Search results for " drive"
showing 10 items of 286 documents
Context-dependent coloration of prey and predator decision making in contrasting light environments
2022
A big question in behavioral ecology is what drives diversity of color signals. One possible explanation is that environmental conditions, such as light environment, may alter visual signaling of prey, which could affect predator decision-making. Here, we tested the context-dependent predator selection on prey coloration. In the first experiment, we tested detectability of artificial visual stimuli to blue tits (Cyanistes caeruleus) by manipulating stimulus luminance and chromatic context of the background. We expected the presence of the chromatic context to facilitate faster target detection. As expected, blue tits found targets on chromatic yellow background faster than on achromatic gre…
Decoupled nonlinear adaptive control of position and stiffness for pneumatic soft robots
2020
This article addresses the problem of simultaneous and robust closed-loop control of joint stiffness and position, for a class of antagonistically actuated pneumatic soft robots with rigid links and compliant joints. By introducing a first-order dynamic equation for the stiffness variable and using the additional control degree of freedom, embedded in the null space of the pneumatic actuator matrix, an innovative control approach is introduced comprising an adaptive compensator and a dynamic decoupler. The proposed solution builds upon existing adaptive control theory and provides a technique for closing the loop on joint stiffness in pneumatic variable stiffness actuators. Under a very mi…
Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots
2020
Soft robots have been extensively studied for their ability to provide both good performance and safe human-robot interaction. In this paper, we present and compare the performance of two model-based control techniques with the common aim to independently and simultaneously control position and stiffness of a pneumatic soft robot’s joint. The dynamic system of a robot arm with flexible joints actuated by a pneumatic antagonistic pair of actuators, so-called McKibben artificial muscles, will be regarded, while its dynamic parameters will be considered imprecise. Simulation results are provided to verify the performance of the algorithms.
Classification and Review of Pump-Controlled Differential Cylinder Drives
2019
Pump-controlled hydraulic cylinder drives may offer improved energy efficiency, compactness, and plug-and-play installation compared to conventional valve-controlled hydraulic systems and thus have the potential of replacing conventional hydraulic systems as well as electro-mechanical alternatives. Since the late 1980s, research into how to configure the hydraulic circuit of pump-controlled cylinder drives has been ongoing, especially in terms of compensating the uneven flow requirements required by a differential cylinder. Recently, research has also focused on other aspects such as replacing a vented oil tank with a small-volume pressurized accumulator including the consequences of this i…
SHEAR COMPLIANCE AND SELF WEIGHT EFFECTS ON TRACTION BELT MECHANICS
2007
The transverse elastic deflection of a traction belt along the free span depends mainly on the flexural stiffness, but may be significantly influenced by the distributed weight and the shear compliance, which affect together the width of the arc of contact. In particular, the shear compliance yields a virtual decrease of the flexural stiffness, flattens the free span and increases the wound regions, to the advantage of the transmissible torque. Moreover, the tensioning of a given belt may be somewhat larger, in comparison with the ideal circular-straight path with the same centre distance, because of the increased length of the deflected belt trajectory due to gravity. The present paper ad…
Thermo-Hydraulic Modelling and Experimental Validation of an Electro-Hydraulic Compact Drive
2021
Electro-hydraulic compact drives (ECDs) are an emerging technology for linear actuation in a wide range of applications. Especially within the low power range of 5–10 kW, the plug-and-play capability, good energy efficiency and small space requirements of ECDs render this technology a promising alternative to replace conventional valve-controlled linear drive solutions. In this power range, ECDs generally rely on passive cooling to keep oil and system temperatures within the tolerated range. When expanding the application range to larger power classes, passive cooling may not be sufficient. Research investigating the thermal behaviour of ECDs is limited but indeed required for a successful …
A model for torque losses in variable displacement axial piston motors
2018
This paper includes a comparison of earlier presented models for torque losses in hydraulic motors and several proposed models that all rely on data typically available for a system engineer. The new models and the old ones are compared. The new models are all based on a model developed by Jeong 2007 with an expansion that include variable displacement. All of the new models yield very good accuracy down to approximately 50% of maximum displacement and down to approximately 15% of maximum speed. In these operational ranges the deviation in torque is less than 1%. The main purpose of the new models is to facilitate simulations of hydraulically actuated winches with a balance between accuracy…
Immuno-targeted combinations in oncogene-addicted non-small cell lung cancer
2018
The identification of tumor “oncogenic drivers” and the subsequent development of targeted therapy represented a milestone in the treatment of lung cancer over the last years. Tumor genotyping has been incorporated into therapeutic decision making of advanced non-small cell lung cancer (NSCLC) since has become clear that individuals with actionable molecular alterations receiving a matched targeted agent certainly live longer and better. The recent understanding of biological mechanisms underlying cancer immune evasion has allowed the development of a new class of immunomodulatory agents which are able to reactivate host immune-response, offering the potential for long-term disease control …
Standardized on-road tests assessing fitness-to-drive in people with cognitive impairments: A systematic review.
2020
Objective The on-road assessment is the gold standard because of its ecological validity. Yet existing instruments are heterogeneous and little is known about their psychometric properties. This study identified existing on-road assessment instruments and extracted data on psychometric properties and usability in clinical settings. Method A systematic review identified studies evaluating standardized on-road evaluation instruments adapted for people with cognitive impairment. Published articles were searched on PubMed, CINHAL, PsycINFO, Web of Science, and ScienceDirect. Study quality and the level of evidence were assessed using the COSMIN checklist. The collected data were synthetized usi…
Constructions of Agency in Accounts of Drunk Driving at the Outset of Semi-Mandatory Counseling
2015
Convicted drunk drivers, in accounts of their offenses, rarely display qualities of agency that would contribute to a favorable outcome in counseling. Instead, the discursive and rhetorical aim of the accounts is often to evade responsibility and ownership of the offending behavior. Such disclaim of personal agency can be achieved in various ways in the narration of drunk driving (DD) incidences. This study examined how five aspects of agentic presentation (reflexivity, historicity, intentionality, causal attribution, and relationality) were present in or missing from such accounts. It was found that a tentative model of (non)agentic display based on those five aspects could differentiate b…