Real-time inverse dynamics control of parallel manipulators using general-purpose multibody software

This work deals with the problem of computing the inverse dynamics of complex constrained mechanical systems for real-time control applications. The main goal is the control of robotic systems using model-based schemes in which the inverse model itself is obtained using a general purpose multibody software, exploiting the redundant coordinate formalism. The resulting control scheme is essentially equivalent to a classical computed torque control, commonly used in robotics applications. This work proposes to use modern general-purpose multibody software to compute the inverse dynamics of complex rigid mechanisms in an efficient way, so that it suits the requirements of realistic real-time applications as well. This task can be very difficult, since it involves a higher number of equations than the relative coordinates approach. The latter is believed to be less general, and may suffer from topology limitations. The use of specialized linear algebra solvers makes this kind of control algorithms usable in real-time for mechanism models of realistic complexity. Numerical results from the simulation of practical applications are presented, consisting in a “delta” robot and a bio-mimetic 11 degrees of freedom manipulator controlled using the same software and the same algorithm.     

Understanding users and their needs

Gaze-control enables people to control a computer by using eye-gaze to select items on screen. Gaze-control is a necessity for people who have lost all motor control of their body and only have control over eye movements. In addition, gaze-control can be the quickest and least tiring option for a far broader group of people with varying disabilities. This paper reports findings from gaze-control user trials involving users from both groups: people who are totally paralyzed, as well as people with a wide range of complex disabilities. The trials conducted involved four different centres supporting people with disabilities in three different European countries. Several gaze-control systems were trialled by a large number of users with varying needs and abilities. The perceived benefits of gaze-control are described, and recommendations for successful assessment and implementation of gaze-control are provided.     

Global asymptotic stabilization of the attitude and the angular rates of an underactuated non-symmetric rigid body

The paper deals with the global stabilization of both the attitude and the angular velocities of an underactuated rigid body. First a stability theorem is proven for a class of systems; subsequently, the equations describing the physics of the rigid body are presented, showing that the rigid body belongs to the considered class of systems, and a sufficient condition for the application of the theorem to the stability of the rigid body equilibrium is pointed out. Finally, some simulation results are reported showing the effectiveness of the proposed methodology.     

Immersive and desktop virtual reality in virtual fashion stores: a comparison between shopping experiences

Virtual Reality - With the high growth and prosperity of e-commerce, the retail industry needs to explore new technologies that improve digital shopping experiences. In the current technological...     

Generation and interpretation of parsimonious predictive models for load forecasting in smart heating networks

Applied Intelligence - Forecasting future heat load in smart district heating networks is a key problem for utility companies that need such predictions for optimizing their operational activities....     

Velocity‐based formulations for standard and quasi‐incompressible hypoelastic‐plastic solids

We present three velocity‐based updated Lagrangian formulations for standard and quasi‐incompressible hypoelastic‐plastic solids. Three low‐order finite elements are derived and tested for non‐linear solid mechanics problems. The so‐called V‐element is based on a standard velocity approach, while a mixed velocity–pressure formulation is used for the VP and the VPS elements. The two‐field problem is solved via a two‐step Gauss–Seidel partitioned iterative scheme. First, the momentum equations are solved in terms of velocity increments, as for the V‐element. Then, the constitutive relation for the pressure is solved using the updated velocities obtained at the previous step. For the VPS‐element, the formulation is stabilized using the finite calculus method in order to solve problems involving quasi‐incompressible materials. All the solid elements are validated by solving two‐dimensional and three‐dimensional benchmark problems in statics as in dynamics. Copyright © 2016 John Wiley & Sons, Ltd.     

Wetting of Rough Walls

Quenched geometric disorder of a wall delimiting a spectator phase can have dramatic effects on the nature of critical wetting transitions. We consider self-affine walls in 2D with roughness exponent _W. Transfer matrix results for directed interfacial models with short-range interactions suggest that wetting turns first-order as soon as _W exceeds ₀, the anisotropy index of interface fluctuations in the bulk. Discontinuous interface depinning is best identified by a peculiar two-peak structure in the statistical distributions of wall–interface contacts obtained by sampling over disorder. On the other hand, for _W<₀ wetting remains continuous, most plausibly in the same universality class as with flat walls. This occurs both with ordered (₀ = 1/2) and with bond-disordered (₀ = 2/3) bulk. A precise location of the thresholds at _W = ₀ can be argued on the basis of an analysis of different terms in the interfacial free energy. This analysis elucidates the peculiar role played by the intrinsic interfacial roughness and suggests extensions of the results to 3D and to long-range substrate forces.     

The solid-state rearrangement of the Wells-Dawson K6P2W18O62·10H2O to a stable Keggin-type heteropolyanion phase: a catalyst for the selective oxidation of isobutane to isobutene

The thermal and structural stability of the Wells-Dawson-type heteropoly compound K₆P₂W₁₈O₆₂·10H₂O was examined by FT-IR spectroscopy, X-ray powder diffraction, thermogravimetric analysis and HRTEM. It was found that calcination at temperatures higher than 850 K led to the formation of a Keggin-type compound K₃PW₁₂O₄₀, containing small amounts of an additional phase originated from the high-temperature interaction between potassium phosphate (K₃PO₄ formed during the decomposition of the K₆P₂W₁₈O₆₂·10H₂O) and the Keggin-type compound itself. The Keggin-type product showed a higher activity in the selective oxidative dehydrogenation of isobutane to isobutene compared to both the Wells-Dawson precursor and to pure, authentic K₃PW₁₂O₄₀. This higher activity can be tentatively attributed to the presence of an amorphous layer of unknown stoichiometry at the surface of the thermally rearranged Wells-Dawson compound.