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Relevant bibliographies by topics / Compliant contact

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Academic literature on the topic 'Compliant contact'

Author: Grafiati

Published: 4 June 2021

Last updated: 5 February 2022

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Journal articles on the topic "Compliant contact"

1

Kang, Sungchul, Yonk K. Hwang, Munsang Kim, Chongwon Lee, and Kyo-Il Lee. "A compliant controller dynamically updating the compliance center by contact localization." Robotica 16, no. 5 (September 1998): 543–50. http://dx.doi.org/10.1017/s0263574798000058.

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This paper presents a compliant control method for insertion of complex objects with concavities. Most work on robot assembly using compliant motion control schemes focuses on overcoming jamming conditions for simple peg-in-hole problems, and cannot be used for complex shapes frequently encountered in assembly applications. When an object is being inserted to a hole or slot with a small clearance, a contact path is issued to compensate for uncertainties. When the object shape is complex, however, the contact state changes several times and severely, making compliant control difficult. The algorithm presented here is capable of generating satisfactory compliant motion control in spite of changing contact states. During the execution of a nominal motion plan, it computes the actual position of the contact point from the force/torque sensor reading using a contact localization algorithm. It then dynamically updates the center for compliance to the computed contact point, and minimize the chance of jamming and unwanted collisions. The control scheme has been implemented on hardware and tested on the task of inserting a T-shape into a C-shape involving a very tight tolerance. The insertion motion was accomplished by a sequence of 2 translational and 1 rotational compliant motions, and successfully executed by the proposed compliant motion controller.

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Raja Lexshimi RG, Najibah AR, Taufiq Zahari, Lau Wei Keat, Sim Linger, Nur Ain Diyana Ismail, Zaleha MI, and Jemaima CH. "KNOWLEDGE, COMPLIANCE AND COMPLICATION OF CONTACT LENS USAGE AMONG MEDICAL STUDENTS IN UNIVERSITI KEBANGSAAN MALAYSIA MEDICAL CENTRE." Malaysian Journal of Public Health Medicine 20, no. 1 (May 1, 2020): 229–34. http://dx.doi.org/10.37268/mjphm/vol.20/no.1/art.567.

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Non-compliance to hygienic practices in contact lens wear is regarded as a significant risk factor for contact lens-related complications. Non-compliant behaviour continues to prevent efforts to improve contact lens safety despite advancements in lens materials and care solutions. The objective of this study was to identify the association between knowledge, compliance and complications of contact lens wear. A cross-sectional design was used and contact lens users among medical faculty students were identified and recruited via convenience sampling throughout October 2013 to March 2014. A total of 36 close-ended questions that focused on knowledge level, compliance to standard contact lens practice, and experience of complications were administered. A total of 188 respondents, majority of females (89.4%; n=168) participated in this study. Although majority had good knowledge level (68.1%; n=128) on care and usage of contact lens while only a small number having moderate knowledge (26.6%; n=50) and poor knowledge (5.3%; n=10), most of them were partially compliant (74.5%; n=140) to the recommended contact lens practices. However, a small group was found to be fully compliant (24.4%; n=46) and the rest being non-compliant (1.1%; n=2). There was a significant association between knowledge on contact lens usage and compliance level to standard practices (p=0.0003). In addition, a significant association also existed between compliance level to recommended practices and risk of complications from contact lens usage (p=0.023). Findings of this study showed the positive association between knowledge of contact lens usage and compliance to recommended practices and negative association between knowledge of contact lens usage and complications experienced by contact lens users. By providing basic knowledge on contact lens care and usage via education, improvement on compliance and enhancement of safety of contact lens wear could invariably be achieved.

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Manko, D. J., and W. L. Whittaker. "Inverse Dynamic Models of Closed-Chain Mechanisms With Contact Compliance." Journal of Mechanical Design 114, no. 1 (March 1, 1992): 82–86. http://dx.doi.org/10.1115/1.2916929.

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A general inverse dynamic model which is applicable to closed-chain mechanisms with contact compliance is presented. This class of mechanism has relatively rigid members and joints, but experiences compliant interactions with objects and the environment; examples include walking machines operating on natural terrain, devices for grasping a compliant object, and wheeled mobile robots. Previous approaches for formulating inverse dynamic models of compliant mechanisms have been approximations or limited to simple configurations and open-chain mechanisms. Inverse dynamic equations for closed-chain mechanisms with contact compliance are shown to be solvable sets of differential/algebraic equtaions (DAEs) which assures that stable and accurate solutions can be calculated; relevant characteristics and solutions of DAE systems are discussed.

