied about the body axes of the OMV. Solutions are obtained for cases in which various constraints are placed on the controls and in which the number of controls is reduced or increased from that considered in Conway and Widhalm (1986). DCLNP works well when applied to the optimal control problem of satellite attitude control. The formulation is straightforward and produces good results in a relatively small amount of time on a Cray X/MP with no a priori information about the optimal solution. The addition of joint acceleration to the controls significantly reduces the control magnitudes and optimal cost. In all cases, the torques and acclerations are modest and the optimal cost is very modest.

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.

Control of power, torque, and instability drive using in-shot variable neutral beam energy in tokamaks

DOE PAGES

Pace, D. C.; Collins, C. S.; Crowley, B.; ...

2016-09-28

A first-ever demonstration of controlling power and torque injection through time evolution of neutral beam energy has been achieved in recent experiments at the DIII-D tokamak. Pre-programmed waveforms for the neutral beam energy produce power and torque inputs that can be separately and continuously controlled. Previously, these inputs were tailored using on/off modulation of neutral beams resulting in large perturbations (e.g. power swings of over 1 MW). The new method includes, importantly for experiments, the ability to maintain a fixed injected power while varying the torque. In another case, different beam energy waveforms (in the same plasma conditions) produce significantmore » changes in the observed spectrum of beam ion-driven instabilities. Measurements of beam ion loss show that one energy waveform results in the complete avoidance of coherent losses due to Alfvénic instabilities. This new method of neutral beam operation is intended for further application in a variety of DIII-D experiments including those concerned with high-performance steady state scenarios, fast particle effects, and transport in the low torque regime. As a result, developing this capability would provide similar benefits and improved plasma control for other magnetic confinement fusion facilities.« less

Control of power, torque, and instability drive using in-shot variable neutral beam energy in tokamaks

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

Pace, D. C.; Collins, C. S.; Crowley, B.

A first-ever demonstration of controlling power and torque injection through time evolution of neutral beam energy has been achieved in recent experiments at the DIII-D tokamak. Pre-programmed waveforms for the neutral beam energy produce power and torque inputs that can be separately and continuously controlled. Previously, these inputs were tailored using on/off modulation of neutral beams resulting in large perturbations (e.g. power swings of over 1 MW). The new method includes, importantly for experiments, the ability to maintain a fixed injected power while varying the torque. In another case, different beam energy waveforms (in the same plasma conditions) produce significantmore » changes in the observed spectrum of beam ion-driven instabilities. Measurements of beam ion loss show that one energy waveform results in the complete avoidance of coherent losses due to Alfvénic instabilities. This new method of neutral beam operation is intended for further application in a variety of DIII-D experiments including those concerned with high-performance steady state scenarios, fast particle effects, and transport in the low torque regime. As a result, developing this capability would provide similar benefits and improved plasma control for other magnetic confinement fusion facilities.« less

Control of power, torque, and instability drive using in-shot variable neutral beam energy in tokamaks

NASA Astrophysics Data System (ADS)

Pace, D. C.; Collins, C. S.; Crowley, B.; Grierson, B. A.; Heidbrink, W. W.; Pawley, C.; Rauch, J.; Scoville, J. T.; Van Zeeland, M. A.; Zhu, Y. B.; The DIII-D Team

2017-01-01

A first-ever demonstration of controlling power and torque injection through time evolution of neutral beam energy has been achieved in recent experiments at the DIII-D tokamak (Luxon 2002 Nucl. Fusion 42 614). Pre-programmed waveforms for the neutral beam energy produce power and torque inputs that can be separately and continuously controlled. Previously, these inputs were tailored using on/off modulation of neutral beams resulting in large perturbations (e.g. power swings of over 1 MW). The new method includes, importantly for experiments, the ability to maintain a fixed injected power while varying the torque. In another case, different beam energy waveforms (in the same plasma conditions) produce significant changes in the observed spectrum of beam ion-driven instabilities. Measurements of beam ion loss show that one energy waveform results in the complete avoidance of coherent losses due to Alfvénic instabilities. This new method of neutral beam operation is intended for further application in a variety of DIII-D experiments including those concerned with high-performance steady state scenarios, fast particle effects, and transport in the low torque regime. Developing this capability would provide similar benefits and improved plasma control for other magnetic confinement fusion facilities.

Adaptive control schemes for improving dynamic performance of efficiency-optimized induction motor drives.

PubMed

Kumar, Navneet; Raj Chelliah, Thanga; Srivastava, S P

2015-07-01

Model Based Control (MBC) is one of the energy optimal controllers used in vector-controlled Induction Motor (IM) for controlling the excitation of motor in accordance with torque and speed. MBC offers energy conservation especially at part-load operation, but it creates ripples in torque and speed during load transition, leading to poor dynamic performance of the drive. This study investigates the opportunity for improving dynamic performance of a three-phase IM operating with MBC and proposes three control schemes: (i) MBC with a low pass filter (ii) torque producing current (iqs) injection in the output of speed controller (iii) Variable Structure Speed Controller (VSSC). The pre and post operation of MBC during load transition is also analyzed. The dynamic performance of a 1-hp, three-phase squirrel-cage IM with mine-hoist load diagram is tested. Test results are provided for the conventional field-oriented (constant flux) control and MBC (adjustable excitation) with proposed schemes. The effectiveness of proposed schemes is also illustrated for parametric variations. The test results and subsequent analysis confer that the motor dynamics improves significantly with all three proposed schemes in terms of overshoot/undershoot peak amplitude of torque and DC link power in addition to energy saving during load transitions. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Implementation of Temperature Sequential Controller on Variable Speed Drive

NASA Astrophysics Data System (ADS)

Cheong, Z. X.; Barsoum, N. N.

2008-10-01

There are many pump and motor installations with quite extensive speed variation, such as Sago conveyor, heating, ventilation and air conditioning (HVAC) and water pumping system. A common solution for these applications is to run several fixed speed motors in parallel, with flow control accomplish by turning the motors on and off. This type of control method causes high in-rush current, and adds a risk of damage caused by pressure transients. This paper explains the design and implementation of a temperature speed control system for use in industrial and commercial sectors. Advanced temperature speed control can be achieved by using ABB ACS800 variable speed drive-direct torque sequential control macro, programmable logic controller and temperature transmitter. The principle of direct torque sequential control macro (DTC-SC) is based on the control of torque and flux utilizing the stator flux field orientation over seven preset constant speed. As a result of continuous comparison of ambient temperature to the references temperatures; electromagnetic torque response is particularly fast to the motor state and it is able maintain constant speeds. Experimental tests have been carried out by using ABB ACS800-U1-0003-2, to validate the effectiveness and dynamic respond of ABB ACS800 against temperature variation, loads, and mechanical shocks.

Effects of counter torque and transposition (transfer) of installed implants timing on their integration in dog tibia

PubMed Central

Fathi, Shima; Ghanavati, Farzin

2015-01-01

PURPOSE The purpose of this research was to evaluate the amount of reosseointegration after counter torquing (reverse torque) and transposing the installed implants at different times. MATERIALS AND METHODS This study was done on ten tibiae of five cross-bred dogs. At the first day one implant was installed in each tibia. After one week half of the implants were randomly counter torqued (1WCT) and the other half were explanted and reimplanted in a new juxtaposition site (transposed)(1WT). At the same time three new implants were installed in each dog, one of them was considered as one week control (1WC) and remaining two as 8 week groups (8WCT&8WT). After eight weeks the 1WCT and 1WT implants were loosened by counter torque and the quantity of needed force for liberation was measured with the digital device (BGI). At the same time one implant was installed in each dog as eight week control (8WC) and the same protocol was repeated for 8 week groups after another 8 weeks. RESULTS All implants were osseointegrated. Mean quantities of osseointegration in case groups indicated better amounts rather than control groups. CONCLUSION Counter torque or transposition of the installed implants one week or eight weeks after the implantation did lead to osseointegration. PMID:25722840

Evoked EMG-based torque prediction under muscle fatigue in implanted neural stimulation

NASA Astrophysics Data System (ADS)

Hayashibe, Mitsuhiro; Zhang, Qin; Guiraud, David; Fattal, Charles

2011-10-01

In patients with complete spinal cord injury, fatigue occurs rapidly and there is no proprioceptive feedback regarding the current muscle condition. Therefore, it is essential to monitor the muscle state and assess the expected muscle response to improve the current FES system toward adaptive force/torque control in the presence of muscle fatigue. Our team implanted neural and epimysial electrodes in a complete paraplegic patient in 1999. We carried out a case study, in the specific case of implanted stimulation, in order to verify the corresponding torque prediction based on stimulus evoked EMG (eEMG) when muscle fatigue is occurring during electrical stimulation. Indeed, in implanted stimulation, the relationship between stimulation parameters and output torques is more stable than external stimulation in which the electrode location strongly affects the quality of the recruitment. Thus, the assumption that changes in the stimulation-torque relationship would be mainly due to muscle fatigue can be made reasonably. The eEMG was proved to be correlated to the generated torque during the continuous stimulation while the frequency of eEMG also decreased during fatigue. The median frequency showed a similar variation trend to the mean absolute value of eEMG. Torque prediction during fatigue-inducing tests was performed based on eEMG in model cross-validation where the model was identified using recruitment test data. The torque prediction, apart from the potentiation period, showed acceptable tracking performances that would enable us to perform adaptive closed-loop control through implanted neural stimulation in the future.

Dynamic modeling of parallel robots for computed-torque control implementation

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

Codourey, A.

1998-12-01

In recent years, increased interest in parallel robots has been observed. Their control with modern theory, such as the computed-torque method, has, however, been restrained, essentially due to the difficulty in establishing a simple dynamic model that can be calculated in real time. In this paper, a simple method based on the virtual work principle is proposed for modeling parallel robots. The mass matrix of the robot, needed for decoupling control strategies, does not explicitly appear in the formulation; however, it can be computed separately, based on kinetic energy considerations. The method is applied to the DELTA parallel robot, leadingmore » to a very efficient model that has been implemented in a real-time computed-torque control algorithm.« less

Spinal circuits can accommodate interaction torques during multijoint limb movements.

PubMed

Buhrmann, Thomas; Di Paolo, Ezequiel A

2014-01-01

The dynamic interaction of limb segments during movements that involve multiple joints creates torques in one joint due to motion about another. Evidence shows that such interaction torques are taken into account during the planning or control of movement in humans. Two alternative hypotheses could explain the compensation of these dynamic torques. One involves the use of internal models to centrally compute predicted interaction torques and their explicit compensation through anticipatory adjustment of descending motor commands. The alternative, based on the equilibrium-point hypothesis, claims that descending signals can be simple and related to the desired movement kinematics only, while spinal feedback mechanisms are responsible for the appropriate creation and coordination of dynamic muscle forces. Partial supporting evidence exists in each case. However, until now no model has explicitly shown, in the case of the second hypothesis, whether peripheral feedback is really sufficient on its own for coordinating the motion of several joints while at the same time accommodating intersegmental interaction torques. Here we propose a minimal computational model to examine this question. Using a biomechanics simulation of a two-joint arm controlled by spinal neural circuitry, we show for the first time that it is indeed possible for the neuromusculoskeletal system to transform simple descending control signals into muscle activation patterns that accommodate interaction forces depending on their direction and magnitude. This is achieved without the aid of any central predictive signal. Even though the model makes various simplifications and abstractions compared to the complexities involved in the control of human arm movements, the finding lends plausibility to the hypothesis that some multijoint movements can in principle be controlled even in the absence of internal models of intersegmental dynamics or learned compensatory motor signals.

A discrete decentralized variable structure robotic controller

NASA Technical Reports Server (NTRS)

Tumeh, Zuheir S.

1989-01-01

A decentralized trajectory controller for robotic manipulators is designed and tested using a multiprocessor architecture and a PUMA 560 robot arm. The controller is made up of a nominal model-based component and a correction component based on a variable structure suction control approach. The second control component is designed using bounds on the difference between the used and actual values of the model parameters. Since the continuous manipulator system is digitally controlled along a trajectory, a discretized equivalent model of the manipulator is used to derive the controller. The motivation for decentralized control is that the derived algorithms can be executed in parallel using a distributed, relatively inexpensive, architecture where each joint is assigned a microprocessor. Nonlinear interaction and coupling between joints is treated as a disturbance torque that is estimated and compensated for.

Disturbance torque rejection properties of the NASA/JPL 70-meter antenna axis servos

NASA Technical Reports Server (NTRS)

Hill, R. E.

1989-01-01

Analytic methods for evaluating pointing errors caused by external disturbance torques are developed and applied to determine the effects of representative values of wind and friction torque. The expressions relating pointing errors to disturbance torques are shown to be strongly dependent upon the state estimator parameters, as well as upon the state feedback gain and the flow versus pressure characteristics of the hydraulic system. Under certain conditions, when control is derived from an uncorrected estimate of integral position error, the desired type 2 servo properties are not realized and finite steady-state position errors result. Methods for reducing these errors to negligible proportions through the proper selection of control gain and estimator correction parameters are demonstrated. The steady-state error produced by a disturbance torque is found to be directly proportional to the hydraulic internal leakage. This property can be exploited to provide a convenient method of determining system leakage from field measurements of estimator error, axis rate, and hydraulic differential pressure.

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.

Operant learning of Drosophila at the torque meter.

PubMed

Brembs, Bjoern

2008-06-16

For experiments at the torque meter, flies are kept on standard fly medium at 25 degrees C and 60% humidity with a 12hr light/12hr dark regime. A standardized breeding regime assures proper larval density and age-matched cohorts. Cold-anesthetized flies are glued with head and thorax to a triangle-shaped hook the day before the experiment. Attached to the torque meter via a clamp, the fly's intended flight maneuvers are measured as the angular momentum around its vertical body axis. The fly is placed in the center of a cylindrical panorama to accomplish stationary flight. An analog to digital converter card feeds the yaw torque signal into a computer which stores the trace for later analysis. The computer also controls a variety of stimuli which can be brought under the fly's control by closing the feedback loop between these stimuli and the yaw torque trace. Punishment is achieved by applying heat from an adjustable infrared laser.

Surface hydrogenation regulated wrinkling and torque capability of hydrogenated graphene annulus under circular shearing.

PubMed

Li, Yinfeng; Liu, Silin; Datta, Dibakar; Li, Zhonghua

2015-11-12

Wrinkles as intrinsic topological feature have been expected to affect the electrical and mechanical properties of atomically thin graphene. Molecular dynamics simulations are adopted to investigate the wrinkling characteristics in hydrogenated graphene annulus under circular shearing at the inner edge. The amplitude of wrinkles induced by in-plane rotation around the inner edge is sensitive to hydrogenation, and increases quadratically with hydrogen coverage. The effect of hydrogenation on mechanical properties is investigated by calculating the torque capability of annular graphene with varying hydrogen coverage and inner radius. Hydrogenation-enhanced wrinkles cause the aggregation of carbon atoms towards the inner edge and contribute to the critical torque strength of annulus. Based on detailed stress distribution contours, a shear-to-tension conversion mechanism is proposed for the contribution of wrinkles on torque capacity. As a result, the graphane annulus anomalously has similar torque capacity to pristine graphene annulus. The competition between hydrogenation caused bond strength deterioration and wrinkling induced local stress state conversion leads to a U-shaped evolution of torque strength relative to the increase of hydrogen coverage from 0 to 100%. Such hydrogenation tailored topological and mechanical characteristics provides an innovative mean to develop novel graphene-based devices.

Power tong torque control

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

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

1987-10-20

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

Shear mode ER transfer function for robotic applications

NASA Astrophysics Data System (ADS)

Tan, K. P.; Stanway, R.; Bullough, W. A.

2005-06-01

Electro-rheological (ER) fluids are becoming popular in modern industrial applications. The advantage of employing ER devices is due to the ease of energizing the ER fluids at fast speeds of response. One innovation in ER applications could be in the positioning control of the robotic arm using an ER clutch. In order to actuate the manipulator, the ER output torque response is required. However, the behaviour of this ER torque response at different input conditions is not clearly understood. Therefore, in this paper, a sample study of the ER output torque is conducted. The ER output torque responses at different input parameters are studied carefully for the establishment of an appropriate ER transfer function in shear mode. This transfer function will serve as an important feature in future ER-actuated robot arm's control process.

Improved Beam Jitter Control Methods for High Energy Laser Systems

DTIC Science & Technology

2009-12-01

Figure 16. The inner loop is a rate control loop composed of a gimbal, power amplifier , controller, and servo components (gyro, motor, and encoder...system characterization experiments 1. WFOV Control Loop a. Resonance Frequency Random signals were applied to the power amplifier and output...Loop Stabilization By applying a disturbance to the input of the power amplifier and measuring torque error, one is able to determine the torque

Robust Control of a Cable-Driven Soft Exoskeleton Joint for Intrinsic Human-Robot Interaction.

PubMed

Jarrett, C; McDaid, A J

2017-07-01

A novel, cable-driven soft joint is presented for use in robotic rehabilitation exoskeletons to provide intrinsic, comfortable human-robot interaction. The torque-displacement characteristics of the soft elastomeric core contained within the joint are modeled. This knowledge is used in conjunction with a dynamic system model to derive a sliding mode controller (SMC) to implement low-level torque control of the joint. The SMC controller is experimentally compared with a baseline feedback-linearised proportional-derivative controller across a range of conditions and shown to be robust to un-modeled disturbances. The torque controller is then tested with six healthy subjects while they perform a selection of activities of daily living, which has validated its range of performance. Finally, a case study with a participant with spastic cerebral palsy is presented to illustrate the potential of both the joint and controller to be used in a physiotherapy setting to assist clinical populations.

Research study on stabilization and control: Modern sampled-data control theory. Continuous and discrete describing function analysis of the LST system. [with emphasis on the control moment gyroscope control loop

NASA Technical Reports Server (NTRS)

Kuo, B. C.; Singh, G.

1974-01-01

The dynamics of the Large Space Telescope (LST) control system were studied in order to arrive at a simplified model for computer simulation without loss of accuracy. The frictional nonlinearity of the Control Moment Gyroscope (CMG) Control Loop was analyzed in a model to obtain data for the following: (1) a continuous describing function for the gimbal friction nonlinearity; (2) a describing function of the CMG nonlinearity using an analytical torque equation; and (3) the discrete describing function and function plots for CMG functional linearity. Preliminary computer simulations are shown for the simplified LST system, first without, and then with analytical torque expressions. Transfer functions of the sampled-data LST system are also described. A final computer simulation is presented which uses elements of the simplified sampled-data LST system with analytical CMG frictional torque expressions.

Solar Sail Attitude Control Performance Comparison

NASA Technical Reports Server (NTRS)

Bladt, Jeff J.; Lawrence, Dale A.

2005-01-01

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

Lock-up control system for an automatic transmission

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

Higashi, H.; Yashiki, S.; Waki, K.

A lock-up control system is described for an automatic transmission including a torque converter coupled with the output portion on an engine, and a power transmitting gear arrangement coupled with the output portion of the torque converter and controlled to vary the transmitting gear ratio therein by gear ratio control means in accordance with a shifting up or down command supplied to the latter. A lock-up clutch is provided for locking up the output portion of the torque converter to the output portion of the engine. The lock-up control system comprises: lock-up operation control means for controlling the lock-up clutchmore » to be in its operative state and in its inoperative state selectively, and for causing the lock-up clutch to be in the inoperative state thereof when the gear ratio control means performs the control with the shifting up or down command, and lock-up command means for preventing the lock-up operation control means from causing the lock-up clutch to be in the inoperative state thereof until a predetermined reductive variation in the speed of the output portion of the torque converter arises after the shifting up command is supplied to the gear ratio control means under the condition in which the lock-up clutch is in operation to hold a lock-up state.« less

Three-axis attitude control by two-step rotations using only magnetic torquers in a low Earth orbit near the magnetic equator

NASA Astrophysics Data System (ADS)

Inamori, Takaya; Otsuki, Kensuke; Sugawara, Yoshiki; Saisutjarit, Phongsatorn; Nakasuka, Shinichi

2016-11-01

This study proposes a novel method for three-axis attitude control using only magnetic torquers (MTQs). Previously, MTQs have been utilized for attitude control in many low Earth orbit satellites. Although MTQs are useful for achieving attitude control at low cost and high reliability without the need for propellant, these electromagnetic coils cannot be used to generate an attitude control torque about the geomagnetic field vector. Thus, conventional attitude control methods using MTQs assume the magnetic field changes in an orbital period so that the satellite can generate a required attitude control torque after waiting for a change in the magnetic field direction. However, in a near magnetic equatorial orbit, the magnetic field does not change in an inertial reference frame. Thus, satellites cannot generate a required attitude control torque in a single orbital period with only MTQs. This study proposes a method for achieving a rotation about the geomagnetic field vector by generating a torque that is perpendicular to it. First, this study shows that the three-axis attitude control using only MTQs is feasible with a two-step rotation. Then, the study proposes a method for controlling the attitude with the two-step rotation using a PD controller. Finally, the proposed method is assessed by examining the results of numerical simulations.

Control System for Bearingless Motor-generator

NASA Technical Reports Server (NTRS)

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

2008-01-01

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

Control system for bearingless motor-generator

NASA Technical Reports Server (NTRS)

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

2010-01-01

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

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.

Loosening torque of Universal Abutment screws after cyclic loading: influence of tightening technique and screw coating.

PubMed

Bacchi, Atais; Regalin, Alexandre; Bhering, Claudia Lopes Brilhante; Alessandretti, Rodrigo; Spazzin, Aloisio Oro

2015-10-01

The purpose of this study was to evaluate the influence of tightening technique and the screw coating on the loosening torque of screws used for Universal Abutment fixation after cyclic loading. Forty implants (Titamax Ti Cortical, HE, Neodent) (n=10) were submerged in acrylic resin and four tightening techniques for Universal Abutment fixation were evaluated: A - torque with 32 Ncm (control); B - torque with 32 Ncm holding the torque meter for 20 seconds; C - torque with 32 Ncm and retorque after 10 minutes; D - torque (32 Ncm) holding the torque meter for 20 seconds and retorque after 10 minutes as initially. Samples were divided into subgroups according to the screw used: conventional titanium screw or diamond like carbon-coated (DLC) screw. Metallic crowns were fabricated for each abutment. Samples were submitted to cyclic loading at 10(6) cycles and 130 N of force. Data were analyzed by two-way ANOVA and Tukey's test (5%). The tightening technique did not show significant influence on the loosening torque of screws (P=.509). Conventional titanium screws showed significant higher loosening torque values than DLC (P=.000). The use of conventional titanium screw is more important than the tightening techniques employed in this study to provide long-term stability to Universal Abutment screws.

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

Design type air engine Di Pietro

NASA Astrophysics Data System (ADS)

Zwierzchowski, Jaroslaw

The article presents a pneumatic engine constructed by Angelo Di Pietro. 3D solid models of pneumatic engine components were presented therein. A directional valve is a key element of the control system. The valve functions as a camshaft distributing air to particular engine chambers. The construction designed by Angelo Di Pietro is modern and innovative. A pneumatic engine requires low pressure to start rotary movement. With the use of CFD software, the fields of velocity vectors' distribution were determined. Moreover, the author determined the distribution of pressure values in engine inlet and outlet channels. CFD model studies on engine operation were conducted for chosen stages of operating cycles. On the basis of simulation tests that were conducted, the values of flow rates for the engine were determined. The distribution of pressure values made it possible to evaluate the torque value on the rotating shaft.

Influence of Joint Angle on EMG-Torque Model During Constant-Posture, Torque-Varying Contractions.

