This document summarizes a lecture on flexures and compliant mechanisms. Some key points:
- Flexures allow motion through member compliance and have advantages like smooth motion and miniaturization but disadvantages like limited range of motion and sensitivity to tolerances.
- Important material properties for flexures include modulus, yield stress, and coefficients of thermal expansion.
- Common flexure modules include hinges, levers, ellipses, and cantilevers. Constraint analysis is used to determine degrees of freedom.
- Fabrication methods for flexures include EDM, waterjet cutting, milling, and etching which have tradeoffs in accuracy, speed, and materials used. Proper assembly is also important to minimize hysteresis.
ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
Navigation of Emergency Vehicles UsingCooperative Autonomous DrivingM. Ilhan Akbas
The imminent pervasive deployment of connected and autonomous vehicle (CAV) technology offers various opportunities for new applications. Particularly, the cooperative behavior capability of CAVs is invaluable for critical operations within the transportation system.In this paper, we present an approach for cooperativeCAVs to support the navigation of emergency vehicles in the traffic. We first lay out the trajectory planning problem for an emergency vehicle and formalize it in terms of the locations and accelerations of vehicles in a certain range of the emergency vehicle. Then, this problem is encoded onto a graph, where we map the safety constraints using the edge weights. We show that cooperative planning of the surrounding vehicles can be accomplished by an optimization problem, where the objective is to maximize the second largest eigen-value of the resulting graph Laplacian. The simulation study demonstrates the effectiveness of the proposed system in terms of the resulting trajectories and the corresponding perturbation in the whole system.
PID control dynamics of a robotic arm manipulator with two degrees of freedom.popochis
This paper presents a basic example of PID control applied to a robotic manipulator arm with two DOF (degrees of freedom), as well as the design of the dynamic model, explaining in detail each step so that in future work, we can increase the diculty level regardless of DOF of the robot. Also shown how to introduce the PID controller parameters to the equation of the dynamics of the robot, left as future work the implementation of a real-time control of these variables.
A short history of the Universal Expositions. Oddities and the inventions that have changed our way of life: the Singer sowing machine displayed in the Expo of Paris of 1855; the light bulbs; the ice-maker and the porcelain teeth presented at the EXPO of 1878; the telephone, the telegraph, the typewriter and... Ketchup. Television, nylon and air-conditioning were presented at this EXPO of New York of 1939. And Milan?
ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
Navigation of Emergency Vehicles UsingCooperative Autonomous DrivingM. Ilhan Akbas
The imminent pervasive deployment of connected and autonomous vehicle (CAV) technology offers various opportunities for new applications. Particularly, the cooperative behavior capability of CAVs is invaluable for critical operations within the transportation system.In this paper, we present an approach for cooperativeCAVs to support the navigation of emergency vehicles in the traffic. We first lay out the trajectory planning problem for an emergency vehicle and formalize it in terms of the locations and accelerations of vehicles in a certain range of the emergency vehicle. Then, this problem is encoded onto a graph, where we map the safety constraints using the edge weights. We show that cooperative planning of the surrounding vehicles can be accomplished by an optimization problem, where the objective is to maximize the second largest eigen-value of the resulting graph Laplacian. The simulation study demonstrates the effectiveness of the proposed system in terms of the resulting trajectories and the corresponding perturbation in the whole system.
PID control dynamics of a robotic arm manipulator with two degrees of freedom.popochis
This paper presents a basic example of PID control applied to a robotic manipulator arm with two DOF (degrees of freedom), as well as the design of the dynamic model, explaining in detail each step so that in future work, we can increase the diculty level regardless of DOF of the robot. Also shown how to introduce the PID controller parameters to the equation of the dynamics of the robot, left as future work the implementation of a real-time control of these variables.
A short history of the Universal Expositions. Oddities and the inventions that have changed our way of life: the Singer sowing machine displayed in the Expo of Paris of 1855; the light bulbs; the ice-maker and the porcelain teeth presented at the EXPO of 1878; the telephone, the telegraph, the typewriter and... Ketchup. Television, nylon and air-conditioning were presented at this EXPO of New York of 1939. And Milan?
Le ferie retribuite sono un diritto sancito dalla Costituzione Italiana. Sono una conquista che i lavoratori hanno ottenuto a partire dal Novecento, con l’affermarsi dello Stato sociale.
La politica per vocazione, la sinistra come orizzonte parola di massimo d’ale...telosaes
Pensieri, ricordi, riflessioni, commenti e… stoccate di Massimo D’Alema sulla politica e sulla Sinistra. Mal sopportato, ma anche amato, D'Alema è in ogni caso sempre rispettato e stimato, anche da chi non lo ammetterebbe mai in pubblico. Perché ha la statura politica e intellettuale per assurgere a simbolo di un modo antico di concepire la politica, nel pensiero e nella prassi.