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Stronge, W. J. "Chain Reaction From Impact on Coaxial Multibody Systems." Journal of Applied Mechanics 67, no. 3 (May 2, 2000): 632–35. http://dx.doi.org/10.1115/1.1309541.

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In a mechanism or system of “rigid” bodies that are joined or connected by compliant points of contact, an external impact at one point in the system generates a pulse of reaction force that propagates outward successively through neighboring joints or connections. At each point of contact between adjacent bodies, this wave of reaction force is just sufficient to change the relative velocities so that interpenetration of the bodies is prevented; i.e., the reactions enforce the displacement constraints. Each connection has a local wave speed that depends on the contact compliance and the mass of the adjacent bodies. Where the local wave speed is decreasing with “distance” from the external impact, the reaction impulses at neighboring contacts occur sequentially whereas if the local wave speed is increasing substantially with distance, the impulses at neighboring contacts occur simultaneously. Between these limits, the dynamics of impact of multibody systems with compliant contacts depends on coupling between time-dependent contact forces rather than some assumed timing of the resultant impulses. [S0021-8936(00)00903-X]

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Refaat, M. H., and S. A. Meguid. "Accurate modelling of compliant grippers using a new method." Robotica 16, no. 2 (March 1998): 219–25. http://dx.doi.org/10.1017/s026357479800054x.

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Current techniques which have been devised for motion planning and control of compliant multi-fingered grippers are based on the assumption of a constant compliance. The present investigation was undertaken to examine the validity of this assumption. To this end, the variational inequalities approach and the finite element method were used to formulate the general frictional contact problem. A two-step algorithm, which employs Quadratic Programming and non-differential optimization algorithms, is used to solve the resulting variational inequality and to provide the contact characteristics of compliant grippers.The proposed method is applied to a case study involving a multi-fingered compliant gripper. The equivalent stress contours and the compliance of the system were obtained and analyzed. The proposed approach, which can be applied to any contact problem in robotics, overcomes most of the difficulties and approximations evident in current simplified contact analysis techniques.

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Cannon, Jesse R., and Larry L. Howell. "A compliant contact-aided revolute joint." Mechanism and Machine Theory 40, no. 11 (November 2005): 1273–93. http://dx.doi.org/10.1016/j.mechmachtheory.2005.01.011.

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Nelson, Todd G., and Just L. Herder. "Developable compliant-aided rolling-contact mechanisms." Mechanism and Machine Theory 126 (August 2018): 225–42. http://dx.doi.org/10.1016/j.mechmachtheory.2018.04.013.

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Atanackovic, T. M., and D. T. Spasic. "On Viscoelastic Compliant Contact-Impact Models." Journal of Applied Mechanics 71, no. 1 (January 1, 2004): 134–38. http://dx.doi.org/10.1115/1.1629106.

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We study dynamics of a mass, moving on a straight line, and impacting against the rigid wall through a deformable body, that we model as a straight rod of negligible mass. The chosen constitutive model of the viscoelastic body comprises fractional derivatives of stress and strain and the restrictions on the coefficients that follow from Clausius Duhem inequality. We show that the dynamics of the problem is governed by a single differential equation of real order. The obtained equation was solved numerically. The comparison is made to the solution obtained by the Laplace transform and Post’s inversion formula. The predictions of the model concerning the duration of the impact, maximal values of the impacting force and deformation as well as the restitution coefficient are determined for several values of system parameters.

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McMonnies, Charles W. "Improving contact lens compliance by explaining the benefits of compliant procedures." Contact Lens and Anterior Eye 34, no. 5 (October 2011): 249–52. http://dx.doi.org/10.1016/j.clae.2011.06.006.

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Liang, J. W., and B. F. Feeny. "Dynamical Friction Behavior in a Forced Oscillator With a Compliant Contact." Journal of Applied Mechanics 65, no. 1 (March 1, 1998): 250–57. http://dx.doi.org/10.1115/1.2789033.

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Contact compliance, which may arise from elastic deformation near the contact point or in the surrounding structure, affects the dynamical friction behaviors in mechanical oscillators. An idealized model consisting of a mass sliding harmonically on a mass-less compliant contact produces hysteresis in friction-velocity plots. Dynamical friction features, depending on the contact stiffness, friction level, and the frequency and amplitude of oscillation, are predicted and quantified. Contact compliance can also lead to oscillations at the transition from slip to stick. Experiments and simulations verify the model and tie together phenomena of both continuous sliding and stick-slip.