PubMed

Liu, Pu; Liu, Lukai; Clancy, Edward A

2015-11-01

Relating the electromyogram (EMG) to joint torque is useful in various application areas, including prosthesis control, ergonomics and clinical biomechanics. Limited study has related EMG to torque across varied joint angles, particularly when subjects performed force-varying contractions or when optimized modeling methods were utilized. We related the biceps-triceps surface EMG of 22 subjects to elbow torque at six joint angles (spanning 60° to 135°) during constant-posture, torque-varying contractions. Three nonlinear EMG σ -torque models, advanced EMG amplitude (EMG σ ) estimation processors (i.e., whitened, multiple-channel) and the duration of data used to train models were investigated. When EMG-torque models were formed separately for each of the six distinct joint angles, a minimum "gold standard" error of 4.01±1.2% MVC(F90) resulted (i.e., error relative to maximum voluntary contraction at 90° flexion). This model structure, however, did not directly facilitate interpolation across angles. The best model which did so achieved a statistically equivalent error of 4.06±1.2% MVC(F90). Results demonstrated that advanced EMG σ processors lead to improved joint torque estimation as do longer model training durations.

Spin-orbit torques and anisotropic magnetization damping in skyrmion crystals

NASA Astrophysics Data System (ADS)

Hals, Kjetil M. D.; Brataas, Arne

2014-02-01

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

Lyapunov optimal feedback control of a nonlinear inverted pendulum

NASA Technical Reports Server (NTRS)

Grantham, W. J.; Anderson, M. J.

1989-01-01

Liapunov optimal feedback control is applied to a nonlinear inverted pendulum in which the control torque was constrained to be less than the nonlinear gravity torque in the model. This necessitates a control algorithm which 'rocks' the pendulum out of its potential wells, in order to stabilize it at a unique vertical position. Simulation results indicate that a preliminary Liapunov feedback controller can successfully overcome the nonlinearity and bring almost all trajectories to the target.

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.

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

NASA Technical Reports Server (NTRS)

Dunning, R. S.

1973-01-01

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

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.

Comparison of removal torques between laser-treated and SLA-treated implant surfaces in rabbit tibiae

PubMed Central

Kang, Nam-Seok; Li, Lin-Jie

2014-01-01

PURPOSE The purpose of this study was to compare removal torques and surface topography between laser treated and sandblasted, large-grit, acid-etched (SLA) treated implants. MATERIALS AND METHODS Laser-treated implants (experimental group) and SLA-treated implants (control group) 8 mm in length and 3.4 mm in diameter were inserted into both sides of the tibiae of 12 rabbits. Surface analysis was accomplished using a field emission scanning electron microscope (FE-SEM; Hitachi S-4800; Japan) under ×25, ×150 and ×1,000 magnification. Surface components were analyzed using energy dispersive spectroscopy (EDS). Rabbits were sacrificed after a 6-week healing period. The removal torque was measured using the MGT-12 digital torque meter (Mark-10 Co., Copiague, NY, USA). RESULTS In the experimental group, the surface analysis showed uniform porous structures under ×25, ×150 and ×1,000 magnification. Pore sizes in the experimental group were 20-40 mm and consisted of numerous small pores, whereas pore sizes in the control group were 0.5-2.0 mm. EDS analysis showed no significant difference between the two groups. The mean removal torque in the laser-treated and the SLA-treated implant groups were 79.4 Ncm (SD = 20.4; range 34.6-104.3 Ncm) and 52.7 Ncm (SD = 17.2; range 18.7-73.8 Ncm), respectively. The removal torque in the laser-treated surface implant group was significantly higher than that in the control group (P=.004). CONCLUSION In this study, removal torque values were significantly higher for laser-treated surface implants than for SLA-treated surface implants. PMID:25177474

Modulation of motor control in saccadic behaviors by TMS over the posterior parietal cortex.

PubMed

Liang, Wei-Kuang; Juan, Chi-Hung

2012-08-01

The right posterior parietal cortex (rPPC) has been found to be critical in shaping visual selection and distractor-induced saccade curvature in the context of predictive as well as nonpredictive visual cues by means of transcranial magnetic stimulation (TMS) interference. However, the dynamic details of how distractor-induced saccade curvatures are affected by rPPC TMS have not yet been investigated. This study aimed to elucidate the key dynamic properties that cause saccades to curve away from distractors with different degrees of curvature in various TMS and target predictability conditions. Stochastic optimal feedback control theory was used to model the dynamics of the TMS saccade data. This allowed estimation of torques, which was used to identify the critical dynamic mechanisms producing saccade curvature. The critical mechanisms of distractor-induced saccade curvatures were found to be the motor commands and torques in the transverse direction. When an unpredictable saccade target occurred with rPPC TMS, there was an initial period of greater distractor-induced torque toward the side opposite the distractor in the transverse direction, immediately followed by a relatively long period of recovery torque that brought the deviated trace back toward the target. The results imply that the mechanisms of distractor-induced saccade curvature may be comprised of two mechanisms: the first causing the initial deviation and the second bringing the deviated trace back toward the target. The pattern of the initial torque in the transverse direction revealed the former mechanism. Conversely, the later mechanism could be well explained as a consequence of the control policy in this model. To summarize, rPPC TMS increased the initial torque away from the distractor as well as the recovery torque toward the target.

Optimal control of motorsport differentials

NASA Astrophysics Data System (ADS)

Tremlett, A. J.; Massaro, M.; Purdy, D. J.; Velenis, E.; Assadian, F.; Moore, A. P.; Halley, M.

2015-12-01

Modern motorsport limited slip differentials (LSD) have evolved to become highly adjustable, allowing the torque bias that they generate to be tuned in the corner entry, apex and corner exit phases of typical on-track manoeuvres. The task of finding the optimal torque bias profile under such varied vehicle conditions is complex. This paper presents a nonlinear optimal control method which is used to find the minimum time optimal torque bias profile through a lane change manoeuvre. The results are compared to traditional open and fully locked differential strategies, in addition to considering related vehicle stability and agility metrics. An investigation into how the optimal torque bias profile changes with reduced track-tyre friction is also included in the analysis. The optimal LSD profile was shown to give a performance gain over its locked differential counterpart in key areas of the manoeuvre where a quick direction change is required. The methodology proposed can be used to find both optimal passive LSD characteristics and as the basis of a semi-active LSD control algorithm.

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.

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.

The Effects of Different Passive Static Stretching Intensities on Recovery from Unaccustomed Eccentric Exercise - A Randomized Controlled Trial.

PubMed

Apostolopoulos, Nikos C; Lahart, Ian M; Plyley, Michael J; Taunton, Jack; Nevill, Alan M; Koutedakis, Yiannis; Wyon, Matthew; Metsios, George S

2018-03-12

Effects of passive static stretching intensity on recovery from unaccustomed eccentric exercise of right knee extensors was investigated in 30 recreationally active males randomly allocated into three groups: high-intensity (70-80% maximum perceived stretch), low-intensity (30-40% maximum perceived stretch), and control. Both stretching groups performed 3 sets of passive static stretching exercises of 60s each for hamstrings, hip flexors, and quadriceps, over 3 consecutive days, post-unaccustomed eccentric exercise. Muscle function (eccentric and isometric peak torque) and blood biomarkers (CK and CRP) were measured before (baseline) and after (24, 48, and 72h) unaccustomed eccentric exercise. Perceived muscle soreness scores were collected immediately (time 0), and after 24, 48, and 72h post-exercise. Statistical time x condition interactions observed only for eccentric peak torque (p=.008). Magnitude-based inference analyses revealed low-intensity stretching had most likely, very likely, or likely beneficial effects on perceived muscle soreness (48-72h and 0-72h) and eccentric peak torque (baseline-24h and baseline-72h), compared with high-intensity stretching. Compared with control, low-intensity stretching had very likely or likely beneficial effects on perceived muscle soreness (0-24h and 0-72h), eccentric peak torque (baseline-48h and baseline-72h), and isometric peak torque (baseline-72h). High-intensity stretching had likely beneficial effects on eccentric peak torque (baseline-48h), but likely harmful effects eccentric peak torque (baseline-24h) and CK (baseline-48h and baseline-72h), compared with control. Therefore, low-intensity stretching is likely to result in small-to-moderate beneficial effects on perceived muscle soreness and recovery of muscle function post-unaccustomed eccentric exercise, but not markers of muscle damage and inflammation, compared with high-intensity or no stretching.

Method for spinning up a three-axis controlled spacecraft

NASA Technical Reports Server (NTRS)

Vorlicek, Preston L. (Inventor)

1988-01-01

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

Novel Straight Road Driving Control of Power Assisted Wheelchair Based on Disturbance Estimation of Right and Left Wheels

NASA Astrophysics Data System (ADS)

Seki, Hirokazu; Sugimoto, Takeaki; Tadakuma, Susumu

This paper describes a novel straight road driving control scheme of power assisted wheelchair. Power assisted wheelchair which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people. The straight driving can be prevented by the road conditions such as branches, grass and carpets because the right and left wheels drive independently. This paper proposes a straight road driving control system based on the disturbance torque estimation. The proposed system estimates the difference of the driving torque by disturbance torque observer and compensates to one side of the wheels. Some practical driving experiments on various road conditions show the effectiveness of the proposed control system.

Numerical simulations of flow fields through conventionally controlled wind turbines & wind farms

NASA Astrophysics Data System (ADS)

Emre Yilmaz, Ali; Meyers, Johan

2014-06-01

In the current study, an Actuator-Line Model (ALM) is implemented in our in-house pseudo-spectral LES solver SP-WIND, including a turbine controller. Below rated wind speed, turbines are controlled by a standard-torque-controller aiming at maximum power extraction from the wind. Above rated wind speed, the extracted power is limited by a blade pitch controller which is based on a proportional-integral type control algorithm. This model is used to perform a series of single turbine and wind farm simulations using the NREL 5MW turbine. First of all, we focus on below-rated wind speed, and investigate the effect of the farm layout on the controller calibration curves. These calibration curves are expressed in terms of nondimensional torque and rotational speed, using the mean turbine-disk velocity as reference. We show that this normalization leads to calibration curves that are independent of wind speed, but the calibration curves do depend on the farm layout, in particular for tightly spaced farms. Compared to turbines in a lone-standing set-up, turbines in a farm experience a different wind distribution over the rotor due to the farm boundary-layer interaction. We demonstrate this for fully developed wind-farm boundary layers with aligned turbine arrangements at different spacings (5D, 7D, 9D). Further we also compare calibration curves obtained from full farm simulations with calibration curves that can be obtained at a much lower cost using a minimal flow unit.

Compensating for intersegmental dynamics across the shoulder, elbow, and wrist joints during feedforward and feedback control.

PubMed

Maeda, Rodrigo S; Cluff, Tyler; Gribble, Paul L; Pruszynski, J Andrew

2017-10-01

Moving the arm is complicated by mechanical interactions that arise between limb segments. Such intersegmental dynamics cause torques applied at one joint to produce movement at multiple joints, and in turn, the only way to create single joint movement is by applying torques at multiple joints. We investigated whether the nervous system accounts for intersegmental limb dynamics across the shoulder, elbow, and wrist joints during self-initiated planar reaching and when countering external mechanical perturbations. Our first experiment tested whether the timing and amplitude of shoulder muscle activity account for interaction torques produced during single-joint elbow movements from different elbow initial orientations and over a range of movement speeds. We found that shoulder muscle activity reliably preceded movement onset and elbow agonist activity, and was scaled to compensate for the magnitude of interaction torques arising because of forearm rotation. Our second experiment tested whether elbow muscles compensate for interaction torques introduced by single-joint wrist movements. We found that elbow muscle activity preceded movement onset and wrist agonist muscle activity, and thus the nervous system predicted interaction torques arising because of hand rotation. Our third and fourth experiments tested whether shoulder muscles compensate for interaction torques introduced by different hand orientations during self-initiated elbow movements and to counter mechanical perturbations that caused pure elbow motion. We found that the nervous system predicted the amplitude and direction of interaction torques, appropriately scaling the amplitude of shoulder muscle activity during self-initiated elbow movements and rapid feedback control. Taken together, our results demonstrate that the nervous system robustly accounts for intersegmental dynamics and that the process is similar across the proximal to distal musculature of the arm as well as between feedforward (i.e., self-initiated) and feedback (i.e., reflexive) control. NEW & NOTEWORTHY Intersegmental dynamics complicate the mapping between applied joint torques and the resulting joint motions. We provide evidence that the nervous system robustly predicts these intersegmental limb dynamics across the shoulder, elbow, and wrist joints during reaching and when countering external perturbations. Copyright © 2017 the American Physiological Society.

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.

Effect of Different Torque Settings on Crack Formation in Root Dentin.

PubMed

Dane, Asım; Capar, Ismail Davut; Arslan, Hakan; Akçay, Merve; Uysal, Banu

2016-02-01

The aim of the present study was to observe the incidence of cracks in root canal dentin using the ProTaper Universal system (Dentsply Maillefer, Ballaigues, Switzerland) at low- and high-torque settings. Sixty-nine mandibular premolar teeth that had been extracted for different reasons were selected. The teeth were divided into 3 groups: an unprepared control group, a low-torque settings group (SX = 3, S1 = 2, S2 = 1, F1 = 1.5, F2 = 2, F3 = 2, F4 = 2 N/cm), and a high-torque settings group (SX = 4, S1 = 4, S2 = 1.5, F1 = 2, F2 = 3, F3 = 3, F4 = 3 N/cm). After a root canal procedure, all the teeth were horizontally sectioned at 2, 4, 6, and 8 mm from the apex. Then, under a stereomicroscope, all the slices were examined to determine the presence of cracks. A chi-square test was used for data analysis. The significance level was set at P = .05. There were no cracks in the unprepared control group. Vertical root fractures were not observed in any of the groups. There were significantly fewer cracks (17.4% of the sections) in the low-torque group than in the high-torque group (29.4% of the sections) (P < .05). In this in vitro study, the instrumentation of root canals with the ProTaper Universal instrument caused more crack formation in root canal dentin at high-torque than at low-torque settings. Copyright © 2016 American Association of Endodontists. Published by Elsevier Inc. All rights reserved.

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.

Spin currents and spin-orbit torques in ferromagnetic trilayers.

PubMed

Baek, Seung-Heon C; Amin, Vivek P; Oh, Young-Wan; Go, Gyungchoon; Lee, Seung-Jae; Lee, Geun-Hee; Kim, Kab-Jin; Stiles, M D; Park, Byong-Guk; Lee, Kyung-Jin

2018-06-01

Magnetic torques generated through spin-orbit coupling 1-8 promise energy-efficient spintronic devices. For applications, it is important that these torques switch films with perpendicular magnetizations without an external magnetic field 9-14 . One suggested approach 15 to enable such switching uses magnetic trilayers in which the torque on the top magnetic layer can be manipulated by changing the magnetization of the bottom layer. Spin currents generated in the bottom magnetic layer or its interfaces transit the spacer layer and exert a torque on the top magnetization. Here we demonstrate field-free switching in such structures and show that its dependence on the bottom-layer magnetization is not consistent with the anticipated bulk effects 15 . We describe a mechanism for spin-current generation 16,17 at the interface between the bottom layer and the spacer layer, which gives torques that are consistent with the measured magnetization dependence. This other-layer-generated spin-orbit torque is relevant to energy-efficient control of spintronic devices.

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.

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

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

PubMed Central

Ma, Junqing; Song, Aiguo

2013-01-01

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

Effect of the coefficient of friction and tightening speed on the preload induced at the dental implant complex with the finite element method.

PubMed

Bulaqi, Haddad Arabi; Mousavi Mashhadi, Mahmoud; Geramipanah, Farideh; Safari, Hamed; Paknejad, Mojgan

2015-05-01

To prevent screw loosening, a clear understanding of the factors influencing secure preload is necessary. The purpose of this study was to investigate the effect of coefficient of friction and tightening speed on screw tightening based on energy distribution method with exact geometric modeling and finite element analysis. To simulate the proper boundary conditions of the screw tightening process, the supporting bone of an implant was considered. The exact geometry of the implant complex, including the Straumann dental implant, direct crown attachment, and abutment screw were modeled with Solidworks software. Abutment screw/implant and implant/bone interfaces were designed as spiral thread helixes. The screw-tightening process was simulated with Abaqus software, and to achieve the target torque, an angular displacement was applied to the abutment screw head at different coefficients of friction and tightening speeds. The values of torque, preload, energy distribution, elastic energy, and efficiency were obtained at the target torque of 35 Ncm. Additionally, the torque distribution ratio and preload simulated values were compared to theoretically predicted values. Upon reducing the coefficient of friction and enhancing the tightening speed, the angle of turn increased at the target torque. As the angle of turn increased, the elastic energy and preload also increased. Additionally, by increasing the coefficient of friction, the frictional dissipation energy increased but the efficiency decreased, whereas the increase in tightening speed insignificantly affected efficiency. The results of this study indicate that the coefficient of friction is the most influential factor on efficiency. Increasing the tightening speed lowered the response rate to the frictional resistance, thus diminishing the coefficient of friction and slightly increasing the preload. Increasing the tightening speed has the same result as reducing the coefficient of friction. Copyright © 2015 Editorial Council for the Journal of Prosthetic Dentistry. Published by Elsevier Inc. All rights reserved.

Control system and method for a hybrid electric vehicle

DOEpatents

Tamor, Michael Alan

2001-03-06

Several control methods are presented for application in a hybrid electric vehicle powertrain including in various embodiments an engine, a motor/generator, a transmission coupled at an input thereof to receive torque from the engine and the motor generator coupled to augment torque provided by the engine, an energy storage device coupled to receive energy from and provide energy to the motor/generator, an engine controller (EEC) coupled to control the engine, a transmission controller (TCM) coupled to control the transmission and a vehicle system controller (VSC) adapted to control the powertrain.

The effect of sterilization and number of use on the accuracy of friction-style mechanical torque limiting devices for dental implants

PubMed Central

Fayaz, Ali; Mahshid, Minoo; Saboury, Aboulfazl; Sadr, Seyed Jalil; Ansari, Ghassem

2014-01-01

Background: Mechanical torque limiting devices (MTLDs) are necessary tools to control a peak torque and achieving target values of screw component of dental implants. Due to probable effect of autoclaving and number of use on the accuracy of these devices, this study aimed to evaluate the effect of sterilization and number of use on the accuracy of friction-style mechanical torque limiting devices (F-S MTLDs) in achieving their target torque values. Materials and Methods: Peak torque measurements of 15 new F-S MTLDs from three different manufacturers (Astra Tech, BioHorizons, Dr. Idhe) were measured ten times before and after 100 steam sterilization using a digital torque gauge. To simulate the clinical situation of aging (number of use) target torque application process was repeated 10 times after each sterilization cycle and the peak torque values were registered. Comparison of the mean differences with target torque in each cycle was performed using one sample t test. Considering the type of MTLDs as inter subject comparison, One-way repeated measure ANOVA was used to evaluate the absolute values of differences between devices of each manufacturer in each group (α = 0.05). Results: The results of this study in Dr. Idhe group showed that, mean of difference values significantly differed from the target torque (P = 0.002) until 75 cycles. In Astra Tech group, also mean of difference values with under estimation trend, showed a significant difference with the target torque (P < 0.001). Mean of difference values significantly differed from the target torque with under estimation trend during all the 100 cycles in BioHorizons group (P < 0.05). Conclusion: The torque output of each individual device stayed in 10% difference from target torque values before 100 sterilization cycles, but more than 10% difference from the target torque was seen in varying degrees during these consequent cycles. PMID:24688564

Distribution of self-propelled organisms in fluid flows

NASA Astrophysics Data System (ADS)

Neufeld, Zoltan

2006-11-01

We study the distribution of microorganisms represented as self-propelled particles in a moving fluid medium. The particles are advected by the flow and, in addition, they swim in a direction controlled by external factors. Two cases are considered: 1. passive spheroidal particles, that swim with constant speed but the swimming direction is reoriented by the viscous torque acting on the spheroid due to the local velocity field, and 2. chemotactic particles, whose swimming speed is oriented and proportional to the gradient of the concentration of a chemoattractant. We show that the combined effects of chaotic mixing and chemotaxis or flow reorientation leads to aggregation of the particles along a complex manifold. We analyse the properties of the aggregates and the efficiency of chemotaxis in flows with strongly non-uniform fluctuating distribution of the chemottractant.

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

Robust attitude control design for spacecraft under assigned velocity and control constraints.

PubMed

Hu, Qinglei; Li, Bo; Zhang, Youmin

2013-07-01

A novel robust nonlinear control design under the constraints of assigned velocity and actuator torque is investigated for attitude stabilization of a rigid spacecraft. More specifically, a nonlinear feedback control is firstly developed by explicitly taking into account the constraints on individual angular velocity components as well as external disturbances. Considering further the actuator misalignments and magnitude deviation, a modified robust least-squares based control allocator is employed to deal with the problem of distributing the previously designed three-axis moments over the available actuators, in which the focus of this control allocation is to find the optimal control vector of actuators by minimizing the worst-case residual error using programming algorithms. The attitude control performance using the controller structure is evaluated through a numerical example. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

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.

Position And Force Control For Multiple-Arm Robots

NASA Technical Reports Server (NTRS)

Hayati, Samad A.

1988-01-01

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

Dynamic coordinated control during mode transition process for a compound power-split hybrid electric vehicle

NASA Astrophysics Data System (ADS)

Su, Yanzhao; Hu, Minghui; Su, Ling; Qin, Datong; Zhang, Tong; Fu, Chunyun

2018-07-01

The fuel economy of the hybrid electric vehicles (HEVs) can be effectively improved by the mode transition (MT). However, for a power-split powertrain whose power-split transmission is directly connected to the engine, the engine ripple torque (ERT), inconsistent dynamic characteristics (IDC) of engine and motors, model estimation inaccuracies (MEI), system parameter uncertainties (SPU) can cause jerk and vibration of transmission system during the MT process, which will reduce the driving comfort and the life of the drive parts. To tackle these problems, a dynamic coordinated control strategy (DCCS), including a staged engine torque feedforward and feedback estimation (ETFBC) and an active damping feedback compensation (ADBC) based on drive shaft torque estimation (DSTE), is proposed. And the effectiveness of this strategy is verified using a plant model. Firstly, the powertrain plant model is established, and the MT process and problems are analyzed. Secondly, considering the characteristics of the engine torque estimation (ETE) model before and after engine ignition, a motor torque compensation control based on the staged ERT estimation is developed. Then, considering the MEI, SPU and the load change, an ADBC based on a real-time nonlinear reduced-order robust observer of the DSTE is designed. Finally, the simulation results show that the proposed DCCS can effectively improve the driving comfort.

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

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.

Experimental analysis of drilling process in cortical bone.

PubMed

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

2014-02-01

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

Torque of the shank rotating muscles in patients with knee joint injuries.

PubMed

Hrycyna, Mariusz; Zieliński, Jacek

2011-01-01

The aim of the study was to evaluate the torque of the shank rotating muscles in patients with reconstructed anterior cruciate ligament (ACL) and rehabilitation accomplished in comparison with a control group. The study was carried out on the group of 187 males. For the purpose of the study a prototype testing device for the shank rotating muscles' torque under static conditions was used. The study was based on the measurement of maximal torque at selected angles (-30°, 0°, 45°) of the shank rotation as well as on the angle (30°, 60°, 90°) of flexion of the knee joint. The results obtained in the group with reconstructed anterior cruciate ligament (ACL) and rehabilitation accomplished were comparable to those the control group and mostly of no statistical significance. Lack of significant differences between the values of shank rotating muscles' torque achieved in an injured limb compared to an uninjured one may testify to an effective rehabilitation process. The results of the research can serve as a diagnostic tool for the rehabilitation process development.

Immediate effects of whole body vibration on patellar tendon properties and knee extension torque.

