Search results for "torsion"
showing 10 items of 175 documents
Plastic yielding of glass in high-pressure torsion apparatus
2018
International audience; Hardness measurements performed at room temperature have demonstrated that glass can flow under elevated pressure, whereas the effect of high pressure on glass rheology remains poorly quantified. Here, we applied a high-pressure torsion (HPT) apparatus to deform SCHOTT SF6 â glass and attempted to quantify the effect of pressure and temperature on the shear deformation of glass subjected to pressures from 0.3 GPa to 7 GPa and temperatures from 25 ℃ to 496 ℃. Results show that the plastic yield deformation was occurring during the HPT experiments on the SF6 glass at elevated temperature from 350 ℃ to 496 ℃. The yield stress of SF6 glass decreases with increasing tempe…
Mechanical properties of macroscopic magnetocrystals
2019
Abstract We studied experimentally and by numerical simulations the mechanical response of arrays of macroscopic magnetic spheres when an external stress is applied. First, the tensile strength of single chains and ribbons was analyzed. Then, simple cubic (cP), hexagonal (Hx) and hybrid (cP-Hx) structures, called here magnetocrystals , were assembled and subjected to tensile stress, bending stress and torsion until failure was reached. Atomistic crystalline structures are isotropic, but in the case of magnetocrystals, even when geometric isotropy is obeyed, dipolar magnetic interactions introduce a physical anisotropy which modifies, in a non-usual manner, the structures response to the kin…
Biomechanics and functional morphology of a climbing monocot.
2015
Climbing monocots can develop into large bodied plants despite being confined by primary growth. In our study on Flagellaria indica we measured surprisingly high stem biomechanical properties (in bending and torsion) and we show that the lack of secondary growth is overcome by a combination of tissue maturation processes and attachment mode. This leads to higher densities of mechanically relevant tissues in the periphery of the stem and to the transition from self-supporting to climbing growth. The development of specialised attachment structures has probably underpinned the evolution of numerous other large bodied climbing monocot taxa.
Modeling of an active torsion bar automotive suspension for ride comfort and energy analysis in standard road profiles
2019
Abstract Chassis technology is evolving towards active suspension, in which actuators can provide forces to each wheel individually. This overcomes the traditional trade-off between comfort and handling, at the expense of increased complexity and electric consumption. To reduce power demand, regenerative solutions capable of harvesting a certain amount of energy otherwise dissipated in vehicle suspensions and to enhance vehicle dynamics for improving ride comfort and road safety at the same time have been researched. In this paper, an active suspension based on a torsion bar is modeled and analyzed under the excitation from standardized road profiles according to the ISO 8608 norm. A skyhoo…
Compensation of Nonlinear Torsion in Flexible Joint Robots: Comparison of Two Approaches
2015
Flexible joint robots, in particularly those which are equipped with harmonic-drive gears, can feature elasticities with hysteresis. Under heavy loads and large joint torques the hysteresis lost motion can lead to significant errors of tracking and positioning of the robotic links. In this paper, two approaches for compensating the nonlinear joint torsion with hysteresis are described and compared with each other. Both methods assume the measured signals available only on the motor side of joint transmissions. The first approach assumes a rigid-link manipulator model and transforms the desired link trajectory into that of the motor drives by using the inverse dynamics and inverse hysteresis…
On Stability of Virtual Torsion Sensor for Control of Flexible Robotic Joints with Hysteresis
2019
Author's accepted manuscript (postprint). This article has been published in a revised form in Robotica, http://doi.org/10.1017/S0263574719001358. This version is free to view and download for private research and study only. Not for re-distribution or re-use. © 2019 Cambridge University Press. Available from 25/03/2020. Aim of the virtual torsion sensor (VTS) is in observing the nonlinear deflection in the flexible joints of robotic manipulators and, by its use, improving positioning control of the joint load. This model-based approach utilizes the motor-side sensing only and, therefore, replaces the load-side encoders at nearly zero hardware costs. For being applied in the closed control …
On stability and robustness of Virtual Torsion Sensor (VTS) for flexible joint robots
2016
The so called ‘Virtual Torsion Sensor’ (VTS) has been introduced in pervious works for flexible joint robots without sensing of the joint output states, i.e. link position and velocity. Since VTS is incorporated into the feedback control loop, so as to improve the links' positioning accuracy, the related stability is crucial for the overall control design and robust operation of VTS. In this paper, we analyze the stability of including VTS into the feedback loop while assuming the predicted joint torsion is gained by the proportional term of the underlying motor position feedback control. We start our consideration by an ideal case of the linear joint stiffness, first assuming the measured …
Flow Control of Fluid in Pipelines Using PID Controller
2019
In this paper, a PID controller is utilized in order to control the flow rate of the heavy oil in pipelines by controlling the vibration in a motor pump. A torsional actuator is placed on the motor pump in order to control the vibration on a motor and consequently controlling the flow rates in pipelines. The necessary conditions for the asymptotic stability of the proposed controller are validated by implementing the Lyapunov stability theorem. The theoretical concepts are validated utilizing numerical simulations and analysis, which proves the effectiveness of the PID controller in the control of flow rates in pipelines.
Mafia Methods, Extortion Dynamics and Social Responses
2016
This chapter is devoted to exploring both the empirical results and the policy proposals produced by the GLODERS project. Based on 631 cases of extortions, the Sicily and Calabria extortion database represents a relevant achievement in the field of the research on extortion racket and it is one of the main results of the GLODERS project. Gathering a great amount of information, our empirical analysis revealed the existence of several differences in the extortive conducts carried on within these two regions, which are presented. Moreover, the chapter introduces the legislation related to the crime of extortion. Social and legal responses to the phenomenon are then discussed.
Influence of the distance in a roundhouse kick's execution time and impact force in Taekwondo.
2009
Taekwondo, originally a Korean martial art, is well known for its kicks. One of the most frequently used kicks in competition is Bandal Chagui or roundhouse kick. Excellence in Taekwondo relies on the ability to make contact with the opponent's trunk or face with enough force in as little time as possible, while at the same time avoiding being hit. Thus, the distance between contestants is an important variable to be taken into consideration. Thirty-one Taekwondo athletes in two different groups (expert and novice, according to experience in competition) took part in this study. The purpose of this study was to examine both impact force and execution time in a Bandal Chagui or roundhouse ki…