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Dissertations / Theses on the topic "Compliant contact"

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Halverson, Peter Andrew. "Multi-stable Compliant Rolling-contact Elements." Diss., CLICK HERE for online access, 2007. http://contentdm.lib.byu.edu/ETD/image/etd1832.pdf.

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Satyanarayana, Srinath. "Fixture-workpiece contact modeling for a compliant workpiece." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/17874.

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Yang, Fan. "DISCRETE COMPLIANT MOTION PLANNING SYSTEM FOR ROBOTIC ASSEMBLY." Diss., The University of Arizona, 2009. http://hdl.handle.net/10150/195237.

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This dissertation focuses on compliant motion planning designed for robotic assembly. A Discrete Complaint Motion Planner (DCMP) reacts to detected discrete contact state transitions and issues compliant motion command to the underlying continuous robot system. It consists of a Qualitative Contact Model, a Compliant Motion Strategy Planner (CMSP) and a Compliant Motion Command Planner (CMCP).How to model and characterize a contact state is a major issue. In this dissertation, contact states are described using the qualitative configuration representation called Feature Interaction Matrix (FIM). A FIM encodes not only the contact information but also the relative configuration between two polyhedral parts. This FIM-based qualitative contact state model has several contributions: 1) an optimization-based approach is developed to verify the hypothetical states in FIM; 2) penetration check for hypothetical contact states through constraint satisfaction is simple and fast; 3) spatial adjacency can be easily determined using convex cone techniques; 4) a generate-and-test method is proposed to expand qualitative states in FIM; 5) compliant motion parameters are derived by an optimization method.The qualitative contact states and how they are connected is modeled with an adjacency graph/sub-graph, where nodes represent qualitative contact states and spatially adjacent contact states are connected by arcs. Each arc represents a desired contact state transition. The CMSP receives contact state transition event from an on-line estimator, then computes/checks the assembly strategy and issues the next desired contact state transition to the CMCP. The compliant motion strategy is computed using graph-search techniques with the automatic construction of the adjacency graph/sub-graph. The CMSP integrate hypotheses generation, hypotheses verification, spatial adjacency and graph search algorithms.When the next desired contact state transition is received, the CMCP computes the compliant motion parameters that are issued to the underlying continues robot system to achieve the desired contact state transition. The generation of motion parameters is defined as an optimization problem and an algorithm is developed to solve it.The DCMP in this dissertation considers both 3D translational and 3D rotational motions. Experiments are carried out to demonstrate the feasibility of the approach for the automatic assembly of polyhedral parts.

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Halverson, Peter Andrew. "Modeling, Design, and Testing of Contact-Aided Compliant Mechanisms in Spinal Arthroplasty." BYU ScholarsArchive, 2010. https://scholarsarchive.byu.edu/etd/2168.

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Injury, instrumentation, or surgery may change the functional biomechanics of the spine. Spinal fusion, the current surgical treatment of choice, stabilizes the spine by rigid fixation, reducing spinal mobility at the cost of increased stress at adjacent levels. Recently, alternatives to spinal fusion have been investigated. One such alternative is total disc replacements. The current generation of total disc replacements (TDRs) focuses on restoring the quantity of motion. Recent studies indicate that the moment-rotation response and axis of rotation, or quality of motion (QOM), may have important implications in the health of adjacent segments as well as the health of the surrounding tissue of the operative level. This dissertation examines the use of compliant mechanism design theory in the design and analysis of spinal arthroplasty devices. Particularly, compliant mechanism design techniques were used to develop a total disc replacement capable of replicating the normal moment-rotation response and location and path of the helical axis of motion. Closed-form solutions for the device's performance are proposed and a physical prototype was created and evaluated under a modified F1717 and a single-level cadaveric experiment. The results show that the prototype's QOMclosely matched the selected force-deflection response of the specified QOM profile. The use of pseudo-rigid-body modeling to evaluate the effects of various changes on motion at adjacent segments is also investigated. The ability to model biomechanical changes in the spine has traditionally been based on animal models, in vitro testing, and finite element analysis. These techniques, although effective, are costly. As a result, their use is often limited to late in the design process. The pseudo-rigid-body model (PRBM) developed accurately predicted the moment-rotation response of the entire specimen and the relative contribution of each level. Additionally, the PRBM was able to predict changes in relative motion patterns of the specimen due to instrumentation.

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Laferrière, Pascal. "Instrumented Compliant Wrist System for Enhanced Robotic Interaction." Thesis, Université d'Ottawa / University of Ottawa, 2016. http://hdl.handle.net/10393/35502.