PubMed

Rieder, F; Wiesinger, H-P; Kösters, A; Müller, E; Seynnes, O R

2016-03-01

Reports about the immediate effects of whole body vibration (WBV) exposure upon torque production capacity are inconsistent. However, the changes in the torque-angle relationship observed by some authors after WBV may hinder the measurement of torque changes at a given angle. Acute changes in tendon mechanical properties do occur after certain types of exercise but this hypothesis has never been tested after a bout of WBV. The purpose of the present study was to investigate whether tendon compliance is altered immediately after WBV, effectively shifting the optimal angle of peak torque towards longer muscle length. Twenty-eight subjects were randomly assigned to either a WBV (n = 14) or a squatting control group (n = 14). Patellar tendon CSA, stiffness and Young's modulus and knee extension torque-angle relationship were measured using ultrasonography and dynamometry 1 day before and directly after the intervention. Tendon CSA was additionally measured 24 h after the intervention to check for possible delayed onset of swelling. The vibration intervention had no effects on patellar tendon CSA, stiffness and Young's modulus or the torque-angle relationship. Peak torque was produced at ~70° knee angle in both groups at pre- and post-test. Additionally, the knee extension torque globally remained unaffected with the exception of a small (-6%) reduction in isometric torque at a joint angle of 60°. The present results indicate that a single bout of vibration exposure does not substantially alter patellar tendon properties or the torque-angle relationship of knee extensors.

A novel flux-switching permanent magnet machine with v-shaped magnets

NASA Astrophysics Data System (ADS)

Zhao, Guishu; Hua, Wei

2017-05-01

In this paper, firstly a novel 6-stator-coil/17-rotor-pole (6/17) flux-switching permanent magnet (FSPM) machine with V-shaped magnets, deduced from conventional 12/17 FSPM machines is proposed to achieve more symmetrical phase back-electromotive force (back-EMF), and smaller torque ripple by comparing with an existing 6/10 V-shaped FSPM machine. Then, to obtain larger electromagnetic torque, less torque ripple, and easier mechanical processing, two improved variants based on the original 6/17 V-shaped topology are proposed. For the first variant, the separate stator-core segments located on the stator yoke are connected into a united stator yoke, while for the second variant the stator core is a whole entity by adding magnetic bridges at the ends of permanent magnets (PMs). Consequently, the performances of the three 6/17 V-shaped FSPM machines, namely, the original one and the two variants, are conducted by finite element analysis (FEA). The results reveal that the first variant exhibits significantly larger torque and considerably improved torque per magnet volume, i.e., the magnet utilization ratio than the original one, and the second variant exhibits the smallest torque ripple, least total harmonic distribution (THD) of phase back-EMF, and easiest mechanical processing for manufacturing.

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.

Loosening torque of Universal Abutment screws after cyclic loading: influence of tightening technique and screw coating

PubMed Central

Regalin, Alexandre; Bhering, Claudia Lopes Brilhante; Alessandretti, Rodrigo; Spazzin, Aloisio Oro

2015-01-01

PURPOSE The purpose of this study was to evaluate the influence of tightening technique and the screw coating on the loosening torque of screws used for Universal Abutment fixation after cyclic loading. MATERIALS AND METHODS Forty implants (Titamax Ti Cortical, HE, Neodent) (n=10) were submerged in acrylic resin and four tightening techniques for Universal Abutment fixation were evaluated: A - torque with 32 Ncm (control); B - torque with 32 Ncm holding the torque meter for 20 seconds; C - torque with 32 Ncm and retorque after 10 minutes; D - torque (32 Ncm) holding the torque meter for 20 seconds and retorque after 10 minutes as initially. Samples were divided into subgroups according to the screw used: conventional titanium screw or diamond like carbon-coated (DLC) screw. Metallic crowns were fabricated for each abutment. Samples were submitted to cyclic loading at 106 cycles and 130 N of force. Data were analyzed by two-way ANOVA and Tukey's test (5%). RESULTS The tightening technique did not show significant influence on the loosening torque of screws (P=.509). Conventional titanium screws showed significant higher loosening torque values than DLC (P=.000). CONCLUSION The use of conventional titanium screw is more important than the tightening techniques employed in this study to provide long-term stability to Universal Abutment screws. PMID:26576253

Performances estimation of a rotary traveling wave ultrasonic motor based on two-dimension analytical model.

PubMed

Ming, Y; Peiwen, Q

2001-03-01

The understanding of ultrasonic motor performances as a function of input parameters, such as the voltage amplitude, driving frequency, the preload on the rotor, is a key to many applications and control of ultrasonic motor. This paper presents performances estimation of the piezoelectric rotary traveling wave ultrasonic motor as a function of input voltage amplitude and driving frequency and preload. The Love equation is used to derive the traveling wave amplitude on the stator surface. With the contact model of the distributed spring-rigid body between the stator and rotor, a two-dimension analytical model of the rotary traveling wave ultrasonic motor is constructed. Then the performances of stead rotation speed and stall torque are deduced. With MATLAB computational language and iteration algorithm, we estimate the performances of rotation speed and stall torque versus input parameters respectively. The same experiments are completed with the optoelectronic tachometer and stand weight. Both estimation and experiment results reveal the pattern of performance variation as a function of its input parameters.

Gate-Driven Pure Spin Current in Graphene

NASA Astrophysics Data System (ADS)

Lin, Xiaoyang; Su, Li; Si, Zhizhong; Zhang, Youguang; Bournel, Arnaud; Zhang, Yue; Klein, Jacques-Olivier; Fert, Albert; Zhao, Weisheng

2017-09-01

The manipulation of spin current is a promising solution for low-power devices beyond CMOS. However, conventional methods, such as spin-transfer torque or spin-orbit torque for magnetic tunnel junctions, suffer from large power consumption due to frequent spin-charge conversions. An important challenge is, thus, to realize long-distance transport of pure spin current, together with efficient manipulation. Here, the mechanism of gate-driven pure spin current in graphene is presented. Such a mechanism relies on the electrical gating of carrier-density-dependent conductivity and spin-diffusion length in graphene. The gate-driven feature is adopted to realize the pure spin-current demultiplexing operation, which enables gate-controllable distribution of the pure spin current into graphene branches. Compared with the Elliott-Yafet spin-relaxation mechanism, the D'yakonov-Perel spin-relaxation mechanism results in more appreciable demultiplexing performance. The feature of the pure spin-current demultiplexing operation will allow a number of logic functions to be cascaded without spin-charge conversions and open a route for future ultra-low-power devices.

Modern methodology of designing target reliability into rotating mechanical components

NASA Technical Reports Server (NTRS)

Kececioglu, D. B.; Chester, L. B.

1973-01-01

Experimentally determined distributional cycles-to-failure versus maximum alternating nominal strength (S-N) diagrams, and distributional mean nominal strength versus maximum alternating nominal strength (Goodman) diagrams are presented. These distributional S-N and Goodman diagrams are for AISI 4340 steel, R sub c 35/40 hardness, round, cylindrical specimens 0.735 in. in diameter and 6 in. long with a circumferential groove 0.145 in. radius for a theoretical stress concentration = 1.42 and 0.034 in. radius for a stress concentration = 2.34. The specimens are subjected to reversed bending and steady torque in specially built, three complex-fatigue research machines. Based on these results, the effects on the distributional S-N and Goodman diagrams and on service life of superimposing steady torque on reversed bending are established, as well as the effect of various stress concentrations. In addition a computer program for determining the three-parameter Weibull distribution representing the cycles-to-failure data, and two methods for calculating the reliability of components subjected to cumulative fatigue loads are given.

The combined effect of dismantling for steam sterilization and aging on the accuracy of spring-style mechanical torque devices

PubMed Central

Mahshid, Minoo; Sadr, Seyed Jalil; Fayyaz, Ali; Kadkhodazadeh, Mahdi

2013-01-01

Purpose This study aimed to assess the combined effect of dismantling before sterilization and aging on the accuracy (±10% of the target torque) of spring-style mechanical torque devices (S-S MTDs). Methods Twenty new S-SMTDs from two different manufacturers (Nobel Biocare and Straumann: 10 of each type) were selected and divided into two groups, namely, case (group A) and control (group B). For sterilization, 100 cycles of autoclaving were performed in 100 sequences. In each sequence, 10 repetitions of peak torque values were registered for aging. To measure and assess the output of each device, a Tohnichi torque gauge was used (P<0.05). Results Before steam sterilization, all of the tested devices stayed within 10% of their target values. After 100 cycles of steam sterilization and aging with or without dismantling of the devices, the Nobel Biocare devices stayed within 10% of their target torque. In the Straumann devices, despite the significant difference between the peak torque and target torque values, the absolute error values stayed within 10% of their target torque. Conclusion Within the limitations of this study, there was no significant difference between the mean and absolute value of error between Nobel Biocare and Straumann S-S MTDs. PMID:24236244

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.

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.

Giant spin torque in hybrids with anisotropic p-d exchange interaction

NASA Astrophysics Data System (ADS)

Korenev, V. L.

2014-03-01

Control of magnetic domain wall movement by the spin-polarized current looks promising for creation of a new generation of magnetic memory devices. A necessary condition for this is the domain wall shift by a low-density current. Here, I show that a strongly anisotropic exchange interaction between mobile heavy holes and localized magnetic moments enormously increases the current-induced torque on the domain wall as compared to systems with isotropic exchange. This enables one to control the domain wall motion by current density 104 A/cm2 in ferromagnet/semiconductor hybrids. The experimental observation of the anisotropic torque will facilitate the integration of ferromagnetism into semiconductor electronics.

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.

Sensorless Sinusoidal Drives for Fan and Pump Motors by V/f Control

NASA Astrophysics Data System (ADS)

Kiuchi, Mitsuyuki; Ohnishi, Tokuo

This paper proposes sensorless sinusoidal driving methods of permanent magnet synchronous motors for fans and pumps by V/f control. The proposed methods are simple methods that control the motor peak current constant by voltage or frequency control, and are characterized by DC link current detection using a single shunt resistor at carrier wave signal bottom timing. As a result of the dumping factor from square torque load characteristics of fan and pump motors, it is possible to control stable starting and stable steady state by V/f control. In general, pressure losses as a result of the fluid pass of fan and pump systems are nearly constant; therefore, the flow rate and motor torque are determined by revolutions. Accordingly, high efficiency driving is possible by setting corresponding currents to q-axis currents (torque currents) at target revolutions. Because of the simple current detection and motor control methods, the proposed methods are optimum for fan and pump motor driving systems of home appliances.

State feedback integral control for a rotary direct drive servo valve using a Lyapunov function approach.

PubMed

Yu, Jue; Zhuang, Jian; Yu, Dehong

2015-01-01

This paper concerns a state feedback integral control using a Lyapunov function approach for a rotary direct drive servo valve (RDDV) while considering parameter uncertainties. Modeling of this RDDV servovalve reveals that its mechanical performance is deeply influenced by friction torques and flow torques; however, these torques are uncertain and mutable due to the nature of fluid flow. To eliminate load resistance and to achieve satisfactory position responses, this paper develops a state feedback control that integrates an integral action and a Lyapunov function. The integral action is introduced to address the nonzero steady-state error; in particular, the Lyapunov function is employed to improve control robustness by adjusting the varying parameters within their value ranges. This new controller also has the advantages of simple structure and ease of implementation. Simulation and experimental results demonstrate that the proposed controller can achieve higher control accuracy and stronger robustness. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

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.

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.

The Effect of Tissue Entrapment on Screw Loosening at the Implant/Abutment Interface of External- and Internal-Connection Implants: An In Vitro Study.

PubMed

Zeno, Helios A; Buitrago, Renan L; Sternberger, Sidney S; Patt, Marisa E; Tovar, Nick; Coelho, Paulo; Kurtz, Kenneth S; Tuminelli, Frank J

2016-04-01

To compare the removal of torque values of machined implant abutment connections (internal and external) with and without soft tissue entrapment using an in vitro model. Thirty external- and 30 internal-connection implants were embedded in urethane dimethacrylate. Porcine tissue was prepared and measured to thicknesses of 0.5 and 1.0 mm. Six groups (n = 10) were studied: External- and internal-connection implants with no tissue (control), 0.5, and 1.0 mm of tissue were entrapped at the implant/abutment interface. Abutments were inserted to 20 Ncm for all six groups. Insertion torque values were recorded using a digital torque gauge. All groups were then immersed in 1 M NaOH for 48 hours to dissolve tissue. Subsequent reverse torque measurements were recorded. Mean and standard deviation were determined for each group, and one-way ANOVA and Bonferroni test were used for statistical analysis. All 60 specimens achieved a 20-Ncm insertion torque, despite tissue entrapment. Reverse torque measurements for external connection displayed a statistically significant difference (p < 0.05) between all groups with mean reverse torque values for the control (13.71 ± 1.4 Ncm), 0.5 mm (7.83 ± 2.4 Ncm), and 1.0 mm tissue entrapment (2.29 ± 1.4 Ncm) groups. Some statistically significant differences (p < 0.05) were found between internal-connection groups. In all specimens, tissue did not completely dissolve after 48 hours. External-connection implants were significantly affected by tissue entrapment; the thicker the tissue, the lower the reverse torque values noted. Internal-connection implants were less affected by tissue entrapment. © 2015 by the American College of Prosthodontists.

Research on friction torque analysis of planetary roller screw mechanism considering load distribution

NASA Astrophysics Data System (ADS)

Gan, Fajin; Mao, Pengcheng; Zheng, Shicheng; Li, Guangliang; Xin, Shupeng

2018-04-01

Based on the Hertzian contact theory, frictional moment of planetary roller screw mechanism (RSM) caused by elastic hysteresis, roller's spinning sliding, and differential sliding was analyzed, which were considering load distribution of rollers threads. The relationship between friction torque of screw pairs and its input axial load were obtained. Finally, the frictional moment of the screw pairs under the situation overstress will created at some localized contact surfaces were discussed. Results shows that the frictional moment caused by elastic hysteresis gives the greatest rise to the total frictional moment and that due to differential sliding can be ignored. The stress uniformity has great influence on the frictional moment.

MAGIC: Model and Graphic Information Converter

NASA Technical Reports Server (NTRS)

Herbert, W. C.

2009-01-01

MAGIC is a software tool capable of converting highly detailed 3D models from an open, standard format, VRML 2.0/97, into the proprietary DTS file format used by the Torque Game Engine from GarageGames. MAGIC is used to convert 3D simulations from authoritative sources into the data needed to run the simulations in NASA's Distributed Observer Network. The Distributed Observer Network (DON) is a simulation presentation tool built by NASA to facilitate the simulation sharing requirements of the Data Presentation and Visualization effort within the Constellation Program. DON is built on top of the Torque Game Engine (TGE) and has chosen TGE's Dynamix Three Space (DTS) file format to represent 3D objects within simulations.

Virtual Passive Controller for Robot Systems Using Joint Torque Sensors

NASA Technical Reports Server (NTRS)

Aldridge, Hal A.; Juang, Jer-Nan

1997-01-01

This paper presents a control method based on virtual passive dynamic control that will stabilize a robot manipulator using joint torque sensors and a simple joint model. The method does not require joint position or velocity feedback for stabilization. The proposed control method is stable in the sense of Lyaponov. The control method was implemented on several joints of a laboratory robot. The controller showed good stability robustness to system parameter error and to the exclusion of nonlinear dynamic effects on the joints. The controller enhanced position tracking performance and, in the absence of position control, dissipated joint energy.

EMG-Torque correction on Human Upper extremity using Evolutionary Computation

NASA Astrophysics Data System (ADS)

JL, Veronica; Parasuraman, S.; Khan, M. K. A. Ahamed; Jeba DSingh, Kingsly

2016-09-01

There have been many studies indicating that control system of rehabilitative robot plays an important role in determining the outcome of the therapy process. Existing works have done the prediction of feedback signal in the controller based on the kinematics parameters and EMG readings of upper limb's skeletal system. Kinematics and kinetics based control signal system is developed by reading the output of the sensors such as position sensor, orientation sensor and F/T (Force/Torque) sensor and there readings are to be compared with the preceding measurement to decide on the amount of assistive force. There are also other works that incorporated the kinematics parameters to calculate the kinetics parameters via formulation and pre-defined assumptions. Nevertheless, these types of control signals analyze the movement of the upper limb only based on the movement of the upper joints. They do not anticipate the possibility of muscle plasticity. The focus of the paper is to make use of the kinematics parameters and EMG readings of skeletal system to predict the individual torque of upper extremity's joints. The surface EMG signals are fed into different mathematical models so that these data can be trained through Genetic Algorithm (GA) to find the best correlation between EMG signals and torques acting on the upper limb's joints. The estimated torque attained from the mathematical models is called simulated output. The simulated output will then be compared with the actual individual joint which is calculated based on the real time kinematics parameters of the upper movement of the skeleton when the muscle cells are activated. The findings from this contribution are extended into the development of the active control signal based controller for rehabilitation robot.

Variable-frequency inverter controls torque, speed, and braking in ac induction motors

NASA Technical Reports Server (NTRS)

Nola, F. J.

1974-01-01

Dc to ac inverter provides optimum frequency and voltage to ac induction motor, in response to different motor-load and speed requirements. Inverter varies slip frequency of motor in proportion to required torque. Inverter protects motor from high current surges, controls negative slip to apply braking, and returns energy stored in momentum of load to dc power source.

Method and apparatus for executing an asynchronous clutch-to-clutch shift in a hybrid transmission

DOEpatents

Demirovic, Besim; Gupta, Pinaki; Kaminsky, Lawrence A.; Naqvi, Ali K.; Heap, Anthony H.; Sah, Jy-Jen F.

2014-08-12

A hybrid transmission includes first and second electric machines. A method for operating the hybrid transmission in response to a command to execute a shift from an initial continuously variable mode to a target continuously variable mode includes increasing torque of an oncoming clutch associated with operating in the target continuously variable mode and correspondingly decreasing a torque of an off-going clutch associated with operating in the initial continuously variable mode. Upon deactivation of the off-going clutch, torque outputs of the first and second electric machines and the torque of the oncoming clutch are controlled to synchronize the oncoming clutch. Upon synchronization of the oncoming clutch, the torque for the oncoming clutch is increased and the transmission is operated in the target continuously variable mode.

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.

The accuracy of dynamic attitude propagation

NASA Technical Reports Server (NTRS)

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

1990-01-01

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

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.

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

Torque equilibrium attitude control for Skylab reentry

NASA Technical Reports Server (NTRS)

Glaese, J. R.; Kennel, H. F.

1979-01-01

All the available torque equilibrium attitudes (most were useless from the standpoint of lack of electrical power) and the equilibrium seeking method are presented, as well as the actual successful application during the 3 weeks prior to Skylab reentry.

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.

The timing of control signals underlying fast point-to-point arm movements.

PubMed

Ghafouri, M; Feldman, A G

2001-04-01

It is known that proprioceptive feedback induces muscle activation when the facilitation of appropriate motoneurons exceeds their threshold. In the suprathreshold range, the muscle-reflex system produces torques depending on the position and velocity of the joint segment(s) that the muscle spans. The static component of the torque-position relationship is referred to as the invariant characteristic (IC). According to the equilibrium-point (EP) hypothesis, control systems produce movements by changing the activation thresholds and thus shifting the IC of the appropriate muscles in joint space. This control process upsets the balance between muscle and external torques at the initial limb configuration and, to regain the balance, the limb is forced to establish a new configuration or, if the movement is prevented, a new level of static torques. Taken together, the joint angles and the muscle torques generated at an equilibrium configuration define a single variable called the EP. Thus by shifting the IC, control systems reset the EP. Muscle activation and movement emerge following the EP resetting because of the natural physical tendency of the system to reach equilibrium. Empirical and simulation studies support the notion that the control IC shifts and the resulting EP shifts underlying fast point-to-point arm movements are gradual rather than step-like. However, controversies exist about the duration of these shifts. Some studies suggest that the IC shifts cease with the movement offset. Other studies propose that the IC shifts end early in comparison to the movement duration (approximately, at peak velocity). The purpose of this study was to evaluate the duration of the IC shifts underlying fast point-to-point arm movements. Subjects made fast (hand peak velocity about 1.3 m/s) planar arm movements toward different targets while grasping a handle. Hand forces applied to the handle and shoulder/elbow torques were, respectively, measured from a force sensor placed on the handle, or computed with equations of motion. In some trials, an electromagnetic brake prevented movements. In such movements, the hand force and joint torques reached a steady state after a time that was much smaller than the movement duration in unobstructed movements and was approximately equal to the time to peak velocity (mean difference < 80 ms). In an additional experiment, subjects were instructed to rapidly initiate corrections of the pushing force in response to movement arrest. They were able to initiate such corrections only when the joint torques and the pushing force had practically reached a steady state. The latency of correction onset was, however, smaller than the duration of unobstructed movements. We concluded that during the time at which the steady state torques were reached, the control pattern of IC shifts remained the same despite the movement block. Thereby the duration of these shifts did not exceed the time of reaching the steady state torques. Our findings are consistent with the hypothesis that, in unobstructed movements, the IC shifts and resulting shifts in the EP end approximately at peak velocity. In other words, during the latter part of the movement, the control signals responsible for the equilibrium shift remained constant, and the movement was driven by the arm inertial, viscous and elastic forces produced by the muscle-reflex system. Fast movements may thus be completed without continuous control guidance. As a consequence, central corrections and sequential commands may be issued rapidly, without waiting for the end of kinematic responses to each command, which may be important for many motor behaviours including typing, piano playing and speech. Our study also illustrates that the timing of the control signals may be substantially different from that of the resulting motor output and that the same control pattern may produce different motor outputs depending on external conditions.

The study on servo-control system in the large aperture telescope

NASA Astrophysics Data System (ADS)

Hu, Wei; Zhenchao, Zhang; Daxing, Wang

2008-08-01

Large astronomical telescope or extremely enormous astronomical telescope servo tracking technique will be one of crucial technology that must be solved in researching and manufacturing. To control technique feature of large astronomical telescope or extremely enormous astronomical telescope, this paper design a sort of large astronomical telescope servo tracking control system. This system composes a principal and subordinate distributed control system, host computer sends steering instruction and receive slave computer functional mode, slave computer accomplish control algorithm and execute real-time control. Large astronomical telescope servo control use direct drive machine, and adopt DSP technology to complete direct torque control algorithm, Such design can not only increase control system performance, but also greatly reduced volume and costs of control system, which has a significant occurrence. The system design scheme can be proved reasonably by calculating and simulating. This system can be applied to large astronomical telescope.

Straight and chopped dc performance data for a General Electric 5BT 2366C10 motor and an EV-1 controller

NASA Technical Reports Server (NTRS)

Edie, P. C.

1981-01-01

Performance data on the General Electric 5BT 2366C10 series wound dc motor and EV-1 Chopper Controller is supplied for the electric vehicle manufacturer. Data is provided for both straight and chopped dc input to the motor, at 2 motor temperature levels. Testing was done at 6 voltage increments to the motor, and 2 voltage increments to the controller. Data results are presented in both tabular and graphical forms. Tabular information includes motor voltage and current input data, motor speed and torque output data, power data and temperature data. Graphical information includes torque-speed, motor power output-speed, torque-current, and efficiency-speed plots under the various operating conditions. The data resulting from this testing shows the speed-torque plots to have the most variance with operating temperature. The maximum motor efficiency is between 86% and 87%, regardless of temperature or mode of operation. When the chopper is utilized, maximum motor efficiency occurs when the chopper duty cycle approaches 100%.

Slip-additive migration, surface morphology, and performance on injection moulded high-density polyethylene closures.

PubMed

Dulal, Nabeen; Shanks, Robert; Gengenbach, Thomas; Gill, Harsharn; Chalmers, David; Adhikari, Benu; Pardo Martinez, Isaac

2017-11-01

The amount and distribution of slip agents, erucamide, and behenamide, on the surface of high-density polyethene, is determined by integral characteristics of slip agent structure and polymer morphology. A suite of surface analysis techniques was applied to correlate physicochemical properties with slip-additive migration behaviour and their surface morphology. The migration, surface morphology and physicochemical properties of the slip additives, crystallinity and orientation of polyethene spherulites and interaction between slip additives and high-density polyethene influence the surface characteristics. The high-density polyethene closures were produced with erucamide and behenamide separately and stored until they produced required torque. Surface composition was determined employing spectroscopy and gas chromatography. The distribution of additives was observed under optical, scanning electron and atomic force microscopes. The surface energy, crystallinity and application torque were measured using contact angle, differential scanning calorimeter and a torque force tester respectively. Each slip additive produced a characteristic amide peak at 1645cm -1 in infrared spectroscopy and peaks of oxygen and nitrogen in X-ray photoelectron spectroscopy, suggesting their presence on the surface. The erucamide produced placoid scale-like structures and behenamide formed denticulate structures. The surface erucamide and behenamide responsible for reducing the torque was found to be 15.7µg/cm 2 and 1.7µg/cm 2 . Copyright © 2017 Elsevier Inc. All rights reserved.