اس کتاب میں آپ پڑھ سکیں گے:سند حدیث کی اہمیت، کتب حدیث کی بعض اقسام، خطبہ امام اہلسنت،حدیث کی اقسام اور بہت کچھ ۔ ۔ آپ کے لئے ایک بہت مفید اور اہم کتاب جس کو پڑھنے سے آپ کے علم اور نیکیوں میں ان شاء اللہ عزوجل اضافہ ہوگا۔آپ اس کتاب کو ویب سائٹ پر موجودرہتے ہوئے آن لائن پڑھنے کے لئے Read کے بٹن اور ڈاؤن لوڈ کرنے کے لئے Download کے بٹن پر کلک کریں۔اس کتاب کے بارے میں اپنے تاثرات نیچے دئیے ہوئے Comments Box میں دیں۔برائے کرم اس کتاب کوعلم دین حاصل کرنے کی نیت سے خود بھی پڑھیں اور دوسروں کے ساتھ بھیShare کریں۔
Rappresentanza Permanente d'Italia presso la UEtelosaes
Cos'è la Rappresentanza Permanente. La Rappresentanza permanente d’Italia presso l’Unione Europea: struttura e funzioni. Carlo Calenda, il nuovo Rappresentante Permanente italiano presso l’Unione Europea. La nomina di Calenda, un politico estraneo al mondo della diplomazia, è una vera rivoluzione per l’Italia, in quanto il posto di Rappresentante Permanente, è stato storicamente assegnato ad un Ambasciatore. Dopo l’annuncio della nomina, è scoppiato il “caso Calenda”: oltre 250 tra giovani diplomatici e Ambasciatori veterani hanno scritto due diverse lettere al Governo, per manifestare disappunto e preoccupazione...
bibliografia:
Posner G. Labor de Parto y Nacimiento humano.6ta ed.: Amolca; 2015
http://www.facmed.unam.mx/bmnd/catalogo/imprime_todos.php?id_muestra=427
https://biblioceop.files.wordpress.com/2011/02/apunte_goteo_oxitocico_durante_el_trabajo_de_parto.pdf
Le ferie retribuite sono un diritto sancito dalla Costituzione Italiana. Sono una conquista che i lavoratori hanno ottenuto a partire dal Novecento, con l’affermarsi dello Stato sociale.
La politica per vocazione, la sinistra come orizzonte parola di massimo d’ale...telosaes
Pensieri, ricordi, riflessioni, commenti e… stoccate di Massimo D’Alema sulla politica e sulla Sinistra. Mal sopportato, ma anche amato, D'Alema è in ogni caso sempre rispettato e stimato, anche da chi non lo ammetterebbe mai in pubblico. Perché ha la statura politica e intellettuale per assurgere a simbolo di un modo antico di concepire la politica, nel pensiero e nella prassi.
اس کتاب میں آپ پڑھ سکیں گے:سند حدیث کی اہمیت، کتب حدیث کی بعض اقسام، خطبہ امام اہلسنت،حدیث کی اقسام اور بہت کچھ ۔ ۔ آپ کے لئے ایک بہت مفید اور اہم کتاب جس کو پڑھنے سے آپ کے علم اور نیکیوں میں ان شاء اللہ عزوجل اضافہ ہوگا۔آپ اس کتاب کو ویب سائٹ پر موجودرہتے ہوئے آن لائن پڑھنے کے لئے Read کے بٹن اور ڈاؤن لوڈ کرنے کے لئے Download کے بٹن پر کلک کریں۔اس کتاب کے بارے میں اپنے تاثرات نیچے دئیے ہوئے Comments Box میں دیں۔برائے کرم اس کتاب کوعلم دین حاصل کرنے کی نیت سے خود بھی پڑھیں اور دوسروں کے ساتھ بھیShare کریں۔
Rappresentanza Permanente d'Italia presso la UEtelosaes
Cos'è la Rappresentanza Permanente. La Rappresentanza permanente d’Italia presso l’Unione Europea: struttura e funzioni. Carlo Calenda, il nuovo Rappresentante Permanente italiano presso l’Unione Europea. La nomina di Calenda, un politico estraneo al mondo della diplomazia, è una vera rivoluzione per l’Italia, in quanto il posto di Rappresentante Permanente, è stato storicamente assegnato ad un Ambasciatore. Dopo l’annuncio della nomina, è scoppiato il “caso Calenda”: oltre 250 tra giovani diplomatici e Ambasciatori veterani hanno scritto due diverse lettere al Governo, per manifestare disappunto e preoccupazione...