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This thesis presents the development of an instrumented compliant wrist mechanism which serves as an interface between robotic platforms and their environments in order to detect surface positions and orientations. Although inspired by similar existing devices, additional features such as noncontact distance estimations, a simplified physical structure, and wireless operation were incorporated into the design. The primary role envisioned for this mechanism was for enabling robotic manipulators to perform surface following tasks prior to contact as this was one requirement of a larger project involving inspection of surfaces. The information produced by the compliant wrist system can be used to guide robotic devices in their workspace by providing real-time proximity detection and collision detection of objects. Compliance in robotic devices has attracted the attention of many researchers due to the multitude of benefits it offers. In the scope of this work, the main advantage of compliance is that it allows rigid structures to come into contact with possibly fragile objects. Combined with instrumentation for detecting the deflections produced by this compliance, closed-loop control can be achieved, increasing the number of viable applications for an initially open-loop system. Custom fabrication of a prototype device was completed to physically test operation of the designed system. The prototype incorporates a microcontroller to govern the internal operations of the device such as sensor data collection and processing. By performing many computation tasks directly on the device, robotic controllers are able to dedicate more of their time to more important tasks such as path planning and object avoidance by using the pre-conditioned compliant device data. Extensive work has also gone into the refinement of sensor signals coming from the key infrared distance measurement sensors used in the device. A calibration procedure was developed to decrease inter-sensor variability due to the method of manufacturing of these sensors. Noise reduction in the signals is achieved via a digital filtering process. The evaluation of the performance of the device is achieved through the collection of a large amount of sensor data for use in characterisation of the sensor and overall system behavior. This comes in the form of a statistical analysis of the sensor outputs to determine signal stability and accuracy. Additionally, the operation of the device is validated by its integration onto a manipulator robot and incorporating the data generated into the robot’s control loop.

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Mackay, Allen B. "Large-Displacement Linear-Motion Compliant Mechanisms." BYU ScholarsArchive, 2007. https://scholarsarchive.byu.edu/etd/901.

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Linear-motion compliant mechanisms have generally been developed for small displacement applications. The objective of the thesis is to provide a basis for improved large-displacement linear-motion compliant mechanisms (LLCMs). One of the challenges in developing large-displacement compliant mechanisms is the apparent performance tradeoff between displacement and off-axis stiffness. In order to facilitate the evaluation, comparison, and optimization of the performance of LLCMs, this work formulates and presents a set of metrics that evaluates displacement and off-axis stiffness. The metrics are non-dimensionalized and consist of the relevant characteristics that describe mechanism displacement, off-axis stiffness, actuation force, and size. Displacement is normalized by the footprint of the device. Transverse stiffness is normalized by a new performance characteristic called virtual axial stiffness. Torsional stiffness is normalized by a performance characteristic called the characteristic torque. Because large-displacement compliant mechanisms are often characterized by non-constant axial and off-axis stiffnesses, these normalized stiffness metrics are formulated to account for the variation of both axial and off-axis stiffness over the range of displacement. In pursuit of mechanisms with higher performance, this work also investigates the development of a new compliant mechanism element. It presents a pseudo-rigid-body model (PRBM) for rolling-contact compliant beams (RCC beams), a compliant element used in the RCC suspension. The loading conditions and boundary conditions for RCC beams can be simplified to an equivalent cantilever beam that has the same force-deflection characteristics as the RCC beam. Building on the PRBM for cantilever beams, this paper defines a model for the force-deflection relationship for RCC beams. Included in the definition of the RCC PRBM are the pseudo-rigid-body model parameters that determine the shape of the beam, the length of the corresponding pseudo-rigid-body links and the stiffness of the equivalent torsional spring. The behavior of the RCC beam is parameterized in terms of a single parameter defined as clearance, or the distance between the contact surfaces. The RCC beams exhibit a unique force-displacement curve where the force is inversely proportional to the clearance squared. The RCC suspension is modeled using the newly defined PRBM. The suspension exhibits unique performance, generating no resistance to axial motion while providing significant off-axis stiffness. The mechanism has a large range of travel and operates with frictionless motion due to the rolling-contact beams. In addition to functioning as a stand-alone linear-motion mechanism, the RCC suspension can be configured with other linear mechanisms in superposition to improve the off-axis stiffness of other mechanisms without affecting their axial resistance.

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Shan, Lei. "Fluid pressure distribution at the interface between compliant and hard surfaces." Thesis, Georgia Institute of Technology, 1998. http://hdl.handle.net/1853/17788.

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Sifat, Ashrarul Haq. "Tactile Sensing System Integrated to Compliant Foot of Humanoid Robot for Contact Force Measurement." Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/87082.

