Current Issue : January - March Volume : 2011 Issue Number : 1 Articles : 5 Articles
A neuro-fuzzy controller was designed and implemented using LabVIEW over a mobile robotic platform. The controller is based on fuzzy clusters, neural networks, and search techniques. Also, wireless communication with Bluetooth protocol was used to communicate the robot with the controller running in LabVIEW, allowing a simple collaborative task that consisted in pick and place objects, through knowing the position of the robot and measuring the distance to the objects. The neuro-fuzzy controller was split in two parts: the position controller and the evasion controller against collisions....
A steady-state dynamic model of a cable in air is put forward by using some tensor relations. For the dynamic motion of a long-span Cable-Driven Parallel Robot CDPR system, a driven cable deployment and retrieval mathematical model of CDPR is developed by employing lumped mass method. The effects of cable mass are taken into account. The boundary condition of cable and initial values of equations is founded. The partial differential governing equation of each\ncable is thus transformed into a set of ordinary differential equations, which can be solved by adaptive Runge-Kutta algorithm. Simulation examples verify the effectiveness of the driven cable deployment and retrieval mathematical model of CDPR....
The main goal of the MASTER-Net project is to produce a unique fast sky survey with all sky observed over a single night down to a limiting magnitude of 19-20. Such a survey will make it possible to address a number of fundamental problems: search for dark energy via the discovery and photometry of supernovae (including SNIa), search for exoplanets, microlensing effects, discovery of minor bodies in the Solar System, and space-junk monitoring. All MASTER telescopes can be guided by alerts, and we plan to observe prompt optical emission from gamma-ray bursts synchronously in several filters and in several polarization planes....
This paper provides a method to determine the variable flexible joint parameters which are dependent on configurations for a PRS Parallel Robot. Based on the continuous force approach, virtual springs were used between the joint components to simulate the joint flexibility. The stiffness matrix of the joint virtual springs was derived. The method uses system dynamic characteristics in different configurations to set the virtual spring stiffness for all the joints in the system. Modal testing was conducted on a set of selected robot configurations to determine the system natural frequencies and mode shapes along with their variation. To obtain the virtual spring stiffness, the system was condensed at the joint nodal coordinates. Then eigen-sensitivity analysis was conducted on the condensed system matrices with respect to the stiffness parameters of the joint virtual springs. Thus, the virtual spring parameters in the model can be set to match the variation of the system dynamic responses with the robot configuration\r\nchanges. The virtual spring parameters between the selected robot configurations were obtained by interpolation. The research indicates that the method is effective and relatively easy to conduct, compared to other methods. The variable flexible joint model is applicable to flexible multibody systems with variable configurations....
Introduction. Obesity and prostate cancer are among the more common health issues affecting men in the United States. Methods. We retrospectively reviewed morbidly obese (BMI = 40 kg/m2) patients undergoing RALP between 2004ââ?¬â??2009 at our institution. Parameters including operative time, estimated blood loss, hospital stay, pathology, and complication rate were examined. Results.\r\nA total of 15 patients were included, with a mean BMI of 43 kg/m2. Mean preoperative PSA was 5.78 ng/dL, and Gleason score was 6.6. Mean operative time was 163 minutes, and mean estimated blood loss was 210 mL. The mean hospital stay was 1.3 days. Positive margins were noted in 2 (13%) patients, each with pT3 disease. There were no blood transfusions, open conversions, or\r\nClavien Grade II or higher complications. Conclusions. In our experience, RALP is feasible in morbidly obese patients. We noted several challenges in this patient population which were overcome with modification of technique and experience....
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