bibliografia:
Posner G. Labor de Parto y Nacimiento humano.6ta ed.: Amolca; 2015
http://www.facmed.unam.mx/bmnd/catalogo/imprime_todos.php?id_muestra=427
https://biblioceop.files.wordpress.com/2011/02/apunte_goteo_oxitocico_durante_el_trabajo_de_parto.pdf
Exposing Architecture in Hybrid ProgramsIvan Ruchkin
The formalism of hybrid programs is a relatively recent development by Platzer et al. (CSD) that allows holistic reasoning about discrete and continuous behavior within the same model. This makes hybrid modeling and verification, supported by tools like KeYmaera, an attractive method for analyzing cyber-physical systems. However, hybrid programs do not operate architectural concepts, making it difficult to relate them between each other and other kinds of CPS models. My talk introduces architectural annotations for hybrid programs that allow engineers to express the otherwise implicit architectural knowledge. This presentation discusses annotation primitives and their interpretation.
Sampling-Based Planning Algorithms for Multi-Objective MissionsMd Mahbubur Rahman
multiobjective path planning has Increasing demand in military missions, rescue operations, construction job-sites.
There is Lack of robotic path planning algorithm that compromises multiple
objectives. Commonly no solution that optimizes all the objective functions. Here we modify RRT, RRT* sampling based algorithm.
Strain Effects on Defects and Diffusion in Perovskites
Dane Morgan, Tam Mayeshiba, Milind Gadre, Anh Ngo
University of Wisconsin, Madison
Yueh-Lin Lee, Yang-Shao Horn
Massachusetts Institute of Technology
Stuart Adler
University of Washington, Seattle
October 6, 2014
MMM
Berkeley, California
This poster was created in LaTeX on a Dell Inspiron laptop with a Linux Fedora Core 4 operating system. The background image and the animation snapshots are dxf meshes of elastic waveform solutions, rendered on a Windows machine using 3D Studio Max.
Modeling and Simulation of Electrical Power Systems using OpenIPSL.org and Gr...Luigi Vanfretti
Title:
Modeling and Simulation of Electrical Power Systems using OpenIPSL.org and GridDyn
Presenters:
Luigi Vanfretti (RPI) & Philip Top (LNLL)
luigi.vanfretti@gmail.com, top1@llnl.gov
Abstract:
The Modelica language, being standardized and equation-based, has proven valuable for the for model exchange, simulation and even for model validation applications in actual power systems. These important features have been now recognized by the European Network of Transmission System Operators, which have adopted the Modelica language for dynamic model exchange in the Common Grid Model Exchange Standard (v2.5, Annex F).
Following previous FP7 project results, within the ITEA 3 openCPS project, the presenters have continued the efforts of using the Modelica language for power system modeling and simulation, by developing and maintaining the OpenIPSL library: https://github.com/SmarTS-Lab/OpenIPSL
This seminar first gives an overview of the origins of the OpenIPSL and it’s models, it contrasts it against typical power system tools, and gives an introduction the OpenIPSL library. The new project features that help in the OpenIPSL maintenance (use of continuous integration, regression testing, documentation, etc.) are also described.
Finally, the seminar will present current work at LNLL that exploits OpenIPSL in coordination with other tools including ongoing work integrating openIPSL models into GridDyn an open-source power system simulation tool, as well as a demos of the use of openIPSL libraries in GridDyn.
Bios:
Luigi Vanfretti (SMIEEE’14) obtained the M.Sc. and Ph.D. degrees in electric power engineering at Rensselaer Polytechnic Institute, Troy, NY, USA, in 2007 and 2009, respectively.
He was with KTH Royal Institute of Technology, Stockholm, Sweden, as Assistant 2010-2013), and Associate Professor (Tenured) and Docent (2013-2017/August); where he lead the SmarTS Lab and research group. He also worked at Statnett SF, the Norwegian electric power transmission system operator, as consultant (2011 - 2012), and Special Advisor in R&D (2013 - 2016).
He joined Rensselaer Polytechnic Institute in August 2017, to continue to develop his research at ALSETLab: http://alsetlab.com
His research interests are in the area of synchrophasor technology applications; and cyber-physical power system modeling, simulation, stability and control.
Philp Top (Lawrence Livermore National Lab)
PhD 2007 Purdue University. Currently a Research Engineer at Lawrence Livermore National Laboratory in Livermore, CA. Philip has been involved in several projects connected with the DOE effort on Grid Modernization including projects on modeling and simulation, co-simulation and smart grid data analytics. He is the principle developer on the open source power system simulation tool GridDyn, and a key contributor to the HELICS open source co-simulation framework.