EMG-Torque Dynamics Change With Contraction Bandwidth.

PubMed

Golkar, Mahsa A; Jalaleddini, Kian; Kearney, Robert E

2018-04-01

An accurate model for ElectroMyoGram (EMG)-torque dynamics has many uses. One of its applications which has gained high attention among researchers is its use, in estimating the muscle contraction level for the efficient control of prosthesis. In this paper, the dynamic relationship between the surface EMG and torque during isometric contractions at the human ankle was studied using system identification techniques. Subjects voluntarily modulated their ankle torque in dorsiflexion direction, by activating their tibialis anterior muscle, while tracking a pseudo-random binary sequence in a torque matching task. The effects of contraction bandwidth, described by torque spectrum, on EMG-torque dynamics were evaluated by varying the visual command switching time. Nonparametric impulse response functions (IRF) were estimated between the processed surface EMG and torque. It was demonstrated that: 1) at low contraction bandwidths, the identified IRFs had unphysiological anticipatory (i.e., non-causal) components, whose amplitude decreased as the contraction bandwidth increased. We hypothesized that this non-causal behavior arose, because the EMG input contained a component due to feedback from the output torque, i.e., it was recorded from within a closed-loop. Vision was not the feedback source since the non-causal behavior persisted when visual feedback was removed. Repeating the identification using a nonparametric closed-loop identification algorithm yielded causal IRFs at all bandwidths, supporting this hypothesis. 2) EMG-torque dynamics became faster and the bandwidth of system increased as contraction modulation rate increased. Thus, accurate prediction of torque from EMG signals must take into account the contraction bandwidth sensitivity of this system.

Effect of chemical heat release in a temporally evolving mixing layer

NASA Technical Reports Server (NTRS)

Higuera, F. J.; Moser, R. D.

1994-01-01

Two-dimensional numerical simulations of a temporally evolving mixing layer with an exothermic infinitely fast diffusion flame between two unmixed reactants have been carried out in the limit of zero Mach number to study the effect of the heat release on the early stages of the evolution of the flow. Attention has been directed to relatively large values of the oxidizer-to-fuel mass stoichiometric ratio typical of hydrocarbon flames, and initial vorticity distributions thicker than the temperature and species distributions have been chosen to mimic the situation at the outlet of a jet. The results show that, during the stages of the evolution covered by the present simulations, enhancement of combustion occurs by local stretching of the flame without much augmentation of its area. The rate of product generation depends strongly on the initial conditions, which suggests the possibility of controlling the combustion by acting on the flow. Rollup and vortex amalgamation still occur in these reacting flows but are very much affected by the production of new vorticity by baroclinic torques. These torques lead to counter rotating vortex pairs around the flame and, more importantly, in thin layers of light fluid that leave the vicinity of the flame when the Kelvin-Helmholtz instability begins to develop. Propelled by the vortex pairs, these layers wind around, split on reaching high pressure regions, and originate new vortex pairs in a process that ends up building large-scale vortices with a vorticity distribution more complex than for a constant density fluid.

The effect of traveling wave shapes in the maneuver control and efficiency of an underwater robot propelled by an undulating fin

NASA Astrophysics Data System (ADS)

Liu, Hanlin; Curet, Oscar

2016-11-01

Effective control of propulsive undulating fins has the potential to enhance the maneuverability and efficiency of underwater vehicles allowing them to navigate in more complex environments. Aquatic animals using this type of propulsion are able to perform complex maneuvers by sending different traveling waves along one or multiple elongated fins. Recent work has investigated the propulsive forces, the hydrodynamics and the efficiency of an undulating ribbon fin. However, it is still not understood how different traveling wave shapes along the fin can be used to control the hydrodynamic forces and torques to perform different maneuvers. In this work, we study the effect of traveling wave shapes on the hydrodynamic forces and torques, swimming speed, maneuver control and propulsive performance of an underwater vehicle propelled by an undulating fin. The underwater robot propels by actuating a fin that is composed of sixteen independent rays interconnected with a flexible membrane. The hull contains all the electronics, batteries, motors and sensors. The underwater vehicle was tested in a water tank-flume facility. In a series of experiments, we measured the motion of the vessel and the power consumption for different traveling wave patterns. In addition, we measured the flow around the fin using Particle Image Velocimetry. We present the results concerning the power distribution along the fin, propulsive efficiency, free-swimming speed and pitch control based on different fin kinematics. National Science Foundation under Grant No. 1420774.

Double closed-loop cascade control for lower limb exoskeleton with elastic actuation.

PubMed

Zhu, Yanhe; Zheng, Tianjiao; Jin, Hongzhe; Yang, Jixing; Zhao, Jie

2015-01-01

Unlike traditional rigid actuators, the significant features of Series Elastic Actuator (SEA) are stable torque control, lower output impedance, impact resistance and energy storage. Recently, SEA has been applied in many exoskeletons. In such applications, a key issue is how to realize the human-exoskeleton movement coordination. In this paper, double closed-loop cascade control for lower limb exoskeleton with SEA is proposed. This control method consists of inner SEA torque loop and outer contact force loop. Utilizing the SEA torque control with a motor velocity loop, actuation performances of SEA are analyzed. An integrated exoskeleton control system is designed, in which joint angles are calculated by internal encoders and resolvers and contact forces are gathered by external pressure sensors. The double closed-loop cascade control model is established based on the feedback signals of internal and external sensor. Movement experiments are accomplished in our prototype of lower limb exoskeleton. Preliminary results indicate the exoskeleton movements with pilot can be realized stably by utilizing this double closed-loop cascade control method. Feasibility of the SEA in our exoskeleton robot and effectiveness of the control method are verified.

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.

Operationality Improvement Control of Electric Power Assisted Wheelchair by Fuzzy Algorithm Considering Posture Angle

NASA Astrophysics Data System (ADS)

Murakami, Hiroki; Seki, Hirokazu; Minakata, Hideaki; Tadakuma, Susumu

This paper describes a novel operationality improvement control for electric power assisted wheelchairs. “Electric power assisted wheelchair” which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people, however, the performance of the straight and circular road driving must be further improved because the two wheels drive independently. This paper proposes a novel operationality improvement control by fuzzy algorithm to realize the stable driving on straight and circular roads. The suitable assisted torque of the right and left wheels is determined by fuzzy algorithm based on the posture angular velocity, the posture angle of the wheelchair, the human input torque proportion and the total human torque of the right and left wheels. Some experiments on the practical roads show the effectiveness of the proposed control system.

Potential roles of force cues in human stance control.

PubMed

Cnyrim, Christian; Mergner, Thomas; Maurer, Christoph

2009-04-01

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

Optimal control of mode transition for four-wheel-drive hybrid electric vehicle with dry dual-clutch transmission

NASA Astrophysics Data System (ADS)

Zhao, Zhiguo; Lei, Dan; Chen, Jiayi; Li, Hangyu

2018-05-01

When the four-wheel-drive hybrid electric vehicle (HEV) equipped with a dry dual clutch transmission (DCT) is in the mode transition process from pure electrical rear wheel drive to front wheel drive with engine or hybrid drive, the problem of vehicle longitudinal jerk is prominent. A mode transition robust control algorithm which resists external disturbance and model parameter fluctuation has been developed, by taking full advantage of fast and accurate torque (or speed) response of three electrical power sources and getting the clutch of DCT fully involved in the mode transition process. Firstly, models of key components of driveline system have been established, and the model of five-degrees-of-freedom vehicle longitudinal dynamics has been built by using a Uni-Tire model. Next, a multistage optimal control method has been produced to realize the decision of engine torque and clutch-transmitted torque. The sliding-mode control strategy for measurable disturbance has been proposed at the stage of engine speed dragged up. Meanwhile, the double tracking control architecture that integrates the model calculating feedforward control with H∞ robust feedback control has been presented at the stage of speed synchronization. Finally, the results from Matlab/Simulink software and hardware-in-the-loop test both demonstrate that the proposed control strategy for mode transition can not only coordinate the torque among different power sources and clutch while minimizing vehicle longitudinal jerk, but also provide strong robustness to model uncertainties and external disturbance.

Method and apparatus for operating a powertrain system upon detecting a stuck-closed clutch

DOEpatents

Hansen, R. Anthony

2014-02-18

A powertrain system includes a multi-mode transmission having a plurality of torque machines. A method for controlling the powertrain system includes identifying all presently applied clutches including commanded applied clutches and the stuck-closed clutch upon detecting one of the torque-transfer clutches is in a stuck-closed condition. A closed-loop control system is employed to control operation of the multi-mode transmission accounting for all the presently applied clutches.

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.

Analytical Approach Validation for the Spin-Stabilized Satellite Attitude

NASA Technical Reports Server (NTRS)

Zanardi, Maria Cecilia F. P. S.; Garcia, Roberta Veloso; Kuga, Helio Koiti

2007-01-01

An analytical approach for spin-stabilized spacecraft attitude prediction is presented for the influence of the residual magnetic torques and the satellite in an elliptical orbit. Assuming a quadripole model for the Earth s magnetic field, an analytical averaging method is applied to obtain the mean residual torque in every orbital period. The orbit mean anomaly is used to compute the average components of residual torque in the spacecraft body frame reference system. The theory is developed for time variations in the orbital elements, giving rise to many curvature integrals. It is observed that the residual magnetic torque does not have component along the spin axis. The inclusion of this torque on the rotational motion differential equations of a spin stabilized spacecraft yields conditions to derive an analytical solution. The solution shows that the residual torque does not affect the spin velocity magnitude, contributing only for the precession and the drift of the spin axis of the spacecraft. The theory developed has been applied to the Brazilian s spin stabilized satellites, which are quite appropriated for verification and comparison of the theory with the data generated and processed by the Satellite Control Center of Brazil National Research Institute. The results show the period that the analytical solution can be used to the attitude propagation, within the dispersion range of the attitude determination system performance of Satellite Control Center of Brazil National Research Institute.

Measurement of plastic and elastic deformation due to third-order torque in self-ligated orthodontic brackets.

PubMed

Major, Thomas W; Carey, Jason P; Nobes, David S; Heo, Giseon; Major, Paul W

2011-09-01

Control of root torque is often achieved by introducing a twist in a rectangular archwire. The purpose of this study was to investigate third-order torque on different types of self-ligated brackets by analyzing the bracket's elastic and plastic deformations in conjunction with the expressed torque at varying angles of twist. An orthodontic bracket was mounted to a load cell that measured forces and moments in all directions. The wire was twisted in the bracket via a stepper motor, controlled by custom software. Overhead images were taken by a camera through a microscope and processed by using optical correlation to measure deformation. At the maximum torquing angle of 63° with 0.019 × 0.025-in stainless steel wire, the total elastic and plastic deformation values were 0.063, 0.033, and 0.137 mm for Damon Q (Ormco, Orange, Calif), In-Ovation R (GAC, Bohemia, NY), and Speed (Strite Industries, Cambridge, Ontario, Canada), respectively. The total plastic deformation values were 0.015, 0.006, and 0.086 mm, respectively, measured at 0° of unloading. In-Ovation R had the least deformation due to torquing of the 3 investigated bracket types. Damon Q and Speed on average had approximately 2.5 and 14 times greater maximum plastic deformation, respectively, than did In-Ovation R. Copyright © 2011 American Association of Orthodontists. Published by Mosby, Inc. All rights reserved.

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

PubMed

Wichelhaus, A; Sander, F G

1995-07-01

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

Proximal Versus Distal Control of Two-Joint Planar Reaching Movements in the Presence of Neuromuscular Noise

PubMed Central

Nguyen, Hung P.; Dingwell, Jonathan B.

2012-01-01

Determining how the human nervous system contends with neuro-motor noise is vital to understanding how humans achieve accurate goal-directed movements. Experimentally, people learning skilled tasks tend to reduce variability in distal joint movements more than in proximal joint movements. This suggests that they might be imposing greater control over distal joints than proximal joints. However, the reasons for this remain unclear, largely because it is not experimentally possible to directly manipulate either the noise or the control at each joint independently. Therefore, this study used a 2 degree-of-freedom torque driven arm model to determine how different combinations of noise and/or control independently applied at each joint affected the reaching accuracy and the total work required to make the movement. Signal-dependent noise was simultaneously and independently added to the shoulder and elbow torques to induce endpoint errors during planar reaching. Feedback control was then applied, independently and jointly, at each joint to reduce endpoint error due to the added neuromuscular noise. Movement direction and the inertia distribution along the arm were varied to quantify how these biomechanical variations affected the system performance. Endpoint error and total net work were computed as dependent measures. When each joint was independently subjected to noise in the absence of control, endpoint errors were more sensitive to distal (elbow) noise than to proximal (shoulder) noise for nearly all combinations of reaching direction and inertia ratio. The effects of distal noise on endpoint errors were more pronounced when inertia was distributed more toward the forearm. In contrast, the total net work decreased as mass was shifted to the upper arm for reaching movements in all directions. When noise was present at both joints and joint control was implemented, controlling the distal joint alone reduced endpoint errors more than controlling the proximal joint alone for nearly all combinations of reaching direction and inertia ratio. Applying control only at the distal joint was more effective at reducing endpoint errors when more of the mass was more proximally distributed. Likewise, controlling the distal joint alone required less total net work than controlling the proximal joint alone for nearly all combinations of reaching distance and inertia ratio. It is more efficient to reduce endpoint error and energetic cost by selectively applying control to reduce variability in the distal joint than the proximal joint. The reasons for this arise from the biomechanical configuration of the arm itself. PMID:22757504

Proximal versus distal control of two-joint planar reaching movements in the presence of neuromuscular noise.

PubMed

Nguyen, Hung P; Dingwell, Jonathan B

2012-06-01

Determining how the human nervous system contends with neuro-motor noise is vital to understanding how humans achieve accurate goal-directed movements. Experimentally, people learning skilled tasks tend to reduce variability in distal joint movements more than in proximal joint movements. This suggests that they might be imposing greater control over distal joints than proximal joints. However, the reasons for this remain unclear, largely because it is not experimentally possible to directly manipulate either the noise or the control at each joint independently. Therefore, this study used a 2 degree-of-freedom torque driven arm model to determine how different combinations of noise and/or control independently applied at each joint affected the reaching accuracy and the total work required to make the movement. Signal-dependent noise was simultaneously and independently added to the shoulder and elbow torques to induce endpoint errors during planar reaching. Feedback control was then applied, independently and jointly, at each joint to reduce endpoint error due to the added neuromuscular noise. Movement direction and the inertia distribution along the arm were varied to quantify how these biomechanical variations affected the system performance. Endpoint error and total net work were computed as dependent measures. When each joint was independently subjected to noise in the absence of control, endpoint errors were more sensitive to distal (elbow) noise than to proximal (shoulder) noise for nearly all combinations of reaching direction and inertia ratio. The effects of distal noise on endpoint errors were more pronounced when inertia was distributed more toward the forearm. In contrast, the total net work decreased as mass was shifted to the upper arm for reaching movements in all directions. When noise was present at both joints and joint control was implemented, controlling the distal joint alone reduced endpoint errors more than controlling the proximal joint alone for nearly all combinations of reaching direction and inertia ratio. Applying control only at the distal joint was more effective at reducing endpoint errors when more of the mass was more proximally distributed. Likewise, controlling the distal joint alone required less total net work than controlling the proximal joint alone for nearly all combinations of reaching distance and inertia ratio. It is more efficient to reduce endpoint error and energetic cost by selectively applying control to reduce variability in the distal joint than the proximal joint. The reasons for this arise from the biomechanical configuration of the arm itself.

First-Principles Calculations of Current-Induced Spin-Transfer Torques in Magnetic Domain Walls

NASA Astrophysics Data System (ADS)

Tang, Ling; Xu, Zhijun; Yang, Zejin

2013-05-01

Current-induced spin-transfer torques (STTs) have been studied in Fe, Co and Ni domain walls (DWs) by the method based on the first-principles noncollinear calculations of scattering wavefunctions expanded in the tight-binding linearized muffin-tin orbital (TB-LMTO) basis. The results show that the out-of-plane component of nonadiabatic STT in Fe DW has localized form, which is in contrast to the typical nonlocal oscillating nonadiabatic torques obtained in Co and Ni DWs. Meanwhile, the degree of nonadiabaticity in STT is also much greater for Fe DW. Further, our results demonstrate that compared to the well-known first-order nonadiabatic STT, the torque in the third-order spatial derivative of local spin can better describe the distribution of localized nonadiabatic STT in Fe DW. The dynamics of local spin driven by this third-order torques in Fe DW have been investigated by the Landau-Lifshitz-Gilbert (LLG) equation. The calculated results show that with the same amplitude of STTs the DW velocity induced by this third-order term is about half of the wall speed for the case of the first-order nonadiabatic STT.

Torque shudder protection device and method

DOEpatents

King, Robert D.; De Doncker, Rik W. A. A.; Szczesny, Paul M.

1997-01-01

A torque shudder protection device for an induction machine includes a flux command generator for supplying a steady state flux command and a torque shudder detector for supplying a status including a negative status to indicate a lack of torque shudder and a positive status to indicate a presence of torque shudder. A flux adapter uses the steady state flux command and the status to supply a present flux command identical to the steady state flux command for a negative status and different from the steady state flux command for a positive status. A limiter can receive the present flux command, prevent the present flux command from exceeding a predetermined maximum flux command magnitude, and supply the present flux command to a field oriented controller. After determining a critical electrical excitation frequency at which a torque shudder occurs for the induction machine, a flux adjuster can monitor the electrical excitation frequency of the induction machine and adjust a flux command to prevent the monitored electrical excitation frequency from reaching the critical electrical excitation frequency.

Torque shudder protection device and method

DOEpatents

King, R.D.; Doncker, R.W.A.A. De.; Szczesny, P.M.

1997-03-11

A torque shudder protection device for an induction machine includes a flux command generator for supplying a steady state flux command and a torque shudder detector for supplying a status including a negative status to indicate a lack of torque shudder and a positive status to indicate a presence of torque shudder. A flux adapter uses the steady state flux command and the status to supply a present flux command identical to the steady state flux command for a negative status and different from the steady state flux command for a positive status. A limiter can receive the present flux command, prevent the present flux command from exceeding a predetermined maximum flux command magnitude, and supply the present flux command to a field oriented controller. After determining a critical electrical excitation frequency at which a torque shudder occurs for the induction machine, a flux adjuster can monitor the electrical excitation frequency of the induction machine and adjust a flux command to prevent the monitored electrical excitation frequency from reaching the critical electrical excitation frequency. 5 figs.

Numerical optimization of three-dimensional coils for NSTX-U

DOE PAGES

Lazerson, S. A.; Park, J. -K.; Logan, N.; ...

2015-09-03

A tool for the calculation of optimal three-dimensional (3D) perturbative magnetic fields in tokamaks has been developed. The IPECOPT code builds upon the stellarator optimization code STELLOPT to allow for optimization of linear ideal magnetohydrodynamic perturbed equilibrium (IPEC). This tool has been applied to NSTX-U equilibria, addressing which fields are the most effective at driving NTV torques. The NTV torque calculation is performed by the PENT code. Optimization of the normal field spectrum shows that fields with n = 1 character can drive a large core torque. It is also shown that fields with n = 3 features are capablemore » of driving edge torque and some core torque. Coil current optimization (using the planned in-vessel and existing RWM coils) on NSTX-U suggest the planned coils set is adequate for core and edge torque control. In conclusion, comparison between error field correction experiments on DIII-D and the optimizer show good agreement.« less

Propulsion Electric Grid Simulator (PEGS) for Future Turboelectric Distributed Propulsion Aircraft

NASA Technical Reports Server (NTRS)

Choi, Benjamin B.; Morrison, Carlos; Dever, Timothy; Brown, Gerald V.

2014-01-01

NASA Glenn Research Center, in collaboration with the aerospace industry and academia, has begun the development of technology for a future hybrid-wing body electric airplane with a turboelectric distributed propulsion (TeDP) system. It is essential to design a subscale system to emulate the TeDP power grid, which would enable rapid analysis and demonstration of the proof-of-concept of the TeDP electrical system. This paper describes how small electrical machines with their controllers can emulate all the components in a TeDP power train. The whole system model in Matlab/Simulink was first developed and tested in simulation, and the simulation results showed that system dynamic characteristics could be implemented by using the closed-loop control of the electric motor drive systems. Then we designed a subscale experimental system to emulate the entire power system from the turbine engine to the propulsive fans. Firstly, we built a system to emulate a gas turbine engine driving a generator, consisting of two permanent magnet (PM) motors with brushless motor drives, coupled by a shaft. We programmed the first motor and its drive to mimic the speed-torque characteristic of the gas turbine engine, while the second motor and drive act as a generator and produce a torque load on the first motor. Secondly, we built another system of two PM motors and drives to emulate a motor driving a propulsive fan. We programmed the first motor and drive to emulate a wound-rotor synchronous motor. The propulsive fan was emulated by implementing fan maps and flight conditions into the fourth motor and drive, which produce a torque load on the driving motor. The stator of each PM motor is designed to travel axially to change the coupling between rotor and stator. This feature allows the PM motor to more closely emulate a wound-rotor synchronous machine. These techniques can convert the plain motor system into a unique TeDP power grid emulator that enables real-time simulation performance using hardware-in-the-loop (HIL).

IMPACT OF GRAVITY LOADING ON POST-STROKE REACHING AND ITS RELATIONSHIP TO WEAKNESS

PubMed Central

Beer, Randall F.; Ellis, Michael D.; Holubar, Bradley G.; Dewald, Julius P.A.

2010-01-01

The ability to extend the elbow following stroke depends on the magnitude and direction of torques acting at the shoulder. The mechanisms underlying this link remain unclear. The purpose of this study was to evaluate whether the effects of shoulder loading on elbow function were related to weakness or its distribution in the paretic limb. Ten subjects with longstanding hemiparesis performed movements with the arm either passively supported against gravity by an air bearing, or by activation of shoulder muscles. Isometric maximum voluntary torques at the elbow and shoulder were measured using a load cell. The speed and range of elbow extension movements were negatively impacted by actively supporting the paretic limb against gravity. However, the effects of gravity loading were not related to proximal weakness or abnormalities in the elbow flexor–extensor strength balance. The findings support the existence of abnormal descending motor commands that constrain the ability of stroke survivors to generate elbow extension torque in combination with abduction torque at the shoulder. PMID:17486581

Impact of gravity loading on post-stroke reaching and its relationship to weakness.

PubMed

Beer, Randall F; Ellis, Michael D; Holubar, Bradley G; Dewald, Julius P A

2007-08-01

The ability to extend the elbow following stroke depends on the magnitude and direction of torques acting at the shoulder. The mechanisms underlying this link remain unclear. The purpose of this study was to evaluate whether the effects of shoulder loading on elbow function were related to weakness or its distribution in the paretic limb. Ten subjects with longstanding hemiparesis performed movements with the arm either passively supported against gravity by an air bearing, or by activation of shoulder muscles. Isometric maximum voluntary torques at the elbow and shoulder were measured using a load cell. The speed and range of elbow extension movements were negatively impacted by actively supporting the paretic limb against gravity. However, the effects of gravity loading were not related to proximal weakness or abnormalities in the elbow flexor-extensor strength balance. The findings support the existence of abnormal descending motor commands that constrain the ability of stroke survivors to generate elbow extension torque in combination with abduction torque at the shoulder.