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Human beings have a touch and force estimation mechanism beneath their feet. They use this feeling of touch and force to maintain balance, walk, run and perform various agile motions. This paper presents a new sensor platform beneath the humanoid feet, enabled by a pragmatic model based compliant foot design and sensor configuration that mimics the human tactile sensory system for contact force measurement in humanoid robots. Unlike previous force sensor based approaches, the system is defined as a total and sufficient method of Ground Reaction Force (GRF) and Zero Moment Point (ZMP) measurement for balancing and walking using contact force feedback in mid to full sized humanoids. The conventional systems for the GRF and ZMP measurement are made of heavy metallic parts that tend to be bulky and vulnerable to inertial noises upon high acceleration. In addition to low cost and reliable operation, the proposed system can withstand shock and enable agile motion much like humans do with their footpad. The proposed foot is manufactured using state-of-the-art technique with elastomer padding which not only protects the sensors but also acts as a compliance beneath the foot giving integrity in structural design. This composite layer provides compliance and traction for foot collision while the contact surfaces are sampled for pressure distribution which can be mapped into three axis force and ZMP. A single step training process is required to relate the sensor readings to force measurement. The system’s capability of contact force measurement, subsequent ZMP estimation is experimentally verified with the application of appropriate software. Moreover, a simulation study has been conducted via Finite Element Analysis (FEA) of the footpad structure to analyze the proposed footpad structure. The experimental results demonstrate why this can be a major step toward a biomimetic, affordable yet robust contact force and ZMP measurement method for humanoid robots. This work was supported by the Office of Naval Research, Grant N00014-15-1-2128 as part of development of Project SAFFiR (Shipboard Autonomous Firefighting Robot).
Master of Science
How we interact with the surfaces in contact with us has a crucial role for balancing and walking with agility. The biological touch and force measurement systems in human is currently unmatched, not even mimicked in a significant way in the state-of-the-art humanoid robots’ systems. Human beings use this feeling of touch and force beneath the feet to maintain balance, walk, run and perform various agile motions. This research aims to find a holistic system in humanoid robot’s feet design that can mimic this human characteristics of force estimation beneath the feet and using that estimation for balancing and walking. A practical model based sensor configuration is derived from the rigorous study of human and humanoid robot’s feet contact with the ground. The sensors are tactile in nature, and unlike previous below feet based approaches, the system is defined as a total and sufficient system of Ground Reaction Force (GRF) and Center of Pressure (CoP) measurement. The conventional systems for this purpose are not only highly expensive but also having error in quantification during accelerated movement. The proposed foot is designed following the practical model derived and manufactured using the state-of-the-art mechanism for having a soft cushion between the sensors and the contact surfaces. In addition to low cost and reliable operation, the proposed system can withstand shock and enable agile motion much like humans do with their footpad. The quantification of the forces and pressure from the sensor readings and developed using appropriate software and algorithms. The system’s capability of contact force measurement, subsequent Center of Pressure measurement is experimentally verified with the application of appropriate software. Moreover, a simulation study has been conducted of the footpad structure to analyze the proposed footpad structure. The experimental results demonstrate why this can be a major step toward a biomimetic, affordable yet robust contact force and Center of Pressure measurement method for human-like robots.

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Cannon, Jesse R. "Compliant Mechanisms to Perform Bearing and Spring Function in High Precision Applications." BYU ScholarsArchive, 2004. https://scholarsarchive.byu.edu/etd/229.

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An increasing number of mechanical systems are being designed on the micro and meso scales. Assembly and maintenance become increasingly difficult as the size of mechanisms decrease, and the minimum size of traditional elements such as bearings and springs is limited. The backlash of bearings also limits their usefulness in applications where high precision and repeatability are needed. At small scales and for high precision applications, alternative, non-traditional elements are needed. The objective of this thesis is to develop reliable and scalable compliant components to replace bearings and helical springs. Components replacing springs must be able to produce specified torque/motion requirements. Components replacing bearings must permit sufficient motion about the axis of rotation, bear specified loads in the lateral directions, and fit within roughly the same design space as a bearing. Additionally, all components will be designed to be manufactured using in-plane fabrication processes. Practical application of the components will be demonstrated by their use in Sandia National Laboratory's Stronglink assembly. The concepts discussed in this thesis fall into three categories: mechanisms that replace 1) the helical spring, 2) the bearing, and 3) both the helical spring and the bearing. The serpentine flexure belongs to the first category, the compliant rolling-contact element (CORE), CORE bearing, and elliptical CORE bearing belong to the second, and the compliant contact-aided revolute (CCAR) joint belongs to the third category.