Nafems15 Technical meeting on system modelingSDTools
This presentation illustrates the main mechanisms of model reduction used in generating efficient system models that can be used in vibration design. Examples from automotive, aeronautics and train industries are used as illustrations.
Overview of the fundamental roles in Hydropower generation and the components involved in wider Electrical Engineering.
This paper presents the design and construction of hydroelectric dams from the hydrologist’s survey of the valley before construction, all aspects and involved disciplines, fluid dynamics, structural engineering, generation and mains frequency regulation to the very transmission of power through the network in the United Kingdom.
Author: Robbie Edward Sayers
Collaborators and co editors: Charlie Sims and Connor Healey.
(C) 2024 Robbie E. Sayers
Sachpazis:Terzaghi Bearing Capacity Estimation in simple terms with Calculati...Dr.Costas Sachpazis
Terzaghi's soil bearing capacity theory, developed by Karl Terzaghi, is a fundamental principle in geotechnical engineering used to determine the bearing capacity of shallow foundations. This theory provides a method to calculate the ultimate bearing capacity of soil, which is the maximum load per unit area that the soil can support without undergoing shear failure. The Calculation HTML Code included.
CW RADAR, FMCW RADAR, FMCW ALTIMETER, AND THEIR PARAMETERSveerababupersonal22
It consists of cw radar and fmcw radar ,range measurement,if amplifier and fmcw altimeterThe CW radar operates using continuous wave transmission, while the FMCW radar employs frequency-modulated continuous wave technology. Range measurement is a crucial aspect of radar systems, providing information about the distance to a target. The IF amplifier plays a key role in signal processing, amplifying intermediate frequency signals for further analysis. The FMCW altimeter utilizes frequency-modulated continuous wave technology to accurately measure altitude above a reference point.
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We have compiled the most important slides from each speaker's presentation. This year’s compilation, available for free, captures the key insights and contributions shared during the DfMAy 2024 conference.
Saudi Arabia stands as a titan in the global energy landscape, renowned for its abundant oil and gas resources. It's the largest exporter of petroleum and holds some of the world's most significant reserves. Let's delve into the top 10 oil and gas projects shaping Saudi Arabia's energy future in 2024.
Using recycled concrete aggregates (RCA) for pavements is crucial to achieving sustainability. Implementing RCA for new pavement can minimize carbon footprint, conserve natural resources, reduce harmful emissions, and lower life cycle costs. Compared to natural aggregate (NA), RCA pavement has fewer comprehensive studies and sustainability assessments.
Hierarchical Digital Twin of a Naval Power SystemKerry Sado
A hierarchical digital twin of a Naval DC power system has been developed and experimentally verified. Similar to other state-of-the-art digital twins, this technology creates a digital replica of the physical system executed in real-time or faster, which can modify hardware controls. However, its advantage stems from distributing computational efforts by utilizing a hierarchical structure composed of lower-level digital twin blocks and a higher-level system digital twin. Each digital twin block is associated with a physical subsystem of the hardware and communicates with a singular system digital twin, which creates a system-level response. By extracting information from each level of the hierarchy, power system controls of the hardware were reconfigured autonomously. This hierarchical digital twin development offers several advantages over other digital twins, particularly in the field of naval power systems. The hierarchical structure allows for greater computational efficiency and scalability while the ability to autonomously reconfigure hardware controls offers increased flexibility and responsiveness. The hierarchical decomposition and models utilized were well aligned with the physical twin, as indicated by the maximum deviations between the developed digital twin hierarchy and the hardware.
Immunizing Image Classifiers Against Localized Adversary Attacksgerogepatton
This paper addresses the vulnerability of deep learning models, particularly convolutional neural networks
(CNN)s, to adversarial attacks and presents a proactive training technique designed to counter them. We
introduce a novel volumization algorithm, which transforms 2D images into 3D volumetric representations.
When combined with 3D convolution and deep curriculum learning optimization (CLO), itsignificantly improves
the immunity of models against localized universal attacks by up to 40%. We evaluate our proposed approach
using contemporary CNN architectures and the modified Canadian Institute for Advanced Research (CIFAR-10
and CIFAR-100) and ImageNet Large Scale Visual Recognition Challenge (ILSVRC12) datasets, showcasing
accuracy improvements over previous techniques. The results indicate that the combination of the volumetric
input and curriculum learning holds significant promise for mitigating adversarial attacks without necessitating
adversary training.