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.

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.

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.

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

PubMed

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

2016-08-01

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

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

PubMed

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

2017-10-31

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

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.

Internal tibial torsion correction study. [measurements of strain for corrective rotation of stressed tibia

NASA Technical Reports Server (NTRS)

Cantu, J. M.; Madigan, C. M.

1974-01-01

A quantitative study of internal torsion in the entire tibial bone was performed by using strain gauges to measure the amount of deformation occuring at different locations. Comparison of strain measurements with physical dimensions of the bone produced the modulus of rigidity and its behavior under increased torque. Computerized analysis of the stress distribution shows that more strain occurs near the torqued ends of the bones where also most of the twisting and fracturing takes place.

Enceladus Plume Density Modeling and Reconstruction for Cassini Attitude Control System

NASA Technical Reports Server (NTRS)

Sarani, Siamak

2010-01-01

In 2005, Cassini detected jets composed mostly of water, spouting from a set of nearly parallel rifts in the crust of Enceladus, an icy moon of Saturn. During an Enceladus flyby, either reaction wheels or attitude control thrusters on the Cassini spacecraft are used to overcome the external torque imparted on Cassini due to Enceladus plume or jets, as well as to slew the spacecraft in order to meet the pointing needs of the on-board science instruments. If the estimated imparted torque is larger than it can be controlled by the reaction wheel control system, thrusters are used to control the spacecraft. Having an engineering model that can predict and simulate the external torque imparted on Cassini spacecraft due to the plume density during all projected low-altitude Enceladus flybys is important. Equally important is being able to reconstruct the plume density after each flyby in order to calibrate the model. This paper describes an engineering model of the Enceladus plume density, as a function of the flyby altitude, developed for the Cassini Attitude and Articulation Control Subsystem, and novel methodologies that use guidance, navigation, and control data to estimate the external torque imparted on the spacecraft due to the Enceladus plume and jets. The plume density is determined accordingly. The methodologies described have already been used to reconstruct the plume density for three low-altitude Enceladus flybys of Cassini in 2008 and will continue to be used on all remaining low-altitude Enceladus flybys in Cassini's extended missions.

Development of a controlled release formulation by continuous twin screw granulation: Influence of process and formulation parameters.

PubMed

Vanhoorne, V; Vanbillemont, B; Vercruysse, J; De Leersnyder, F; Gomes, P; Beer, T De; Remon, J P; Vervaet, C

2016-05-30

The aim of this study was to evaluate the potential of twin screw granulation for the continuous production of controlled release formulations with hydroxypropylmethylcellulose as hydrophilic matrix former. Metoprolol tartrate was included in the formulation as very water soluble model drug. A premix of metoprolol tartrate, hydroxypropylmethylcellulose and filler (ratio 20/20/60, w/w) was granulated with demineralized water via twin screw granulation. After oven drying and milling, tablets were produced on a rotary Modul™ P tablet press. A D-optimal design (29 experiments) was used to assess the influence of process (screw speed, throughput, barrel temperature and screw design) and formulation parameters (starch content of the filler) on the process (torque), granule (size distribution, shape, friability, density) and tablet (hardness, friability and dissolution) critical quality attributes. The torque was dominated by the number of kneading elements and throughput, whereas screw speed and filling degree only showed a minor influence on torque. Addition of screw mixing elements after a block of kneading elements improved the yield of the process before milling as it resulted in less oversized granules and also after milling as less fines were present. Temperature was also an important parameter to optimize as a higher temperature yielded less fines and positively influenced the aspect ratio. The shape of hydroxypropylmethylcellulose granules was comparable to that of immediate release formulations. Tensile strength and friability of tablets were not dependent on the process parameters. The use of starch as filler was not beneficial with regard to granule and tablet properties. Complete drug release was obtained after 16-20h and was independent of the design's parameters. Copyright © 2016 Elsevier B.V. All rights reserved.

Peer-to-peer Cooperative Scheduling Architecture for National Grid Infrastructure

NASA Astrophysics Data System (ADS)

Matyska, Ludek; Ruda, Miroslav; Toth, Simon

For some ten years, the Czech National Grid Infrastructure MetaCentrum uses a single central PBSPro installation to schedule jobs across the country. This centralized approach keeps a full track about all the clusters, providing support for jobs spanning several sites, implementation for the fair-share policy and better overall control of the grid environment. Despite a steady progress in the increased stability and resilience to intermittent very short network failures, growing number of sites and processors makes this architecture, with a single point of failure and scalability limits, obsolete. As a result, a new scheduling architecture is proposed, which relies on higher autonomy of clusters. It is based on a peer to peer network of semi-independent schedulers for each site or even cluster. Each scheduler accepts jobs for the whole infrastructure, cooperating with other schedulers on implementation of global policies like central job accounting, fair-share, or submission of jobs across several sites. The scheduling system is integrated with the Magrathea system to support scheduling of virtual clusters, including the setup of their internal network, again eventually spanning several sites. On the other hand, each scheduler is local to one of several clusters and is able to directly control and submit jobs to them even if the connection of other scheduling peers is lost. In parallel to the change of the overall architecture, the scheduling system itself is being replaced. Instead of PBSPro, chosen originally for its declared support of large scale distributed environment, the new scheduling architecture is based on the open-source Torque system. The implementation and support for the most desired properties in PBSPro and Torque are discussed and the necessary modifications to Torque to support the MetaCentrum scheduling architecture are presented, too.

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.

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 increase in the starting torque of PMSM motor by applying of FOC method

NASA Astrophysics Data System (ADS)

Plachta, Kamil

2017-05-01

The article presents field oriented control method of synchronous permanent magnet motor equipped in optical sensors. This method allows for a wide range regulation of torque and rotational speed of the electric motor. The paper presents mathematical model of electric motor and vector control method. Optical sensors have shorter time response as compared to the inductive sensors, which allow for faster response of the electronic control system to changes of motor loads. The motor driver is based on the digital signal processor which performs advanced mathematical operations in real time. The appliance of Clark and Park transformation in the software defines the angle of rotor position. The presented solution provides smooth adjustment of the rotational speed in the first operating zone and reduces the dead zone of the torque in the second and third operating zones.

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.

Determination of torque-limits for human and cat lumbar spine specimens during displacement-controlled physiological motions.

PubMed

Ianuzzi, Allyson; Pickar, Joel G; Khalsa, Partap S

2009-01-01

Quadruped animal models have been validated and used as biomechanical models for the lumbar spine. The biomechanics of the cat lumbar spine has not been well characterized, even though it is a common model used in neuromechanical studies. Compare the physiological ranges of motion and determine torque-limits for cat and human lumbar spine specimens during physiological motions. Biomechanics study. Cat and human lumbar spine specimens. Intervertebral angle (IVA), joint moment, yield point, torque-limit, and correlation coefficients. Cat (L2-sacrum) and human (T12-sacrum) lumbar spine specimens were mechanically tested to failure during displacement-controlled extension (E), lateral bending (LB), and axial rotation (AR). Single trials consisted of 10 cycles (10mm/s or 5 degrees /s) to a target displacement where the magnitude of the target displacement was increased for subsequent trials until failure occurred. Whole-lumbar stiffness, torque at yield point, and joint stiffness were determined. Scaling relationships were established using equations analogous to those that describe the load response of elliptically shaped beams. IVA magnitudes for cat and human lumbar spines were similar during physiological motions. Human whole-lumbar and joint stiffness magnitudes were significantly greater than those for cat spine specimens (p<.05). Torque-limits were also greater for humans compared with cats. Scaling relationships with high correlation (R(2) greater than 0.77) were established during later LB and AR. The current study defined "physiological ranges of movement" for human and cat lumbar spine specimens during displacement-controlled testing, and should be observed in future biomechanical studies conducted under displacement control.

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

Tom, Nathan; Yu, Yi-Hsiang; Wright, Alan

The focus of this paper is to balance power absorption against structural loading for a novel fixed-bottom oscillating surge wave energy converter in both regular and irregular wave environments. The power-to-load ratio will be evaluated using pseudospectral control (PSC) to determine the optimum power-takeoff (PTO) torque based on a multiterm objective function. This paper extends the pseudospectral optimal control problem to not just maximize the time-averaged absorbed power but also include measures for the surge-foundation force and PTO torque in the optimization. The objective function may now potentially include three competing terms that the optimizer must balance. Separate weighting factorsmore » are attached to the surge-foundation force and PTO control torque that can be used to tune the optimizer performance to emphasize either power absorption or load shedding. To correct the pitch equation of motion, derived from linear hydrodynamic theory, a quadratic-viscous-drag torque has been included in the system dynamics; however, to continue the use of quadratic programming solvers, an iteratively obtained linearized drag coefficient was utilized that provided good accuracy in the predicted pitch motion. Furthermore, the analysis considers the use of a nonideal PTO unit to more accurately evaluate controller performance. The PTO efficiency is not directly included in the objective function but rather the weighting factors are utilized to limit the PTO torque amplitudes, thereby reducing the losses resulting from the bidirectional energy flow through a nonideal PTO. Results from PSC show that shedding a portion of the available wave energy can lead to greater reductions in structural loads, peak-to-average power ratio, and reactive power requirement.« less

Quantifying data retention of perpendicular spin-transfer-torque magnetic random access memory chips using an effective thermal stability factor method

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

Thomas, Luc, E-mail: luc.thomas@headway.com; Jan, Guenole; Le, Son

The thermal stability of perpendicular Spin-Transfer-Torque Magnetic Random Access Memory (STT-MRAM) devices is investigated at chip level. Experimental data are analyzed in the framework of the Néel-Brown model including distributions of the thermal stability factor Δ. We show that in the low error rate regime important for applications, the effect of distributions of Δ can be described by a single quantity, the effective thermal stability factor Δ{sub eff}, which encompasses both the median and the standard deviation of the distributions. Data retention of memory chips can be assessed accurately by measuring Δ{sub eff} as a function of device diameter andmore » temperature. We apply this method to show that 54 nm devices based on our perpendicular STT-MRAM design meet our 10 year data retention target up to 120 °C.« less

Supervisory control of drilling of composite materials

NASA Astrophysics Data System (ADS)

Ozaki, Motoyoshi

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

Dynamics of aircraft antiskid braking systems. [conducted at the Langley aircraft landing loads and traction facility

NASA Technical Reports Server (NTRS)

Tanner, J. A.; Stubbs, S. M.; Dreher, R. C.; Smith, E. G.

1982-01-01

A computer study was performed to assess the accuracy of three brake pressure-torque mathematical models. The investigation utilized one main gear wheel, brake, and tire assembly of a McDonnell Douglas DC-9 series 10 airplane. The investigation indicates that the performance of aircraft antiskid braking systems is strongly influenced by tire characteristics, dynamic response of the antiskid control valve, and pressure-torque response of the brake. The computer study employed an average torque error criterion to assess the accuracy of the models. The results indicate that a variable nonlinear spring with hysteresis memory function models the pressure-torque response of the brake more accurately than currently used models.

Detrimental effect of interfacial Dzyaloshinskii-Moriya interaction on perpendicular spin-transfer-torque magnetic random access memory

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

Jang, Peong-Hwa; Lee, Seo-Won, E-mail: swlee-sci@korea.ac.kr, E-mail: kj-lee@korea.ac.kr; Song, Kyungmi

2015-11-16

Interfacial Dzyaloshinskii-Moriya interaction in ferromagnet/heavy metal bilayers is recently of considerable interest as it offers an efficient control of domain walls and the stabilization of magnetic skyrmions. However, its effect on the performance of perpendicular spin transfer torque memory has not been explored yet. We show based on numerical studies that the interfacial Dzyaloshinskii-Moriya interaction decreases the thermal energy barrier while increases the switching current. As high thermal energy barrier as well as low switching current is required for the commercialization of spin torque memory, our results suggest that the interfacial Dzyaloshinskii-Moriya interaction should be minimized for spin torque memorymore » applications.« less

Muscular control of a learned movement: the speed control system hypothesis.

PubMed

Enoka, R M

1983-01-01

The "speed control system" hypothesis, which represents an attempt to identify an invariant characteristic of learned movements, postulates that movements of variable extent are controlled by regulating the intensity of muscle contractions such that the contraction duration remains constant. The contingency set originally utilized to develop this hypothesis was expanded by examining a movement that was multidirectional and multiarticular, and executed by large muscle groups generating near maximum torques. The investigation focused on the techniques utilized by weightlifters to control lower extremity displacement during the initial phase of the double knee bend execution of the "clean" in Olympic weightlifting. The combination of the quantified muscle activity and the angular velocity, both about the knee joint, revealed a sequence of shortening-lengthening muscle contractions throughout the movement. The first two periods of net muscular activity, one extensor and the other flexor, were utilized to examine the movement for invariant characteristics. As predicted by the speed control system hypothesis, the duration of the first period of net muscle torque activity (extensor) did not vary significantly, for either group of subjects, over the relative loads examined. The duration of the second period of activity (resultant flexor muscle torque), however, was not constant across loads, and further, the direction of the change depended upon the level of expertise. The more capable lifters tended to increase the duration of the resultant flexor involvement while the less skilled athletes utilized the reverse strategy when the load was increased. Conversely, the intensity of the muscle activity for both groups of subjects and both the extensor and flexor periods covaried with load, as predicted by the hypothesis. The speed control system hypothesis, therefore, provided an appropriate explanation for the first component of the movement, the period of extensor dominated (shortening contraction) muscle torque, but was inappropriate for the subsequent interval, a resultant flexor (largely lengthening contraction) muscle torque.

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.

Intelligent excavator control system for lunar mining system

NASA Astrophysics Data System (ADS)

Lever, Paul J. A.; Wang, Fei-Yue

1995-01-01

A major benefit of utilizing local planetary resources is that it reduces the need and cost of lifting materials from the Earth's surface into Earth orbit. The location of the moon makes it an ideal site for harvesting the materials needed to assist space activities. Here, lunar excavation will take place in the dynamic unstructured lunar environment, in which conditions are highly variable and unpredictable. Autonomous mining (excavation) machines are necessary to remove human operators from this hazardous environment. This machine must use a control system structure that can identify, plan, sense, and control real-time dynamic machine movements in the lunar environment. The solution is a vision-based hierarchical control structure. However, excavation tasks require force/torque sensor feedback to control the excavation tool after it has penetrated the surface. A fuzzy logic controller (FLC) is used to interpret the forces and torques gathered from a bucket mounted force/torque sensor during excavation. Experimental results from several excavation tests using the FLC are presented here. These results represent the first step toward an integrated sensing and control system for a lunar mining system.

Improving the transparency of a rehabilitation robot by exploiting the cyclic behaviour of walking.

PubMed

van Dijk, W; van der Kooij, H; Koopman, B; van Asseldonk, E H F; van der Kooij, H

2013-06-01

To promote active participation of neurological patients during robotic gait training, controllers, such as "assist as needed" or "cooperative control", are suggested. Apart from providing support, these controllers also require that the robot should be capable of resembling natural, unsupported, walking. This means that they should have a transparent mode, where the interaction forces between the human and the robot are minimal. Traditional feedback-control algorithms do not exploit the cyclic nature of walking to improve the transparency of the robot. The purpose of this study was to improve the transparent mode of robotic devices, by developing two controllers that use the rhythmic behavior of gait. Both controllers use adaptive frequency oscillators and kernel-based non-linear filters. Kernelbased non-linear filters can be used to estimate signals and their time derivatives, as a function of the gait phase. The first controller learns the motor angle, associated with a certain joint angle pattern, and acts as a feed-forward controller to improve the torque tracking (including the zero-torque mode). The second controller learns the state of the mechanical system and compensates for the dynamical effects (e.g. the acceleration of robot masses). Both controllers have been tested separately and in combination on a small subject population. Using the feedforward controller resulted in an improved torque tracking of at least 52 percent at the hip joint, and 61 percent at the knee joint. When both controllers were active simultaneously, the interaction power between the robot and the human leg was reduced by at least 40 percent at the thigh, and 43 percent at the shank. These results indicate that: if a robotic task is cyclic, the torque tracking and transparency can be improved by exploiting the predictions of adaptive frequency oscillator and kernel-based nonlinear filters.

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

PubMed Central

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

2012-01-01

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

Study of Various Slanted Air-Gap Structures of Interior Permanent Magnet Synchronous Motor with Brushless Field Excitation

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

Tolbert, Leon M; Lee, Seong T

2010-01-01

This paper shows how to maximize the effect of the slanted air-gap structure of an interior permanent magnet synchronous motor with brushless field excitation (BFE) for application in a hybrid electric vehicle. The BFE structure offers high torque density at low speed and weakened flux at high speed. The unique slanted air-gap is intended to increase the output torque of the machine as well as to maximize the ratio of the back-emf of a machine that is controllable by BFE. This irregularly shaped air-gap makes a flux barrier along the d-axis flux path and decreases the d-axis inductance; as amore » result, the reluctance torque of the machine is much higher than a uniform air-gap machine, and so is the output torque. Also, the machine achieves a higher ratio of the magnitude of controllable back-emf. The determination of the slanted shape was performed by using magnetic equivalent circuit analysis and finite element analysis (FEA).« less

Influence of Drilling Parameters on Torque during Drilling of GFRP Composites Using Response Surface Methodology

NASA Astrophysics Data System (ADS)

Mohan, N. S.; Kulkarni, S. M.

2018-01-01

Polymer based composites have marked their valuable presence in the area of aerospace, defense and automotive industry. Components made of composite, are assembled to main structure by fastener, which require accurate, precise high quality holes to be drilled. Drilling the hole in composite with accuracy require control over various processes parameters viz., speed, feed, drill bit size and thickens of specimen. TRIAC VMC machining center is used to drill the hole and to relate the cutting and machining parameters on the torque. MINITAB 14 software is used to analyze the collected data. As a function of cutting and specimen parameters this method could be useful for predicting torque parameters. The purpose of this work is to investigate the effect of drilling parameters to get low torque value. Results show that thickness of specimen and drill bit size are significant parameters influencing the torque and spindle speed and feed rate have least influence and overlaid plot indicates a feasible and low region of torque is observed for medium to large sized drill bits for the range of spindle speed selected. Response surface contour plots indicate the sensitivity of the drill size and specimen thickness to the torque.

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

NASA Technical Reports Server (NTRS)

DeWoody, Yssa

1996-01-01

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

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.

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

NASA Technical Reports Server (NTRS)

Moetteli, John B. (Inventor)

1997-01-01

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

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

Analytic and simulation studies on the use of torque-wheel actuators for the control of flexible robotic arms

NASA Technical Reports Server (NTRS)

Montgomery, Raymond C.; Ghosh, Dave; Kenny, Sean

1991-01-01

This paper presents results of analytic and simulation studies to determine the effectiveness of torque-wheel actuators in suppressing the vibrations of two-link telerobotic arms with attached payloads. The simulations use a planar generic model of a two-link arm with a torque wheel at the free end. Parameters of the arm model are selected to be representative of a large space-based robotic arm of the same class as the Space Shuttle Remote Manipulator, whereas parameters of the torque wheel are selected to be similar to those of the Mini-Mast facility at the Langley Research Center. Results show that this class of torque-wheel can produce an oscillation of 2.5 cm peak-to-peak in the end point of the arm and that the wheel produces significantly less overshoot when the arm is issued an abrupt stop command from the telerobotic input station.

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

Detumbling of a rigid spacecraft via torque wheel assisted gyroscopic motion

NASA Astrophysics Data System (ADS)

Lin, Yiing-Yuh; Wang, Chin-Tzuo

2014-01-01

A time and energy efficient two-part method for detumbling a rigid spacecraft using an onboard torque wheel and a set of three-axis magnetic torquer is presented in this paper. Part-1 of the method manipulates the speed of the wheel, whose spin axis is parallel to a designated body axis of a tumbling spacecraft, and induces a desired gyroscopic-like motion to align the designated axis with its total angular momentum, H. The procedure in effect detumbles the spacecraft to rotate about the designated axis and distributes H, which is conserved during this control period, between the body and the wheel. After the alignment is achieved, Part-2 control, activated with a specified momentum transfer parameter, η, can either quickly stop the body rotation by transferring its angular momentum to the wheel or offload most of the momentum into space, using the wheel and the magnetic torquer. Convergence criteria and control laws for both parts are derived from the Lyapunov stability analysis and the method of feedback linearization. The wheel performs as a momentum storing and transferring device regulating the angular momentum between the wheel and the body. It can also provide gyroscopic stiffness to stabilize the system while the magnetic torquer is offloading the momentum. Simulation results from the included cases indicate that significantly fast detumbling of the spacecraft can be achieved with Part-1 of the proposed method. The results also show that, under the same condition, either by transferring almost all H to the wheel or dumping it, the two-part method, with a chosen η and final residual momentum condition, requires much less time and energy needed than the B-dot method does. Moreover, the stability nature of the two-part method is heuristically substantiated as the wheel torques and the dipole moment were constrained in the simulation.

Real-time estimation of FES-induced joint torque with evoked EMG : Application to spinal cord injured patients.

PubMed

Li, Zhan; Guiraud, David; Andreu, David; Benoussaad, Mourad; Fattal, Charles; Hayashibe, Mitsuhiro

2016-06-22

Functional electrical stimulation (FES) is a neuroprosthetic technique for restoring lost motor function of spinal cord injured (SCI) patients and motor-impaired subjects by delivering short electrical pulses to their paralyzed muscles or motor nerves. FES induces action potentials respectively on muscles or nerves so that muscle activity can be characterized by the synchronous recruitment of motor units with its compound electromyography (EMG) signal is called M-wave. The recorded evoked EMG (eEMG) can be employed to predict the resultant joint torque, and modeling of FES-induced joint torque based on eEMG is an essential step to provide necessary prediction of the expected muscle response before achieving accurate joint torque control by FES. Previous works on FES-induced torque tracking issues were mainly based on offline analysis. However, toward personalized clinical rehabilitation applications, real-time FES systems are essentially required considering the subject-specific muscle responses against electrical stimulation. This paper proposes a wireless portable stimulator used for estimating/predicting joint torque based on real time processing of eEMG. Kalman filter and recurrent neural network (RNN) are embedded into the real-time FES system for identification and estimation. Prediction results on 3 able-bodied subjects and 3 SCI patients demonstrate promising performances. As estimators, both Kalman filter and RNN approaches show clinically feasible results on estimation/prediction of joint torque with eEMG signals only, moreover RNN requires less computational requirement. The proposed real-time FES system establishes a platform for estimating and assessing the mechanical output, the electromyographic recordings and associated models. It will contribute to open a new modality for personalized portable neuroprosthetic control toward consolidated personal healthcare for motor-impaired patients.

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.

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.

Manipulation of spin transfer torque using light

NASA Astrophysics Data System (ADS)

Rontani, Massimo; Vendelbjerg, Karsten; Sham, Lu

We show that the spin transfer torque induced by a spin-polarized current on a nanomagnet as the current flows through a semiconductor-nanomagnet-semiconductor junction is externally controlled by shining the junction off-resonantly with a strong laser beam. The excitonic coherence driven by the laser dresses the virtual electron-hole pairs coupling conduction and valence bands and inducing an evanescent state in the proximity of the nanomagnet. The Fano-like quantum interference between this localized state and the continuum spectrum is different in the two spin channels and hence it dramatically alters the spin transport, leading to the coherent control of the spin transfer torque. This work is supported by EU-FP7 Marie Curie Initial Training Network INDEX.

An inductance Fourier decomposition-based current-hysteresis control strategy for switched reluctance motors

NASA Astrophysics Data System (ADS)

Hua, Wei; Qi, Ji; Jia, Meng

2017-05-01

Switched reluctance machines (SRMs) have attracted extensive attentions due to the inherent advantages, including simple and robust structure, low cost, excellent fault-tolerance and wide speed range, etc. However, one of the bottlenecks limiting the SRMs for further applications is its unfavorable torque ripple, and consequently noise and vibration due to the unique doubly-salient structure and pulse-current-based power supply method. In this paper, an inductance Fourier decomposition-based current-hysteresis-control (IFD-CHC) strategy is proposed to reduce torque ripple of SRMs. After obtaining a nonlinear inductance-current-position model based Fourier decomposition, reference currents can be calculated by reference torque and the derived inductance model. Both the simulations and experimental results confirm the effectiveness of the proposed strategy.