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Du, Lucy W. "Design of a constraint device for compliant bodies using quasi-conformal contact surfaces as applied to mouse imaging." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/104291.

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Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 99-101).
The purpose of this work is the modeling and prototyping of quasi-conformal constraint contacts and the investigation of their positioning ability for compliant bodies, specifically for the holding of mice in optical imaging setups. The direct application of this work is the restraint of laboratory mice for biological imaging of micron- and submicron-scale biological structures. No existing research has measured the shear stiffness of mouse facial tissue or modeled the effect of quasi-conformal contact constraints on nonlinear materials. The constraint devices and techniques currently available for mice have limitations that have prevented further exploration of their biological structures. The theoretical model, design rationale, and testing results of a prototype device utilizing quasi-conformal constraints are presented in this thesis. This device is capable of restraining anesthetized mice to sub-micron movement in all axes of translation, without additional surgery or discomfort to the mouse. With the findings presented in this thesis, the design of further optimized devices can be made-both for anesthetized and awake mice-enabling further studies in bone marrow and neural activity that are currently impossible. This could ultimately lead to breakthroughs in stem cell and neurobiological research.
by Lucy W. Du.
S.M.

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Books on the topic "Compliant contact"

1

Federal contract compliance manual. [Washington, D.C.?]: U.S. Dept. of Labor, Employment Standards Administration, Office of Federal Contract Compliance Programs, 1990.

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Programs, United States Office of Federal Contract Compliance. Federal contract compliance manual. [Washington, D.C.?]: U.S. Dept. of Labor, Employment Standards Administration, Office of Federal Contract Compliance Programs, 1993.

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Government contract audits and compliance. Chicago, IL: CCH, 2010.

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Authorities, Association of Metropolitan. Contract compliance: the fair deal. London: The Association, 1988.

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Gottlieb, Harlan. The government contract compliance handbook. Eagan, MN]: Thomson Reuters, 2014.

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Hetrick, Sue. Contract compliance and equal opportunities. [s.l.]: typescript, 1987.

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Great Britain. Commission for Racial Equality. Principles of practice for contract compliance. London: Commission for Racial Equality, 1987.

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CLES. Contract compliance: UK experiences and problems. [London: Centre for Local Economic Strategies, 1986.

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CLES. Contract compliance: UK experiences and problems. Manchester: Centre for Local Economic Strategies, 1986.

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Office of Federal Contract Compliance Programs. [Washington, D.C.?]: The Office, 1991.

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Book chapters on the topic "Compliant contact"

1

Tolosana-Delgado, R., U. Mueller, and K. G. van den Boogaart. "Compositionally Compliant Contact Analysis." In Geostatistical and Geospatial Approaches for the Characterization of Natural Resources in the Environment, 11–14. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-18663-4_2.

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Stronge, W. J. "Coupling of Friction and Internal Dissipation in Planar Collision of Compliant Bodies." In Contact Mechanics, 417–26. Boston, MA: Springer US, 1995. http://dx.doi.org/10.1007/978-1-4615-1983-6_57.

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Nunez, Victor, and Nelly Nadjar-Gauthier. "Humanoid Vertical Jump with Compliant Contact." In Climbing and Walking Robots, 457–64. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_55.

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Suárez, R., L. Basañez, and J. Rosell. "Contact Estimation for Compliant Motion Control." In Making Robots Smarter, 65–84. Boston, MA: Springer US, 1999. http://dx.doi.org/10.1007/978-1-4615-5239-0_5.

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Kumar, Prabhat, Anupam Saxena, and Roger A. Sauer. "Implementation of Self Contact in Path Generating Compliant Mechanisms." In Mechanisms and Machine Science, 251–61. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-45387-3_22.

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Erzincanli, F., and J. M. Sharp. "Non-Contact End Effector for Robotic Handling of Compliant Products." In Proceedings of the Thirty-First International Matador Conference, 629–34. London: Macmillan Education UK, 1995. http://dx.doi.org/10.1007/978-1-349-13796-1_94.

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Sentis, Luis. "Compliant Control of Whole-body Multi-contact Behaviors in Humanoid Robots." In Motion Planning for Humanoid Robots, 29–66. London: Springer London, 2010. http://dx.doi.org/10.1007/978-1-84996-220-9_2.

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Beriain, Andoni, Eduardo d’Entremont, J. Gonzalez de Chavarri, Ibon Zalbide, and Roc Berenguer. "EPC C1G2 Compliant Batteryless Tire Pressure Monitoring Tag with Pressure and Tire Contact Temperature." In Lecture Notes in Computer Science, 163–72. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-38921-9_17.

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Masruddin, M., Raunak Singh Rana, Deepak Kumar Patel, and Narayana Reddy. "Design and Development of a Contact-Aided Compliant Flapping Wing for Micro Air Vehicle." In Lecture Notes in Mechanical Engineering, 691–99. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-4477-4_49.

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Meeussen, Wim, Johan Rutgeerts, Klaas Gadeyne, Herman Bruyninckx, and Joris De Schutter. "Contact State Segmentation Using Particle Filters for Programming by Human Demonstration in Compliant Motion Tasks." In Experimental Robotics, 3–12. Berlin, Heidelberg: Springer Berlin Heidelberg, 2008. http://dx.doi.org/10.1007/978-3-540-77457-0_1.

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Conference papers on the topic "Compliant contact"

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Cannon, Jesse R., Craig P. Lusk, and Larry L. Howell. "Compliant Rolling-Contact Element Mechanisms." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84073.

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This paper presents three planar mechanisms capable of performing the functions of a bearing and a spring: the compliant rolling-contact element (CORE), the CORE bearing, and the elliptical CORE bearing. The designs use compliant rolling-contact joints to achieve low friction rotation and to bear high in-plane lateral loads. A model for predicting the behavior of the designs is presented, and manufacturing considerations are discussed for the macro, meso, and micro scales. A case study is presented, and the designs are shown to be capable of meeting the demanding design constraints of the study.

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Yaglioglu, Onnik, Rod Martens, Anyuan Cao, and A. H. Slocum. "Compliant Carbon Nanotube-Metal Contact Structures." In 2011 IEEE 57th Holm Conference on Electrical Contacts (Holm 2011). IEEE, 2011. http://dx.doi.org/10.1109/holm.2011.6034802.

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Mankame, Nilesh D., and G. K. Ananthasuresh. "Contact Aided Compliant Mechanisms: Concept and Preliminaries." In ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASME, 2002. http://dx.doi.org/10.1115/detc2002/mech-34211.

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Jovanova, Jovana, Angela Nastevska, and Mary Frecker. "Functionally Graded Cellular Contact-Aided Compliant Mechanism for Energy Absorption." In ASME 2018 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/smasis2018-8175.

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Cellular contact-aided compliant mechanisms (C3M) are cellular structures with integrated self-contact mechanisms, i.e. the segments can come into contact with each other during deformation. The contact changes the load path and can influence on the mechanism’s performance. Cellular contact-aided compliant mechanisms can be tailored for a specific structural application, such as energy absorption. Nickel Titanium compliant mechanisms can exploit the superelastic effect to improve performance and increase energy absorption. The potential for compliant mechanisms designed specifically for metal additive manufacturing opens the possibility of functional grading and tailoring the material properties locally for achieving overall performance. The combined effort of the geometry and the nonlinear material property increases the local compliance of the unit cell, resulting in higher energy absorption. A functionally graded 3D energy absorbing contact-aided compliant mechanisms cell with curved walls is analyzed. Functionally graded zones of higher flexibility are explored with different superelastic material properties. Introducing different moduli of elasticity as a function of the critical transformation stress results in different energy absorption. This approach can be used for tailoring the overall performance based on the application.

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Pathak, Mangesh, and Sourav Rakshit. "Contact Analysis of Gear Trains Using Linear Complementarity Based Compliant Contact Model." In ASME 2019 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/imece2019-10701.

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Abstract The current computation models for gear contact analysis and wear prediction are mostly based on finite element analysis which consumes much computation time and effort. In this work, we adopt an alternative approach for gear contact analysis using linear complementarity. This approach was successfully applied to a pair of rigid spur gears and a planetary gear train (gears are considered as rigid bodies) in our previous work. In this paper, we extend our linear complementarity model to consider local deformation caused due to contact between gear teeth in mesh. Thus obtained linear complementarity model is applied to a pair of spur gears and a planetary gear train. A linear complementarity solver computes the contact forces between meshing teeth of gears. From the contact forces, sliding wear in gear teeth is predicted. Archard’s wear model is used for the wear prediction. Using this model, the contact forces are uniquely determined for the examples considered. The results of linear complementarity and finite element model for a pair of spur gears are compared. The linear complementarity model consumes much less computation time than the finite element model.

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Myant, C., and H. A. Spikes. "Film Thickness Study of Lubricated, Compliant Contacts." In ASME/STLE 2009 International Joint Tribology Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/ijtc2009-15251.