Effects of Space Weather on Geosynchronous Electromagnetic Spacecraft Perturbations Using Statistical Fluxes

NASA Astrophysics Data System (ADS)

Hughes, J.; Schaub, H.

2017-12-01

Spacecraft can charge to very negative voltages at GEO due to interactions with the space plasma. This can cause arcing which can damage spacecraft electronics or solar panels. Recently, it has been suggested that spacecraft charging may lead to orbital perturbations which change the orbits of lightweight uncontrolled debris orbits significantly. The motions of High Area to Mass Ratio objects are not well explained with just perturbations from Solar Radiation Pressure (SRP) and earth, moon, and sun gravity. A charged spacecraft will experience a Lorentz force as the spacecraft moves relative to Earth's magnetic field, as well as a Lorentz torque and eddy current torques if the object is rotating. Prior work assuming a constant "worst case" voltage has shown that Lorentz and eddy torques can cause quite large orbital changes by rotating the object to experience more or less SRP. For some objects, including or neglecting these electromagnetic torques can lead to differences of thousands of kilometers after only two orbits. This paper will further investigate the effects of electromagnetic perturbations by using a charging model that uses measured flux distributions to better simulate natural charging. This differs from prior work which used a constant voltage or Maxwellian distributions. This is done to a calm space weather case of Kp = 2 and a stormy case where Kp = 8. Preliminary analysis suggests that electrostatics will still cause large orbital changes even with the more realistic charging model.

Motor impairment factors related to brain injury timing in early hemiparesis Part I: expression of upper extremity weakness

PubMed Central

Sukal-Moulton, Theresa; Krosschell, Kristin J.; Gaebler-Spira, Deborah J.; Dewald, Julius P.A.

2014-01-01

Background Extensive neuromotor development occurs early in human life, but the time that a brain injury occurs during development has not been rigorously studied when quantifying motor impairments. Objective This study investigated the impact of timing of brain injury on magnitude and distribution of weakness in the paretic arm of individuals with childhood-onset hemiparesis. Methods Twenty-four individuals with hemiparesis were divided into time periods of injury before birth (PRE-natal, n=8), around the time of birth (PERI-natal, n=8) or after 6 months of age (POST-natal, n=8). They, along with 8 typically developing peers, participated in maximal isometric shoulder, elbow, wrist, and finger torque generation tasks using a multiple degree-of-freedom load cell to quantify torques in 10 directions. A mixed model ANOVA was used to determine the effect of group and task on a calculated relative weakness ratio between arms. Results There was a significant effect of both time of injury group (p<0.001) and joint torque direction (p<0.001) on the relative weakness of the paretic arm. Distal joints were more affected compared to proximal joints, especially in the POST-natal group. Conclusions The distribution of weakness provides evidence for the relative preservation of ipsilateral corticospinal motor pathways to the paretic limb in those individuals injured earlier, while those who sustained later injury may rely more on indirect ipsilateral cortico-bulbospinal projections during the generation of torques with the paretic arm. PMID:24009182

Motor impairment factors related to brain injury timing in early hemiparesis. Part I: expression of upper-extremity weakness.

PubMed

Sukal-Moulton, Theresa; Krosschell, Kristin J; Gaebler-Spira, Deborah J; Dewald, Julius P A

2014-01-01

Extensive neuromotor development occurs early in human life, but the time that a brain injury occurs during development has not been rigorously studied when quantifying motor impairments. This study investigated the impact of timing of brain injury on the magnitude and distribution of weakness in the paretic arm of individuals with childhood-onset hemiparesis. A total of 24 individuals with hemiparesis were divided into time periods of injury before birth (PRE-natal, n = 8), around the time of birth (PERI-natal, n = 8), or after 6 months of age (POST-natal, n = 8). They, along with 8 typically developing peers, participated in maximal isometric shoulder, elbow, wrist, and finger torque generation tasks using a multiple-degree-of-freedom load cell to quantify torques in 10 directions. A mixed-model ANOVA was used to determine the effect of group and task on a calculated relative weakness ratio between arms. There was a significant effect of both time of injury group (P < .001) and joint torque direction (P < .001) on the relative weakness of the paretic arm. Distal joints were more affected compared with proximal joints, especially in the POST-natal group. The distribution of weakness provides evidence for the relative preservation of ipsilateral corticospinal motor pathways to the paretic limb in those individuals injured earlier, whereas those who sustained later injury may rely more on indirect ipsilateral corticobulbospinal projections during the generation of torques with the paretic arm.

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.

Method for Estimating Operational Loads on Aerospace Structures Using Span-Wisely Distributed Surface Strains

NASA Technical Reports Server (NTRS)

Ko, William L.; Fleischer, Van Tran

2013-01-01

This report presents a new method for estimating operational loads (bending moments, shear loads, and torques) acting on slender aerospace structures using distributed surface strains (unidirectional strains). The surface strain-sensing stations are to be evenly distributed along each span-wise strain-sensing line. A depth-wise cross section of the structure along each strain-sensing line can then be considered as an imaginary embedded beam. The embedded beam was first evenly divided into multiple small domains with domain junctures matching the strain-sensing stations. The new method is comprised of two steps. The first step is to determine the structure stiffness (bending or torsion) using surface strains obtained from a simple bending (or torsion) loading case, for which the applied bending moment (or torque) is known. The second step is to use the strain-determined structural stiffness (bending or torsion), and a new set of surface strains induced by any other loading case to calculate the associated operational loads (bending moments, shear loads, or torques). Performance of the new method for estimating operational loads was studied in light of finite-element analyses of several example structures subjected to different loading conditions. The new method for estimating operational loads was found to be fairly accurate, and is very promising for applications to the flight load monitoring of flying vehicles with slender wings.

Modelling the joint torques and loadings during squatting at the Smith machine.

PubMed

Biscarini, Andrea; Benvenuti, Paolo; Botti, Fabio; Mastrandrea, Francesco; Zanuso, Silvano

2011-03-01

An analytical biomechanical model was developed to establish the relevant properties of the Smith squat exercise, and the main differences from the free barbell squat. The Smith squat may be largely patterned to modulate the distributions of muscle activities and joint loadings. For a given value of the included knee angle (θ(knee)), bending the trunk forward, moving the feet forward in front of the knees, and displacing the weight distribution towards the forefoot emphasizes hip and lumbosacral torques, while also reducing knee torque and compressive tibiofemoral and patellofemoral forces (and vice versa). The tibiofemoral shear force φ(t) displays more complex trends that strongly depend on θ(knee). Notably, for 180° ≥ θ(knee) ≥ 130°, φ(t) and cruciate ligament strain forces can be suppressed by selecting proper pairs of ankle and hip angles. Loading of the posterior cruciate ligament increases (decreases) in the range 180° ≥ θ(knee) ≥ 150° (θ(knee) ≤ 130°) with knee extension, bending the trunk forward, and moving the feet forward in front of the knees. In the range 150° > θ(knee) > 130°, the behaviour changes depending on the foot weight distribution. The conditions for the development of anterior cruciate ligament strain forces are explained. This work enables careful use of the Smith squat in strengthening and rehabilitation programmes.

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%.

Effects of 4 Weeks of Explosive-type Strength Training for the Plantar Flexors on the Rate of Torque Development and Postural Stability in Elderly Individuals.

PubMed

Kobayashi, Y; Ueyasu, Y; Yamashita, Y; Akagi, R

2016-06-01

This study aimed to investigate the effect of a 4-week explosive-type strength training program for the plantar flexors on the rate of torque development and postural stability. The participants were 56 elderly men and women divided into training (17 men and 15 women) and control (14 men and 10 women) groups. The participants in the training group underwent explosive-type strength training of the plantar flexors 2 days per week for 4 weeks. Training consisted of 3 sets of 10 repetitions of explosive plantar flexion lasting less than 1 s. The following parameters were determined: muscle volume of the plantar flexors estimated by the muscle thickness and lower leg length, maximal voluntary contraction torque and rate of torque development of plantar flexion, and one-leg standing ability. The training increased the maximal voluntary contraction torque and rate of torque development, but corresponding increases in muscle volume and one-leg standing ability were not found. These results suggest that, for elderly individuals, the 4-week explosive-type strength training of the plantar flexors is effective for increasing the maximal voluntary contraction torque and rate of torque development of plantar flexion but is not effective for improving postural stability. © Georg Thieme Verlag KG Stuttgart · New York.

Induction motor control

NASA Technical Reports Server (NTRS)

Hansen, Irving G.

1990-01-01

Electromechanical actuators developed to date have commonly utilized permanent magnet (PM) synchronous motors. More recently switched reluctance (SR) motors have been advocated due to their robust characteristics. Implications of work which utilizes induction motors and advanced control techniques are discussed. When induction motors are operated from an energy source capable of controlling voltages and frequencies independently, drive characteristics are obtained which are superior to either PM or SR motors. By synthesizing the machine frequency from a high frequency carrier (nominally 20 kHz), high efficiencies, low distortion, and rapid torque response are available. At this time multiple horsepower machine drives were demonstrated, and work is on-going to develop a 20 hp average, 40 hp peak class of aerospace actuators. This effort is based upon high frequency power distribution and management techniques developed by NASA for Space Station Freedom.

Induction motor control

NASA Technical Reports Server (NTRS)

Hansen, Irving G.

1990-01-01

Electromechanical actuators developed to date have commonly ultilized permanent magnet (PM) synchronous motors. More recently switched reluctance (SR) motors have been advocated due to their robust characteristics. Implications of work which utilized induction motors and advanced control techniques are discussed. When induction motors are operated from an energy source capable of controlling voltages and frequencies independently, drive characteristics are obtained which are superior to either PM or SR motors. By synthesizing the machine frequency from a high-frequency carrier (nominally 20 kHz), high efficiencies, low distortion, and rapid torque response are available. At this time multiple horsepower machine drives were demonstrated, and work is on-going to develop a 20 hp average, 40 hp peak class of aerospace actuators. This effort is based upon high-frequency power distribution and management techniques developed by NASA for Space Station Freedom.

Vehicle handling and stability control by the cooperative control of 4WS and DYC

NASA Astrophysics Data System (ADS)

Shen, Huan; Tan, Yun-Sheng

2017-07-01

This paper proposes an integrated control system that cooperates with the four-wheel steering (4WS) and direct yaw moment control (DYC) to improve the vehicle handling and stability. The design works of the four-wheel steering and DYC control are based on sliding mode control. The integration control system produces the suitable 4WS angle and corrective yaw moment so that the vehicle tracks the desired yaw rate and sideslip angle. Considering the change of the vehicle longitudinal velocity that means the comfort of driving conditions, both the driving torque and braking torque are used to generate the corrective yaw moment. Simulation results show the effectiveness of the proposed control algorithm.

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

NASA Technical Reports Server (NTRS)

Ng, Wanyi; Benson, David

2017-01-01

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

Modeling Attitude Dynamics in Simulink: A Study of the Rotational and Translational Motion of a Spacecraft Given Torques and Impulses Generated by RMS Hand Controllers

NASA Technical Reports Server (NTRS)

Mauldin, Rebecca H.

2010-01-01

In order to study and control the attitude of a spacecraft, it is necessary to understand the natural motion of a body in orbit. Assuming a spacecraft to be a rigid body, dynamics describes the complete motion of the vehicle by the translational and rotational motion of the body. The Simulink Attitude Analysis Model applies the equations of rigid body motion to the study of a spacecraft?s attitude in orbit. Using a TCP/IP connection, Matlab reads the values of the Remote Manipulator System (RMS) hand controllers and passes them to Simulink as specified torque and impulse profiles. Simulink then uses the governing kinematic and dynamic equations of a rigid body in low earth orbit (LE0) to plot the attitude response of a spacecraft for five seconds given known applied torques and impulses, and constant principal moments of inertia.

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.

Knobology in use: an experimental evaluation of ergonomics recommendations.

PubMed

Overgård, Kjell Ivar; Fostervold, Knut Inge; Bjelland, Hans Vanhauwaert; Hoff, Thomas

2007-05-01

The scientific basis for ergonomics recommendations for controls has usually not been related to active goal-directed use. The present experiment tests how different knob sizes and torques affect operator performance. The task employed is to control a pointer by the use of a control knob, and is as such an experimentally defined goal-directed task relevant to machine systems in general. Duration of use, error associated with use (overshooting of the goal area) and movement reproduction were used as performance measures. Significant differences between knob sizes were found for movement reproduction. High torques led to less overshooting as opposed to low torques. The results from duration of use showed a tendency that the differences between knob sizes were reduced from the first iteration to the second iteration. The present results indicate that the ergonomically recommended ranges of knob sizes might differently affect operator performance.

Novel Control Scheme of Power Assisted Wheelchair for Preventing Overturn (Part I)-Adjustment of Assisted Torque and Performance Evaluation From Field Test-

NASA Astrophysics Data System (ADS)

Seki, Hirokazu; Hata, Naoki; Koyasu, Yuichi; Hori, Yoichi

Aged people and disabled people who have difficulty in walking are increasing. As one of mobility support, significance of power assisted wheelchair which assists driving force using electric motors and spreads their living areas has been enhanced. However, the increased driving force often causes a dangerous overturn of wheelchair. In this paper, control method to prevent power assisted wheelchair from overturning is proposed. It is found the front wheels rising is caused by magnitude and rapid increase of assisted torque. Therefore, feedforward control method to limit the assisted torque by tuning its magnitude or time constant is proposed. In order to emphasize safety and feeling of security, these methods make the front wheels no rise. The effectiveness of the proposed method is verified by the practical experiments and field test based performance evaluation using many trial subjects.

Novel probabilistic and distributed algorithms for guidance, control, and nonlinear estimation of large-scale multi-agent systems

NASA Astrophysics Data System (ADS)

Bandyopadhyay, Saptarshi

Multi-agent systems are widely used for constructing a desired formation shape, exploring an area, surveillance, coverage, and other cooperative tasks. This dissertation introduces novel algorithms in the three main areas of shape formation, distributed estimation, and attitude control of large-scale multi-agent systems. In the first part of this dissertation, we address the problem of shape formation for thousands to millions of agents. Here, we present two novel algorithms for guiding a large-scale swarm of robotic systems into a desired formation shape in a distributed and scalable manner. These probabilistic swarm guidance algorithms adopt an Eulerian framework, where the physical space is partitioned into bins and the swarm's density distribution over each bin is controlled using tunable Markov chains. In the first algorithm - Probabilistic Swarm Guidance using Inhomogeneous Markov Chains (PSG-IMC) - each agent determines its bin transition probabilities using a time-inhomogeneous Markov chain that is constructed in real-time using feedback from the current swarm distribution. This PSG-IMC algorithm minimizes the expected cost of the transitions required to achieve and maintain the desired formation shape, even when agents are added to or removed from the swarm. The algorithm scales well with a large number of agents and complex formation shapes, and can also be adapted for area exploration applications. In the second algorithm - Probabilistic Swarm Guidance using Optimal Transport (PSG-OT) - each agent determines its bin transition probabilities by solving an optimal transport problem, which is recast as a linear program. In the presence of perfect feedback of the current swarm distribution, this algorithm minimizes the given cost function, guarantees faster convergence, reduces the number of transitions for achieving the desired formation, and is robust to disturbances or damages to the formation. We demonstrate the effectiveness of these two proposed swarm guidance algorithms using results from numerical simulations and closed-loop hardware experiments on multiple quadrotors. In the second part of this dissertation, we present two novel discrete-time algorithms for distributed estimation, which track a single target using a network of heterogeneous sensing agents. The Distributed Bayesian Filtering (DBF) algorithm, the sensing agents combine their normalized likelihood functions using the logarithmic opinion pool and the discrete-time dynamic average consensus algorithm. Each agent's estimated likelihood function converges to an error ball centered on the joint likelihood function of the centralized multi-sensor Bayesian filtering algorithm. Using a new proof technique, the convergence, stability, and robustness properties of the DBF algorithm are rigorously characterized. The explicit bounds on the time step of the robust DBF algorithm are shown to depend on the time-scale of the target dynamics. Furthermore, the DBF algorithm for linear-Gaussian models can be cast into a modified form of the Kalman information filter. In the Bayesian Consensus Filtering (BCF) algorithm, the agents combine their estimated posterior pdfs multiple times within each time step using the logarithmic opinion pool scheme. Thus, each agent's consensual pdf minimizes the sum of Kullback-Leibler divergences with the local posterior pdfs. The performance and robust properties of these algorithms are validated using numerical simulations. In the third part of this dissertation, we present an attitude control strategy and a new nonlinear tracking controller for a spacecraft carrying a large object, such as an asteroid or a boulder. If the captured object is larger or comparable in size to the spacecraft and has significant modeling uncertainties, conventional nonlinear control laws that use exact feed-forward cancellation are not suitable because they exhibit a large resultant disturbance torque. The proposed nonlinear tracking control law guarantees global exponential convergence of tracking errors with finite-gain Lp stability in the presence of modeling uncertainties and disturbances, and reduces the resultant disturbance torque. Further, this control law permits the use of any attitude representation and its integral control formulation eliminates any constant disturbance. Under small uncertainties, the best strategy for stabilizing the combined system is to track a fuel-optimal reference trajectory using this nonlinear control law, because it consumes the least amount of fuel. In the presence of large uncertainties, the most effective strategy is to track the derivative plus proportional-derivative based reference trajectory, because it reduces the resultant disturbance torque. The effectiveness of the proposed attitude control law is demonstrated by using results of numerical simulation based on an Asteroid Redirect Mission concept. The new algorithms proposed in this dissertation will facilitate the development of versatile autonomous multi-agent systems that are capable of performing a variety of complex tasks in a robust and scalable manner.

Algorithm Optimally Allocates Actuation of a Spacecraft

NASA Technical Reports Server (NTRS)

Motaghedi, Shi

2007-01-01

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

Evaluation of a high-torque backlash-free roller actuator

NASA Technical Reports Server (NTRS)

Steinetz, Bruce M.; Rohn, Douglas A.; Anderson, William

1986-01-01

The results are presented of a test program that evaluated the stiffness, accuracy, torque ripple, frictional losses, and torque holding capability of a 16:1 ratio, 430 N-m (320 ft-lb) planetary roller drive for a potential space vehicle actuator application. The drive's planet roller supporting structure and bearings were found to be the largest contributors to overall drive compliance, accounting for more than half of the total. In comparison, the traction roller contacts themselves contributed only 9 percent of the drive's compliance based on an experimentally verified stiffness model. The drive exhibited no backlash although 8 arc sec of hysteresis deflection were recorded due to microcreep within the contact under torque load. Because of these load-dependent displacements, some form of feedback control would be required for arc second positioning applications. Torque ripple tests showed the drive to be extremely smooth, actually providing some damping of input torsional oscillations. The drive also demonstrated the ability to hold static torque with drifts of 7 arc sec or less over a 24 hr period at 35 percent of full load.

Applying torque to the Escherichia coli flagellar motor using magnetic tweezers.

PubMed

van Oene, Maarten M; Dickinson, Laura E; Cross, Bronwen; Pedaci, Francesco; Lipfert, Jan; Dekker, Nynke H

2017-03-07

The bacterial flagellar motor of Escherichia coli is a nanoscale rotary engine essential for bacterial propulsion. Studies on the power output of single motors rely on the measurement of motor torque and rotation under external load. Here, we investigate the use of magnetic tweezers, which in principle allow the application and active control of a calibrated load torque, to study single flagellar motors in Escherichia coli. We manipulate the external load on the motor by adjusting the magnetic field experienced by a magnetic bead linked to the motor, and we probe the motor's response. A simple model describes the average motor speed over the entire range of applied fields. We extract the motor torque at stall and find it to be similar to the motor torque at drag-limited speed. In addition, use of the magnetic tweezers allows us to force motor rotation in both forward and backward directions. We monitor the motor's performance before and after periods of forced rotation and observe no destructive effects on the motor. Our experiments show how magnetic tweezers can provide active and fast control of the external load while also exposing remaining challenges in calibration. Through their non-invasive character and straightforward parallelization, magnetic tweezers provide an attractive platform to study nanoscale rotary motors at the single-motor level.

The stability of steady motion of magnetic domain wall: Role of higher-order spin-orbit torques

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

He, Peng-Bin, E-mail: hepengbin@hnu.edu.cn; Yan, Han; Cai, Meng-Qiu

The steady motion of magnetic domain wall driven by spin-orbit torques is investigated analytically in the heavy/ferromagnetic metal nanowires for three cases with a current transverse to the in-plane and perpendicular easy axis, and along the in-plane easy axis. By the stability analysis of Walker wall profile, we find that if including the higher-order spin-orbit torques, the Walker breakdown can be avoided in some parameter regions of spin-orbit torques with a current transverse to or along the in-plane easy axis. However, in the case of perpendicular anisotropy, even considering the higher-order spin-orbit torques, the velocity of domain wall cannot bemore » efficiently enhanced by the current. Furthermore, the direction of wall motion is dependent on the configuration and chirality of domain wall with a current along the in-plane easy axis or transverse to the perpendicular one. Especially, the direction of motion can be controlled by the initial chirality of domain wall. So, if only involving the spin-orbit mechanism, it is preferable to adopt the scheme of a current along the in-plane easy axis for enhancing the velocity and controlling the direction of domain wall.« less

Applying torque to the Escherichia coli flagellar motor using magnetic tweezers

PubMed Central

van Oene, Maarten M.; Dickinson, Laura E.; Cross, Bronwen; Pedaci, Francesco; Lipfert, Jan; Dekker, Nynke H.

2017-01-01

The bacterial flagellar motor of Escherichia coli is a nanoscale rotary engine essential for bacterial propulsion. Studies on the power output of single motors rely on the measurement of motor torque and rotation under external load. Here, we investigate the use of magnetic tweezers, which in principle allow the application and active control of a calibrated load torque, to study single flagellar motors in Escherichia coli. We manipulate the external load on the motor by adjusting the magnetic field experienced by a magnetic bead linked to the motor, and we probe the motor’s response. A simple model describes the average motor speed over the entire range of applied fields. We extract the motor torque at stall and find it to be similar to the motor torque at drag-limited speed. In addition, use of the magnetic tweezers allows us to force motor rotation in both forward and backward directions. We monitor the motor’s performance before and after periods of forced rotation and observe no destructive effects on the motor. Our experiments show how magnetic tweezers can provide active and fast control of the external load while also exposing remaining challenges in calibration. Through their non-invasive character and straightforward parallelization, magnetic tweezers provide an attractive platform to study nanoscale rotary motors at the single-motor level. PMID:28266562

Electromagnetic processes during phase commutation in field regulated reluctance machine

NASA Astrophysics Data System (ADS)

Shishkov, A. N.; Sychev, D. A.; Zemlyansky, A. A.; Krupnova, M. N.; Funk, T. A.; Ishmet'eva, V. D.

2018-03-01

The processes of currents switching in stator windings have been explained by the existence of the electromagnetic torque ripples in the electric drive with the field-regulated reluctance machine. The maximum value of ripples in the open loop control system for the six-phase machine can reach 20 percent from the developed electromagnetic torque. This method allows one to make calculation of ripple spike towards average torque developed by the electromotor for the different number of phases. Application of a trapezoidal form of current at six phases became the solution. In case of a less number of phases than six, a ripple spike considerably increases, which is inadmissible. On the other hand, increasing the number of phases tends to the increase of the semiconductor inverter external dimensions based on the inconspicuous decreasing of a ripple spike. The creation and usage of high-speed control loops of current (HCLC) have been recommended for a reduction of the electromagnetic torque’s ripple level, as well as the appliance of positive current feedback in switching phase currents. This decision allowed one to receive a mean value of the torque more than 10%, compared to system without change, to reduce greatly ripple spike of the electromagnetic torque. The possibility of the electric drive effective operation with FRRM in emergency operation has been shown.

Radiation torque on nonspherical particles in the transition matrix formalism

NASA Astrophysics Data System (ADS)

Borghese, Ferdinando; Denti, Paolo; Saija, Rosalba; Iatì, Maria A.

2006-10-01

The torque exerted by radiation on small particles is recognized to have a considerable relevance, e.g., on the dynamics of cosmic dust grains and for the manipulation of micro and nanoparticles under controlled conditions. In the present paper we derive, in the transition matrix formalism, the radiation torque applied by a plane polarized wave on nonspherical particles. In case of circularly polarized waves impinging on spherical particles our equations reproduce the findings of Marston and Crichton [Phys. Rev. A 30, 2508 2516 (1984)]. Our equations were applied to calculate the torque on a few model particles shaped as aggregates of identical spheres, both axially symmetric and lacking any symmetry, and the conditions for the stability of the induced rotational motion are discussed.

Balancing Power Absorption Against Structural Loads With Viscous Drag and Power-Takeoff Efficiency Considerations

DOE PAGES

Tom, Nathan; Yu, Yi-Hsiang; Wright, Alan; ...

2017-11-17

The focus of this paper is to balance power absorption against structural loading for a novel fixed-bottom oscillating surge wave energy converter in both regular and irregular wave environments. The power-to-load ratio will be evaluated using pseudospectral control (PSC) to determine the optimum power-takeoff (PTO) torque based on a multiterm objective function. This paper extends the pseudospectral optimal control problem to not just maximize the time-averaged absorbed power but also include measures for the surge-foundation force and PTO torque in the optimization. The objective function may now potentially include three competing terms that the optimizer must balance. Separate weighting factorsmore » are attached to the surge-foundation force and PTO control torque that can be used to tune the optimizer performance to emphasize either power absorption or load shedding. To correct the pitch equation of motion, derived from linear hydrodynamic theory, a quadratic-viscous-drag torque has been included in the system dynamics; however, to continue the use of quadratic programming solvers, an iteratively obtained linearized drag coefficient was utilized that provided good accuracy in the predicted pitch motion. Furthermore, the analysis considers the use of a nonideal PTO unit to more accurately evaluate controller performance. The PTO efficiency is not directly included in the objective function but rather the weighting factors are utilized to limit the PTO torque amplitudes, thereby reducing the losses resulting from the bidirectional energy flow through a nonideal PTO. Results from PSC show that shedding a portion of the available wave energy can lead to greater reductions in structural loads, peak-to-average power ratio, and reactive power requirement.« less

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

NASA Technical Reports Server (NTRS)

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

1989-01-01

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

Voltage-induced ferromagnetic resonance in magnetic tunnel junctions.

PubMed

Zhu, Jian; Katine, J A; Rowlands, Graham E; Chen, Yu-Jin; Duan, Zheng; Alzate, Juan G; Upadhyaya, Pramey; Langer, Juergen; Amiri, Pedram Khalili; Wang, Kang L; Krivorotov, Ilya N

2012-05-11

We demonstrate excitation of ferromagnetic resonance in CoFeB/MgO/CoFeB magnetic tunnel junctions (MTJs) by the combined action of voltage-controlled magnetic anisotropy (VCMA) and spin transfer torque (ST). Our measurements reveal that GHz-frequency VCMA torque and ST in low-resistance MTJs have similar magnitudes, and thus that both torques are equally important for understanding high-frequency voltage-driven magnetization dynamics in MTJs. As an example, we show that VCMA can increase the sensitivity of an MTJ-based microwave signal detector to the sensitivity level of semiconductor Schottky diodes.

Assisted Writing in Spin Transfer Torque Magnetic Tunnel Junctions

NASA Astrophysics Data System (ADS)

Ganguly, Samiran; Ahmed, Zeeshan; Datta, Supriyo; Marinero, Ernesto E.

2015-03-01

Spin transfer torque driven MRAM devices are now in an advanced state of development, and the importance of reducing the current requirement for writing information is well recognized. Different approaches to assist the writing process have been proposed such as spin orbit torque, spin Hall effect, voltage controlled magnetic anisotropy and thermal excitation. In this work,we report on our comparative study using the Spin-Circuit Approach regarding the total energy, the switching speed and energy-delay products for different assisted writing approaches in STT-MTJ devices using PMA magnets.

Novel Driving Control of Power Assisted Wheelchair Based on Minimum Jerk Trajectory

NASA Astrophysics Data System (ADS)

Seki, Hirokazu; Sugimoto, Takeaki; Tadakuma, Susumu

This paper describes a novel trajectory control scheme for power assisted wheelchair. Human input torque patterns are always intermittent in power assisted wheelchairs, therefore, the suitable trajectories must be generated also after the human decreases his/her input torque. This paper tries to solve this significant problem based on minimum jerk model minimizing the changing rate of acceleration. The proposed control system based on minimum jerk trajectory is expected to improve the ride quality, stability and safety. Some experiments show the effectiveness of the proposed method.

Electromagnetic Torque in Tokamaks with Toroidal Asymmetries

NASA Astrophysics Data System (ADS)

Logan, Nikolas Christopher

Toroidal rotation and rotation shear strongly influences stability and confinement in tokamaks. Breaking of the toroidal symmetry by fields orders of magnitude smaller than the axisymmetric field can, however, produce electromagnetic torques that significantly affect the plasma rotation, stability and confinement. These electromagnetic torques are the study of this thesis. There are two typical types of electromagnetic torques in tokamaks: 1) "resonant torques" for which a plasma current defined by a single toroidal and single poloidal harmonic interact with external currents and 2) "nonresonant torques" for which the global plasma response to nonaxisymmetric fields is phase shifted by kinetic effects that drive the rotation towards a neoclassical offset. This work describes the diagnostics and analysis necessary to evaluate the torque by measuring the rate of momentum transfer per unit area in the vacuum region between the plasma and external currents using localized magnetic sensors to measure the Maxwell stress. These measurements provide model independent quantification of both the resonant and nonresonant electromagnetic torques, enabling direct verification of theoretical models. Measured values of the nonresonant torque are shown to agree well with the perturbed equilibrium nonambipolar transport (PENT) code calculation of torque from cross field transport in nonaxisymmetric equilibria. A combined neoclassical toroidal viscosity (NTV) theory, valid across a wide range of kinetic regimes, is fully implemented for the first time in general aspect ratio and shaped plasmas. The code captures pitch angle resonances, reproducing previously inaccessible collisionality limits in the model. The complete treatment of the model enables benchmarking to the hybrid kinetic MHD stability codes MARS-K and MISK, confirming the energy-torque equivalency principle in perturbed equilibria. Experimental validations of PENT results confirm the torque applied by nonaxisymmetric coils is often proportional to the energy put into the dominant ideal MHD kink mode. This reduces the control of nonresonant torque to a single mode model, enabling efficient feed forward optimization of applied fields. Initial results including the anisotropic kinetic pressure tensor directly in the plasma eigenmode calculations are presented here, and may eventually provide accurate metrics for multimodal coupling similar to the established single mode metrics.

Fundamental Principles of Tremor Propagation in the Upper Limb.

PubMed

Davidson, Andrew D; Charles, Steven K

2017-04-01

Although tremor is the most common movement disorder, there exist few effective tremor-suppressing devices, in part because the characteristics of tremor throughout the upper limb are unknown. To clarify, optimally suppressing tremor requires a knowledge of the mechanical origin, propagation, and distribution of tremor throughout the upper limb. Here we present the first systematic investigation of how tremor propagates between the shoulder, elbow, forearm, and wrist. We simulated tremor propagation using a linear, time-invariant, lumped-parameter model relating joint torques and the resulting joint displacements. The model focused on the seven main degrees of freedom from the shoulder to the wrist and included coupled joint inertia, damping, and stiffness. We deliberately implemented a simple model to focus first on the most basic effects. Simulating tremorogenic joint torque as a sinusoidal input, we used the model to establish fundamental principles describing how input parameters (torque location and frequency) and joint impedance (inertia, damping, and stiffness) affect tremor propagation. We expect that the methods and principles presented here will serve as the groundwork for future refining studies to understand the origin, propagation, and distribution of tremor throughout the upper limb in order to enable the future development of optimal tremor-suppressing devices.

Fundamental Principles of Tremor Propagation in the Upper Limb

PubMed Central

Davidson, Andrew D.; Charles, Steven K.

2017-01-01

Although tremor is the most common movement disorder, there exist few effective tremor-suppressing devices, in part because the characteristics of tremor throughout the upper limb are unknown. To clarify, optimally suppressing tremor requires a knowledge of the mechanical origin, propagation, and distribution of tremor throughout the upper limb. Here we present the first systematic investigation of how tremor propagates between the shoulder, elbow, forearm, and wrist. We simulated tremor propagation using a linear, time-invariant, lumped-parameter model relating joint torques and the resulting joint displacements. The model focused on the seven main degrees of freedom from the shoulder to the wrist and included coupled joint inertia, damping, and stiffness. We deliberately implemented a simple model to focus first on the most basic effects. Simulating tremorogenic joint torque as a sinusoidal input, we used the model to establish fundamental principles describing how input parameters (torque location and frequency) and joint impedance (inertia, damping, and stiffness) affect tremor propagation. We expect that the methods and principles presented here will serve as the groundwork for future refining studies to understand the origin, propagation, and distribution of tremor throughout the upper limb in order to enable the future development of optimal tremor-suppressing devices. PMID:27957608

Evidence for non-synchronous rotation of Europa. Galileo Imaging Team.

PubMed

Geissler, P E; Greenberg, R; Hoppa, G; Helfenstein, P; McEwen, A; Pappalardo, R; Tufts, R; Ockert-Bell, M; Sullivan, R; Greeley, R; Belton, M J; Denk, T; Clark, B; Burns, J; Veverka, J

1998-01-22

Non-synchronous rotation of Europa was predicted on theoretical grounds, by considering the orbitally averaged torque exerted by Jupiter on the satellite's tidal bulges. If Europa's orbit were circular, or the satellite were comprised of a frictionless fluid without tidal dissipation, this torque would average to zero. However, Europa has a small forced eccentricity e approximately 0.01 , generated by its dynamical interaction with Io and Ganymede, which should cause the equilibrium spin rate of the satellite to be slightly faster than synchronous. Recent gravity data suggest that there may be a permanent asymmetry in Europa's interior mass distribution which is large enough to offset the tidal torque; hence, if non-synchronous rotation is observed, the surface is probably decoupled from the interior by a subsurface layer of liquid or ductile ice. Non-synchronous rotation was invoked to explain Europa's global system of lineaments and an equatorial region of rifting seen in Voyager images. Here we report an analysis of the orientation and distribution of these surface features, based on initial observations made by the Galileo spacecraft. We find evidence that Europa spins faster than the synchronous rate (or did so in the past), consistent with the possibility of a global subsurface ocean.

Predicted torque equilibrium attitude utilization for Space Station attitude control

NASA Technical Reports Server (NTRS)

Kumar, Renjith R.; Heck, Michael L.; Robertson, Brent P.

1990-01-01

An approximate knowledge of the torque equilibrium attitude (TEA) is shown to improve the performance of a control moment gyroscope (CMG) momentum management/attitude control law for Space Station Freedom. The linearized equations of motion are used in conjunction with a state transformation to obtain a control law which uses full state feedback and the predicted TEA to minimize both attitude excursions and CMG peak and secular momentum. The TEA can be computationally determined either by observing the steady state attitude of a 'controlled' spacecraft using arbitrary initial attitude, or by simulating a fixed attitude spacecraft flying in desired orbit subject to realistic environmental disturbance models.

Nonlinear Attitude Control of Planar Structures in Space Using Only Internal Controls

NASA Technical Reports Server (NTRS)

Reyhanoglu, Mahmut; Mcclamroch, N. Harris

1993-01-01

An attitude control strategy for maneuvers of an interconnection of planar bodies in space is developed. It is assumed that there are no exogeneous torques and that torques generated by joint motors are used as means of control so that the total angular momentum of the multibody system is a constant, assumed to be zero. The control strategy utilizes the nonintegrability of the expression for the angular momentum. Large angle maneuvers can be designed to achieve an arbitrary reorientation of the multibody system with respect to an inertial frame. The theoretical background for carrying out the required maneuvers is summarized.

Dynamic VM Provisioning for TORQUE in a Cloud Environment

NASA Astrophysics Data System (ADS)

Zhang, S.; Boland, L.; Coddington, P.; Sevior, M.

2014-06-01

Cloud computing, also known as an Infrastructure-as-a-Service (IaaS), is attracting more interest from the commercial and educational sectors as a way to provide cost-effective computational infrastructure. It is an ideal platform for researchers who must share common resources but need to be able to scale up to massive computational requirements for specific periods of time. This paper presents the tools and techniques developed to allow the open source TORQUE distributed resource manager and Maui cluster scheduler to dynamically integrate OpenStack cloud resources into existing high throughput computing clusters.

Thermophoretic torque in colloidal particles with mass asymmetry

NASA Astrophysics Data System (ADS)

Olarte-Plata, Juan; Rubi, J. Miguel; Bresme, Fernando

2018-05-01

We investigate the response of anisotropic colloids suspended in a fluid under a thermal field. Using nonequilibrium molecular dynamics computer simulations and nonequilibrium thermodynamics theory, we show that an anisotropic mass distribution inside the colloid rectifies the rotational Brownian motion and the colloids experience transient torques that orient the colloid along the direction of the thermal field. This physical effect gives rise to distinctive changes in the dependence of the Soret coefficient with colloid mass, which features a maximum, unlike the monotonic increase of the thermophoretic force with mass observed in homogeneous colloids.

Velocity specificity of training in bodybuilders.

PubMed

Bell, D G; Jacobs, I

1992-03-01

This study investigated the effects of many years of bodybuilding on muscular strength and endurance. Eight bodybuilders (BB), 4 males and 4 females, and 8 controls (C), 4 males and 4 females, performed a muscle fatigue test (MFT) consisting of 25 maximal leg extensions at angular velocities of 180 and 300 degrees/s. The results for strength showed that at both the slow and fast contraction speeds, BB were significantly stronger than C and males were significantly stronger than females. For muscular endurance the results showed that at the slow contraction speed the torques and torque decline were greater in the BB than in the C, and greater in the males than the females. At the faster contraction speed, torque decline was similar in all groups while torques for the BB and male-C were similar and significantly greater than the torques for the female-C. The ratio of torques (fast/slow) for both strength and muscular endurance showed a main effect due to training status which supported the velocity specificity hypothesis. However, when the relative torques over the 25 contractions at both speeds were looked at, no velocity specificity occurred for muscular endurance. The data suggest a definite velocity specificity for the strength factor in BB whereas the same conclusion is not as clear for the muscular endurance factor.

What triggers the continuous muscle activity during upright standing?

PubMed

Masani, Kei; Sayenko, Dimitry G; Vette, Albert H

2013-01-01

The ankle extensors play a dominant role in controlling the equilibrium during bipedal quiet standing. Their primary role is to resist the gravity toppling torque that pulls the body forward. The purpose of this study was to investigate whether the continuous muscle activity of the anti-gravity muscles during standing is triggered by the joint torque requirement for opposing the gravity toppling torque, rather than by the vertical load on the lower limbs. Healthy adults subjects stood on a force plate. The ankle torque, ankle angle, and electromyograms from the right lower leg muscles were measured. A ground-fixed support device was used to support the subject at his/her knees, without changing the posture from the free standing one. During the supported condition, which eliminates the ankle torque requirement while maintaining both the vertical load on the lower limbs and the natural upright standing posture, the plantarflexor activity was attenuated to the resting level. Also, this attenuated plantarflexor activity was found only in one side when the ipsilateral leg was supported. Our results suggest that the vertical load on the lower limb is not determinant for inducing the continuous muscle activity in the anti-gravity muscles, but that it depends on the required joint torque to oppose the gravity toppling torque. Copyright © 2012 Elsevier B.V. All rights reserved.

Interface-Enhanced Spin-Orbit Torques and Current-Induced Magnetization Switching of Pd /Co /AlOx Layers

NASA Astrophysics Data System (ADS)

Ghosh, Abhijit; Garello, Kevin; Avci, Can Onur; Gabureac, Mihai; Gambardella, Pietro

2017-01-01

Magnetic heterostructures that combine large spin-orbit torque efficiency, perpendicular magnetic anisotropy, and low resistivity are key to developing electrically controlled memory and logic devices. Here, we report on vector measurements of the current-induced spin-orbit torques and magnetization switching in perpendicularly magnetized Pd /Co /AlOx layers as a function of Pd thickness. We find sizable dampinglike (DL) and fieldlike (FL) torques, on the order of 1 mT per 107 A /cm2 , which have different thicknesses and magnetization angle dependencies. The analysis of the DL torque efficiency per unit current density and the electric field using drift-diffusion theory leads to an effective spin Hall angle and spin-diffusion length of Pd larger than 0.03 and 7 nm, respectively. The FL spin-orbit torque includes a significant interface contribution, is larger than estimated using drift-diffusion parameters, and, furthermore, is strongly enhanced upon rotation of the magnetization from the out-of-plane to the in-plane direction. Finally, taking advantage of the large spin-orbit torques in this system, we demonstrate bipolar magnetization switching of Pd /Co /AlOx layers with a similar current density to that used for Pt /Co layers with a comparable perpendicular magnetic anisotropy.

New nonlinear control algorithms for multiple robot arms

NASA Technical Reports Server (NTRS)

Tarn, T. J.; Bejczy, A. K.; Yun, X.

1988-01-01

Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.

Influence of obstructive sleep apnea syndrome in the fluctuation of the submaximal isometric torque of knee extensors in patients with early-grade osteoarthritis

PubMed Central

Silva, Andressa; Mello, Marco T.; Serrão, Paula R.; Luz, Roberta P.; Bittencourt, Lia R.; Mattiello, Stela M.

2015-01-01

OBJECTIVE: The aim of this study was to investigate whether obstructive sleep apnea (OSA) alters the fluctuation of submaximal isometric torque of the knee extensors in patients with early-grade osteoarthritis (OA). METHOD: The study included 60 male volunteers, aged 40 to 70 years, divided into four groups: Group 1 (G1) - Control (n=15): without OA and without OSA; Group 2 (G2) (n=15): with OA and without OSA; Group 3 (G3) (n=15): without OA and with OSA; and Group 4 (G4) (n=15) with OA and with OSA. Five patients underwent maximal isometric contractions of 10 seconds duration each, with the knee at 60° of flexion to determine peak torque at 60°. To evaluate the fluctuation of torque, 5 submaximal isometric contractions (50% of maximum peak torque) of 10 seconds each, which were calculated from the standard deviation of torque and coefficient of variation, were performed. RESULTS: Significant differences were observed between groups for maximum peak torque, while G4 showed a lower value compared with G1 (p=0.005). Additionally, for the average torque exerted, G4 showed a lower value compared to the G1 (p=0.036). However, no differences were found between the groups for the standard deviation (p=0.844) and the coefficient of variation (p=0.143). CONCLUSION: The authors concluded that OSA did not change the parameters of the fluctuation of isometric submaximal torque of knee extensors in patients with early-grade OA. PMID:26443974

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.

Distribution of peri-implant stresses with a countertorque device.

PubMed

Sendyk, Claudio Luiz; Lopez, Thais Torralbo; de Araujo, Cleudmar Amaral; Sendyk, Wilson Roberto; Goncalvez, Valdir Ferreira

2013-01-01

To verify the effectiveness of a countertorque device in dental implants in redistributing stress to the bone-implant interface during tightening of the abutment screw. Two prismatic photoelastic samples containing implants were made, one with a 3.75-mm-diameter implant and the other with a 5.0-mm-diameter implant (both implants had an external-hexagon interface) and the respective abutments were attached (CeraOne). The samples were placed in a support and submitted to torques of 10, 20, 32, and 45 Ncm with an electronic torque meter. The torque application was repeated 10 times on each sample (n = 10) with and without a countertorque device. Photoelastic patterns were detected; thus, a photographic register of each test was selected. The fringe patterns were analyzed at discrete points near the implants' external arch. In both implants analyzed, a stress gradient reduction was observed through the implant with the countertorque device. The countertorque device used in this study proved to be effective in reducing the stresses generated in the peri-implant bone tissue during torque application.

YORP torque as the function of shape harmonics

NASA Astrophysics Data System (ADS)

Breiter, Sławomir; Michalska, Hanna

2008-08-01

The second-order analytical approximation of the mean Yarkovsky-O'Keefe-Radzievskii-Paddack (YORP) torque components is given as an explicit function of the shape spherical harmonics coefficients for a sufficiently regular minor body. The results are based upon a new expression for the insolation function, significantly simpler than in previous works. Linearized plane-parallel model of the temperature distribution derived from the insolation function allows us to take into account a non-zero conductivity. Final expressions for the three average components of the YORP torque related with rotation period, obliquity and precession are given in a form of the Legendre series of the cosine of obliquity. The series have good numerical properties and can be easily truncated according to the degree of the Legendre polynomials or associated functions, with first two terms playing the principal role.

Control Performance of General Electric Fuel and Torque Regulator Operating on T31-3 Turbine-Propeller Engine in Sea-Level Test Stand

NASA Technical Reports Server (NTRS)

Oppenheimer, Frank L.; Lazar, James

1951-01-01

A .General Electric fuel and torque regulator was tested in conjunction with a T31-3 turbine-propeller engine in the sea-level static test stand at the NACA Lewis laboratory. The engine and control were operated over the entire speed range: 11,000 rpm, nominal flight idle, to 13,000 rpm, full power. Steady-state and transient data were recorded and are presented with a description of the four control loops being used in the system. Results of this investigation indicated that single-lever control operation was satisfactory under conditions of test. Transient data presented showed that turbine-outlet temperature did overshoot maximum operating value on acceleration but that the time duration of overshoot did not exceed approximately 1 second. This temperature limiting resulted from a control on fuel flow as a function of engine speed. Speed and torque first reached their desired values 0.4 second from the time of change in power-setting lever position. Maximum speed overshoot was 3 percent.

Whole-body vibration training induces hypertrophy of the human patellar tendon.

PubMed

Rieder, F; Wiesinger, H-P; Kösters, A; Müller, E; Seynnes, O R

2016-08-01

Animal studies suggest that regular exposure to whole-body vibration (WBV) induces an anabolic response in bone and tendon. However, the effects of this type of intervention on human tendon properties and its influence on the muscle-tendon unit function have never been investigated. The aim of this study was to investigate the effect of WBV training on the patellar tendon mechanical, material and morphological properties, the quadriceps muscle architecture and the knee extension torque-angle relationship. Fifty-five subjects were randomized into either a vibration, an active control, or an inactive control group. The active control subjects performed isometric squats on a vibration platform without vibration. Muscle and tendon properties were measured using ultrasonography and dynamometry. Vibration training induced an increase in proximal (6.3%) and mean (3.8%) tendon cross-sectional area, without any appreciable change in tendon stiffness and modulus or in muscle architectural parameters. Isometric torque at a knee angle of 90° increased in active controls (6.7%) only and the torque-angle relation remained globally unchanged in all groups. The present protocol did not appreciably alter knee extension torque production or the musculo-tendinous parameters underpinning this function. Nonetheless, this study shows for the first time that WBV elicits tendon hypertrophy in humans. © 2015 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor.

PubMed

Giraud, F; Sandulescu, P; Amberg, M; Lemaire-Semail, B; Ionescu, F

2011-01-01

This paper deals with the control and experimentation of a one-degree-of-freedom haptic stick, actuated by a travelling wave ultrasonic motor. This type of actuator has many interesting properties such as low-speed operation capabilities and a high torque-to-weight ratio, making it appropriate for haptic applications. However, the motor used in this application displays nonlinear behavior due to the necessary contact between its rotor and stator. Moreover, due to its energy conversion process, the torque applied to the end-effector is not a straightforward function of the supply current or voltage. This is why a force-feedback control strategy is presented, which includes an online parameter estimator. Experimental runs are then presented to examine the fidelity of the interface.

Decreased muscle endurance associated with diabetic neuropathy may be attributed partially to neuromuscular transmission failure

PubMed Central

Kimpinski, Kurt; Doherty, Timothy J.; Rice, Charles L.

2015-01-01

Diabetic polyneuropathy (DPN) can cause muscle atrophy, weakness, contractile slowing, and neuromuscular transmission instability. Our objective was to assess the response of the impaired neuromuscular system of DPN in humans when stressed with a sustained maximal voluntary contraction (MVC). Baseline MVC and evoked dorsiflexor contractile properties were assessed in DPN patients (n = 10) and controls (n = 10). Surface electromyography was used to record tibialis anterior evoked maximal compound muscle action potentials (CMAPs) and neuromuscular activity during MVCs. Participants performed a sustained isometric dorsiflexion MVC for which task termination was determined by the inability to sustain ≥60% MVC torque. The fatigue protocol was immediately followed by a maximal twitch, with additional maximal twitches and MVCs assessed at 30 s and 2 min postfatigue. DPN patients fatigued ∼21% more quickly than controls (P < 0.05) and featured less relative electromyographic activity during the first one-third of the fatigue protocol compared with controls (P < 0.05). Immediately following fatigue, maximal twitch torque was reduced similarly (∼20%) in both groups, and concurrently CMAPs were reduced (∼12%) in DPN patients, whereas they were unaffected in controls (P > 0.05). Twitch torque and CMAP amplitude recovered to baseline 30 s postfatigue. Additionally, at 30 s postfatigue, both groups had similar (∼10%) reductions in MVC torque relative to baseline, and MVC strength recovered by 2 min postfatigue. We conclude DPN patients possess less endurance than controls, and neuromuscular transmission failure may contribute to this greater fatigability. PMID:25663671

One session of partial-body cryotherapy (-110 °C) improves muscle damage recovery.

PubMed

Ferreira-Junior, J B; Bottaro, M; Vieira, A; Siqueira, A F; Vieira, C A; Durigan, J L Q; Cadore, E L; Coelho, L G M; Simões, H G; Bemben, M G

2015-10-01

To evaluate the effects of a single session of partial-body cryotherapy (PBC) on muscle recovery, 26 young men performed a muscle-damaging protocol that consisted of five sets of 20 drop jumps with 2-min rest intervals between sets. After the exercise, the PBC group (n = 13) was exposed to 3 min of PBC at -110 °C, and the control group (n = 13) was exposed to 3 min at 21 °C. Anterior thigh muscle thickness, isometric peak torque, and muscle soreness of knee extensors were measured pre, post, 24, 48, 72, and 96 h following exercise. Peak torque did not return to baseline in control group (P < 0.05), whereas the PBC group recovered peak torques 96 h post exercise (P > 0.05). Peak torque was also higher after PBC at 72 and 96 h compared with control group (P < 0.05). Muscle thickness increased after 24 h in the control group (P < 0.05) and was significantly higher compared with the PBC group at 24 and 96 h (P < 0.05). Muscle soreness returned to baseline for the PBC group at 72 h compared with 96 h for controls. These results indicate that PBC after strenuous exercise may enhance recovery from muscle damage. © 2014 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Identification of the contribution of the ankle and hip joints to multi-segmental balance control

PubMed Central

2013-01-01

Background Human stance involves multiple segments, including the legs and trunk, and requires coordinated actions of both. A novel method was developed that reliably estimates the contribution of the left and right leg (i.e., the ankle and hip joints) to the balance control of individual subjects. Methods The method was evaluated using simulations of a double-inverted pendulum model and the applicability was demonstrated with an experiment with seven healthy and one Parkinsonian participant. Model simulations indicated that two perturbations are required to reliably estimate the dynamics of a double-inverted pendulum balance control system. In the experiment, two multisine perturbation signals were applied simultaneously. The balance control system dynamic behaviour of the participants was estimated by Frequency Response Functions (FRFs), which relate ankle and hip joint angles to joint torques, using a multivariate closed-loop system identification technique. Results In the model simulations, the FRFs were reliably estimated, also in the presence of realistic levels of noise. In the experiment, the participants responded consistently to the perturbations, indicated by low noise-to-signal ratios of the ankle angle (0.24), hip angle (0.28), ankle torque (0.07), and hip torque (0.33). The developed method could detect that the Parkinson patient controlled his balance asymmetrically, that is, the right ankle and hip joints produced more corrective torque. Conclusion The method allows for a reliable estimate of the multisegmental feedback mechanism that stabilizes stance, of individual participants and of separate legs. PMID:23433148

Adapted preparation technique for screw-type implants: explorative in vitro pilot study in a porcine bone model.

PubMed

Beer, Andreas; Gahleitner, André; Holm, Anders; Birkfellner, Wolfgang; Homolka, Peter

2007-02-01

The aim of this study was to quantify the effect of adapted preparation on the insertion torque of self-tapping implants in cancellous bone. In adapted preparation, bone condensation - and thus, insertion torque - is controlled by changing the diameter of the drilling. After preparation of cancellous porcine vertebral bone with drills of 2.85, 3, 3.15 or 3.35 mm final diameters, Brånemark sytem Mk III implants (3.75 x 11.5 mm) were inserted in 141 sites. During implantation, the insertion torque was recorded. Prior to implant insertion, bone mineralization (bone mineral density (BMD)) was measured with dental quantative computed tomography. The BMD values measured at the implant position were correlated with insertion torque for varying bone condensation. Based on the average torque recorded during implant insertion into the pre-drilled canals with a diameter of 3 mm, torque increased by approximately 17% on reducing the diameter of the drill by 5% (to 2.85 mm). On increasing the diameter of the osteotomy to 3.15 mm (5%) or 3.35 mm (12%), torque values decreased by approximately 21% and 50%, respectively. The results demonstrate a correlation between primary stability (average insertion torque) and the diameter of the implant bed on using a screw-shaped implant. Thus, using an individualized bone mineralization-dependent drilling technique, optimized torque values could be achieved in all tested bone qualities with BMDs ranging from 330 to 500 mg/cm(3). The results indicate that using a bone-dependent drilling technique, higher torque values can also be achieved in poor bone using an individualized drilling resulting in higher bone condensation. As immediate function is dependent on primary stability (high insertion torque), this indicates that primary stability can be increased using a modified drilling technique in lesser mineralized bone.

Analysis of Shield Construction in Spherical Weathered Granite Development Area

NASA Astrophysics Data System (ADS)

Cao, Quan; Li, Peigang; Gong, Shuhua

2018-01-01

The distribution of spherical weathered bodies (commonly known as "boulder") in the granite development area directly affects the shield construction of urban rail transit engineering. This paper is based on the case of shield construction of granite globular development area in Southern China area, the parameter control in shield machine selection and shield advancing during the shield tunneling in this special geological environment is analyzed. And it is suggested that shield machine should be selected for shield construction of granite spherical weathered zone. Driving speed, cutter torque, shield machine thrust, the amount of penetration and the speed of the cutter head of shield machine should be controlled when driving the boulder formation, in order to achieve smooth excavation and reduce the disturbance to the formation.

A home-based program of transcutaneous electrical nerve stimulation and task-related trunk training improves trunk control in patients with stroke: a randomized controlled clinical trial.

PubMed

Chan, Bill K S; Ng, Shamay S M; Ng, Gabriel Y F

2015-01-01

Impaired trunk motor control is common after stroke. Combining transcutaneous electrical nerve stimulation (TENS) with task-related trunk training (TRTT) has been shown to enhance the recovery of lower limb motor function. This study investigated whether combining TENS with TRTT would enhance trunk control after stroke. Methods. Thirty-seven subjects with stroke were recruited into a randomized controlled clinical trial. Subjects were randomly assigned to any one of the three 6-week home-based training groups: (1) TENS + TRTT, (2) placebo TENS + TRTT, or (3) control without active training. The outcome measures included isometric peak trunk flexion torque and extension torque; forward seated and lateral seated reaching distance to the affected and unaffected side; and Trunk Impairment Scale (TIS) scores. All outcome measures were assessed at baseline, after 3 and 6 weeks of training, and 4 weeks after training ended at follow-up. Both the TENS + TRTT and the placebo-TENS + TRTT groups had significantly greater improvements in isometric peak trunk flexion torque and extension torque, lateral seated reaching distance to affected and unaffected side, and TIS score than the control group after 3 weeks of training. The TENS + TRTT group had significantly greater and earlier improvement in its mean TIS score than the other 2 groups. Home-based TRTT is effective for improving trunk muscle strength, sitting functional reach and trunk motor control after stroke in subjects without somatosensory deficits. The addition of TENS to the trunk augments the effectiveness of the exercise in terms of TIS scores within the first 3 weeks of training. © The Author(s) 2014.

40 CFR Appendix A to Subpart D of... - Tables

Code of Federal Regulations, 2010 CFR

2010-07-01

...-test and post-test values) kPa Pv Saturation pressure at dew point temperature kPa Ra Relative humidity...) CONTROL OF EMISSIONS FROM NEW AND IN-USE NONROAD COMPRESSION-IGNITION ENGINES Emission Test Equipment... Percent torque related to maximum torque for the test mode % mass Pollutant mass flow g/h nd, i Engine...

40 CFR Appendix A to Subpart D of... - Tables

Code of Federal Regulations, 2011 CFR

2011-07-01

... post-test values) kPa Ra Relative humidity of the ambient air percent T Absolute temperature at air...) CONTROL OF EMISSIONS FROM NONROAD SPARK-IGNITION ENGINES AT OR BELOW 19 KILOWATTS Emission Test Equipment... torque related to maximum torque for the test mode percent mass Pollutant mass flow g/h nd, i Engine...

40 CFR Appendix A to Subpart D of... - Tables

Code of Federal Regulations, 2013 CFR

2013-07-01

... post-test values) kPa Ra Relative humidity of the ambient air percent T Absolute temperature at air...) CONTROL OF EMISSIONS FROM NONROAD SPARK-IGNITION ENGINES AT OR BELOW 19 KILOWATTS Emission Test Equipment... torque related to maximum torque for the test mode percent mass Pollutant mass flow g/h nd, i Engine...

40 CFR Appendix A to Subpart D of... - Tables

Code of Federal Regulations, 2010 CFR

2010-07-01

... post-test values) kPa Ra Relative humidity of the ambient air percent T Absolute temperature at air...) CONTROL OF EMISSIONS FROM NONROAD SPARK-IGNITION ENGINES AT OR BELOW 19 KILOWATTS Emission Test Equipment... torque related to maximum torque for the test mode percent mass Pollutant mass flow g/h nd, i Engine...

40 CFR Appendix A to Subpart D of... - Tables

Code of Federal Regulations, 2014 CFR

2014-07-01

...-test and post-test values) kPa Pv Saturation pressure at dew point temperature kPa Ra Relative humidity...) CONTROL OF EMISSIONS FROM NEW AND IN-USE NONROAD COMPRESSION-IGNITION ENGINES Emission Test Equipment... Percent torque related to maximum torque for the test mode % mass Pollutant mass flow g/h nd, i Engine...

40 CFR Appendix A to Subpart D of... - Tables

Code of Federal Regulations, 2011 CFR

2011-07-01

...-test and post-test values) kPa Pv Saturation pressure at dew point temperature kPa Ra Relative humidity...) CONTROL OF EMISSIONS FROM NEW AND IN-USE NONROAD COMPRESSION-IGNITION ENGINES Emission Test Equipment... Percent torque related to maximum torque for the test mode % mass Pollutant mass flow g/h nd, i Engine...

40 CFR Appendix A to Subpart D of... - Tables

Code of Federal Regulations, 2012 CFR

2012-07-01

...-test and post-test values) kPa Pv Saturation pressure at dew point temperature kPa Ra Relative humidity...) CONTROL OF EMISSIONS FROM NEW AND IN-USE NONROAD COMPRESSION-IGNITION ENGINES Emission Test Equipment... Percent torque related to maximum torque for the test mode % mass Pollutant mass flow g/h nd, i Engine...

40 CFR Appendix A to Subpart D of... - Tables

Code of Federal Regulations, 2012 CFR

2012-07-01

... post-test values) kPa Ra Relative humidity of the ambient air percent T Absolute temperature at air...) CONTROL OF EMISSIONS FROM NONROAD SPARK-IGNITION ENGINES AT OR BELOW 19 KILOWATTS Emission Test Equipment... torque related to maximum torque for the test mode percent mass Pollutant mass flow g/h nd, i Engine...

40 CFR Appendix A to Subpart D of... - Tables

Code of Federal Regulations, 2014 CFR

2014-07-01

... post-test values) kPa Ra Relative humidity of the ambient air percent T Absolute temperature at air...) CONTROL OF EMISSIONS FROM NONROAD SPARK-IGNITION ENGINES AT OR BELOW 19 KILOWATTS Emission Test Equipment... torque related to maximum torque for the test mode percent mass Pollutant mass flow g/h nd, i Engine...

40 CFR Appendix A to Subpart D of... - Tables

Code of Federal Regulations, 2013 CFR

2013-07-01

...-test and post-test values) kPa Pv Saturation pressure at dew point temperature kPa Ra Relative humidity...) CONTROL OF EMISSIONS FROM NEW AND IN-USE NONROAD COMPRESSION-IGNITION ENGINES Emission Test Equipment... Percent torque related to maximum torque for the test mode % mass Pollutant mass flow g/h nd, i Engine...

Non-equilibrium dynamic reversal of in-plane ferromagnetic elliptical disk

NASA Astrophysics Data System (ADS)

Kim, June-Seo; Hwang, Hee-Kyeong; You, Chun-Yeol

2018-01-01

The ultrafast switching mechanism of an in-plane magnetized elliptical magnetic disk by applying dynamic out-of-plane magnetic field pulses is investigated by performing micromagnetic simulations. For the in-plane magnetized nanostructures, the out-of-plane magnetic field is able to rotate the direction of magnetization when the precession torque overcomes the shape anisotropy of the system. This type magnetization reversal is one of non-equilibrium dynamic within a certain transition time util the precession torque is equivalent to the damping torque. By controlling the rise time or fall times of dynamic out-of-plane field pulses, the transition time can be also successively tuned and then an ultrafast switching of an elliptical magnetic nano-disk is clearly achieved by controlling the precessional torque. As another reversal approach, sinusoidal magnetic fields in gigahertz range are applied to the system. Consequently, the thresholds of switching fields are drastically decreased. We also reveal that the ferromagnetic resonance frequencies at the center and the edge of the elliptical disk are most important for microwave sinusoidal out-of-plane magnetic field induced magnetization reversal.

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

NASA Astrophysics Data System (ADS)

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

2018-01-01

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

The effect of steam sterilization on the accuracy of spring-style mechanical torque devices for dental implants

PubMed Central

Mahshid, Minoo; Saboury, Aboulfazl; Fayaz, Ali; Sadr, Seyed Jalil; Lampert, Friedrich; Mir, Maziar

2012-01-01

Background Mechanical torque devices (MTDs) are one of the most commonly recommended devices used to deliver optimal torque to the screw of dental implants. Recently, high variability has been reported about the accuracy of spring-style mechanical torque devices (S-S MTDs). Joint stability and survival rate of fixed implant supported prosthesis depends on the accuracy of these devices. Currently, there is limited information on the steam sterilization influence on the accuracy of MTDs. The purpose of this study was to assess the effect of steam sterilization on the accuracy (±10% of the target torque) of spring-style mechanical torque devices for dental implants. Materials and methods Fifteen new S-S MTDs and their appropriate drivers from three different manufacturers (Nobel Biocare, Straumann [ITI], and Biomet 3i [3i]) were selected. Peak torque of devices (5 in each subgroup) was measured before and after autoclaving using a Tohnichi torque gauge. Descriptive statistical analysis was used and a repeated-measures ANOVA with type of device as a between-subject comparison was performed to assess the difference in accuracy among the three groups of spring-style mechanical torque devices after sterilization. A Bonferroni post hoc test was used to assess pairwise comparisons. Results Before steam sterilization, all the tested devices stayed within 10% of their target values. After 100 sterilization cycles, results didn’t show any significant difference between raw and absolute error values in the Nobel Biocare and ITI devices; however the results demonstrated an increase of error values in the 3i group (P < 0.05). Raw error values increased with a predictable pattern in 3i devices and showed more than a 10% difference from target torque values (maximum difference of 14% from target torque was seen in 17% of peak torque measurements). Conclusion Within the limitation of this study, steam sterilization did not affect the accuracy (±10% of the target torque) of the Nobel Biocare and ITI MTDs. Raw error values increased with a predictable pattern in 3i devices and showed more than 10% difference from target torque values. Before expanding upon the clinical implications, the controlled and combined effect of aging (frequency of use) and steam sterilization needs more investigation. PMID:23674923

Strength deficits of the shoulder complex during isokinetic testing in people with chronic stroke

PubMed Central

Nascimento, Lucas R.; Teixeira-Salmela, Luci F.; Polese, Janaine C.; Ada, Louise; Faria, Christina D. C. M.; Laurentino, Glória E. C.

2014-01-01

OBJECTIVES: To examine the strength deficits of the shoulder complex after stroke and to characterize the pattern of weakness according to type of movement and type of isokinetic parameter. METHOD: Twelve chronic stroke survivors and 12 age-matched healthy controls had their shoulder strength measured using a Biodex isokinetic dynamometer. Concentric measures of peak torque and work during shoulder movements were obtained in random order at speeds of 60°/s for both groups and sides. Type of movement was defined as scapulothoracic (protraction and retraction), glenohumeral (shoulder internal and external rotation) or combined (shoulder flexion and extension). Type of isokinetic parameter was defined as maximum (peak torque) or sustained (work). Strength deficits were calculated using the control group as reference. RESULTS: The average strength deficit for the paretic upper limb was 52% for peak torque and 56% for work. Decreases observed in the non-paretic shoulder were 21% and 22%, respectively. Strength deficit of the scapulothoracic muscles was similar to the glenohumeral muscles, with a mean difference of 6% (95% CI -5 to 17). Ability to sustain torque throughout a given range of motion was decreased as much as the peak torque, with a mean difference of 4% (95% CI -2 to 10). CONCLUSIONS: The findings suggest that people after stroke might benefit from strengthening exercises directed at the paretic scapulothoracic muscles in addition to exercises of arm elevation. Clinicians should also prescribe different exercises to improve the ability to generate force and the ability to sustain the torque during a specific range of motion. PMID:25003280

Reliability of metatarsophalangeal and ankle joint torque measurements by an innovative device.

PubMed

Man, Hok-Sum; Leung, Aaron Kam-Lun; Cheung, Jason Tak-Man; Sterzing, Thorsten

2016-07-01

The toe flexor muscles maintain body balance during standing and provide push-off force during walking, running, and jumping. Additionally, they are important contributing structures to maintain normal foot function. Thus, weakness of these muscles may cause poor balance, inefficient locomotion and foot deformities. The quantification of metatarsophalangeal joint (MPJ) stiffness is valuable as it is considered as a confounding factor in toe flexor muscles function. MPJ and ankle joint stiffness measurement is still largely depended on manual skills as current devices do not have good control on alignment, angular joint speed and displacement during measurement. Therefore, this study introduces an innovative dynamometer and protocol procedures for MPJ and ankle Joint torque measurement with precise and reliable foot alignment, angular joint speed and displacement control. Within-day and between-day test-retest experiments on MPJ and ankle joint torque measurement were conducted on ten and nine healthy male subjects respectively. The mean peak torques of MPJ and ankle joint of between-day and within-day measurement were 1.50±0.38Nm/deg and 1.19±0.34Nm/deg. The corresponding torques of the ankle joint were 8.24±2.20Nm/deg and 7.90±3.18Nm/deg respectively. Intraclass-correlation coefficients (ICC) of averaged peak torque of both joints of between-day and within-day test-retest experiments were ranging from 0.91 to 0.96, indicating the innovative device is systematic and reliable for the measurements and can be used for multiple scientific and clinical purposes. Copyright © 2016 Elsevier B.V. All rights reserved.

Pointing and tracking control for freedom's Solar Dynamic modules and vibration control of freedom

NASA Technical Reports Server (NTRS)

Quinn, Roger D.; Chen, Jiunn-Liang

1992-01-01

A control strategy is presented for pointing particular modules of flexible multibody space structures while simultaneously attenuating structural vibrations. The application that is addressed is the planned Space Station Freedom in a growth configuration with Solar Dynamic (SD) module. A NASTRAN model of Freedom is used to demonstrate the control strategy. Two cases of SD concentrator fine-pointing controller bandwidths are studied with examples. The effect of limiting the controller motor torques to realistic baseline values is examined. SD pointing and station vibration control is accomplished during realistic disturbances due to aerodynamic drag, Shuttle docking, and Shuttle reaction control system plume impingement on SD. Gravity gradient induced torques on SD are relatively small and pseudo-steady.

Human balancing of an inverted pendulum: position control by small, ballistic-like, throw and catch movements

PubMed Central

Loram, Ian D; Lakie, Martin

2002-01-01

In standing, there are small sways of the body. Our interest is to use an artificial task to illuminate the mechanisms underlying the sways and to account for changes in their size. Using the ankle musculature, subjects balanced a large inverted pendulum. The equilibrium of the pendulum is unstable and quasi-regular sway was observed like that in quiet standing. By giving full attention to minimising sway subjects could systematically reduce pendulum movement. The pendulum position, the torque generated at each ankle and the soleus and tibialis anterior EMGs were recorded. Explanations about how the human inverted pendulum is balanced usually ignore the fact that balance is maintained over a range of angles and not just at one angle. Any resting equilibrium position of the pendulum is unstable and in practice temporary; movement to a different resting equilibrium position can only be accomplished by a biphasic ‘throw and catch’ pattern of torque and not by an elastic mechanism. Results showed that balance was achieved by the constant repetition of a neurally generated ballistic-like biphasic pattern of torque which can control both position and sway size. A decomposition technique revealed that there was a substantial contribution to changes in torque from intrinsic mechanical ankle stiffness; however, by itself this was insufficient to maintain balance or to control position. Minimisation of sway size was caused by improvement in the accuracy of the anticipatory torque impulses. We hypothesise that examination of centre of mass and centre of pressure data for quiet standing will duplicate these results. PMID:11986396

Torque test measurement in segmental bone defects using porous calcium phosphate cement implants.

PubMed

Kroese-Deutman, Henriette C; Wolke, Joop G C; Spauwen, Paul H M; Jansen, John A

2010-10-01

This study was performed to assess the bone healing supporting characteristics of porous calcium phosphate (Ca-P) cement when implanted in a rabbit segmental defect model as well as to determine the reliability of torque testing as a method to verify bone healing. The middiaphyseal radius was chosen as the area to create bilaterally increasing defect sizes (5, 10, and 15 mm), which were either filled with porous Ca-P cement or left open as a control. After 12 weeks of implantation, torque test measurements as well as histological and radiographic evaluation were performed. In two of the open 15 mm control defects, bone bridging was visible at the radiographic and histological evaluation. Bone was observed to be present in all porous Ca-P cement implants (5, 10, and 15 mm defects) after 12 weeks. No significant differences in torque measurements were observed between the 5 and 10 mm filled and open control defects using a t-test. In addition, the mechanical strength of all operated specimens was similar compared with nonoperated bone samples. The torsion data for the 15 mm open defect appeared to be lower compared with the filled 15 mm defect, but no significant difference could be proven. Within the limitation of the study design, porous Ca-P cement implants demonstrated osteoconductive properties and confirmed to be a suitable scaffold material in a weight-bearing situation. Further, the used torque testing method was found to be unreliable for testing the mechanical properties of the healed bone defect.

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

NASA Astrophysics Data System (ADS)

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

2018-03-01

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