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Obtaining lubricant film thickness values within a compliant contact is a challenging problem for several reasons [1]: • Lubricant film thickness covers a wide range of values. • The required measuring range is from fractions to hundreds of microns. • Contact area is considerably large when compared to “hard”, metallic contacts. • Many soft components have a high roughness compared to surfaces usually investigated with established techniques.

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Jaeheung Park, R. Cortesao, and O. Khatib. "Multi-contact compliant motion control for robotic manipulators." In IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. IEEE, 2004. http://dx.doi.org/10.1109/robot.2004.1302476.

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Otaduy, Miguel A., and Markus Gross. "Transparent Rendering of Tool Contact with Compliant Environments." In Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07). IEEE, 2007. http://dx.doi.org/10.1109/whc.2007.120.

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Aguirre, Milton E., and Mary Frecker. "Design of a Multi-Contact-Aided Compliant Mechanism." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-48637.

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This work is part of a multidisciplinary project developing design and manufacturing methods for narrow-gauge surgical instruments intended for advanced minimally invasive surgery. The instruments are designed specifically for Penn State’s lost mold rapid infiltration forming process, which is capable of fabricating hundreds of freestanding meso-scale parts. In previous work, a 1 mm diameter forceps case study demonstrated the design and fabrication process. The forceps is a monolithic compliant mechanism (CM) that relies on contact to re-distribute maximum stresses to generate larger elastic tip deflections; a phenomenon defined here as contact stress-relief. Prototypes were developed and evaluated in an end user surgical simulator. Feedback from 11 clinicians identified the total jaw opening of the forceps must be increased in the next generation of prototypes. This paper focuses on exploiting the benefits of contact-aided compliant mechanism (CCM) design to obtain larger elastic tip deflections and thus jaw openings. Using the commercially available finite element software package ANSYS to model large deformation and contact, an optimization problem is developed to determine the effects of incorporating additional contact elements in a CCM design on maximizing elastic tip deflection. Results show that designs with multiple contact elements generate larger elastic tip deflections due to a multi-stage contact stress-relief profile.

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Zhang, Yuning, and Inna Sharf. "Experimental Validation of Nonlinear Compliant Contact Force Models." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-34978.

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Contact dynamics modeling continues to be an intensive research area with new applications of contact dynamics simulation arising in engineering practice. One approach to normal contact force modeling that has gained significant popularity is the compliant model in which the contact force between two objects is defined explicitly as a function of local deformation and its rate. Probably the most well-known model in this category is the Hunt and Crossley model, which employs a nonlinear damping term to model the energy dissipation during contact, with the damping coefficient related to the coefficient of restitution. This model prompted several investigations on how to evaluate the damping coefficient, in turn resulting in several variations on the original Hunt-Crossley model. In this paper, the authors aim to experimentally validate the Hunt-Crossley type of nonlinear contact force models and furthermore, to compare the experimental results to the model predictions obtained with different values of the damping coefficient. The paper reports our findings from the sphere to plate impact experiments, conducted for a range of initial impacting velocities, with measurements of impact forces and accelerations. The experimental forces are compared to those predicted from the contact dynamics simulation of the experimental scenario. The experiments, in addition to generating novel impact measurements, provide a number of insights into both the study of impact and the impact response.

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Reports on the topic "Compliant contact"

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Kemp, Charles C., and Aaron Edsinger. Multi-contact Variable-Compliance Manipulation in Extreme Clutter. Fort Belvoir, VA: Defense Technical Information Center, June 2014. http://dx.doi.org/10.21236/ada617281.

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Wunderlich, Carmen, Harald Müller, and Una Jakob. WMD Compliance and Enforcement in a Changing Global Context. The United Nations Institute for Disarmament Research, May 2020. http://dx.doi.org/10.37559/wmd/21/wmdce02.

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The regimes for the control of weapons of mass destruction (WMD) are essential ingredients of the global order. Yet this order is currently in transition: the bipolarity of the Cold War has given way to a more complex, multipolar world order characterized by conflicts of interest and great power competition rather than cooperative security. This competition brings with it rising strategic uncertainties which endanger stability and have far reaching implications for WMD-related agreements. To better understand the implications of this changing global context for WMD arms control and disarmament measures this report looks at the past, present and future prospects for WMD-related treaties. The report begins by outlining four broad yet interlinked approaches to arms control and disarmament before considering how these have been applied to chemical, biological and nuclear weapons in the past and how these measures could be applied in the future.

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Smolenyak, Barbara E., Madelaine Fusfield, and Janet Stern. Defense Contract Audit Agency Audits of Contractor Compliance with Cost Accounting Standards. Fort Belvoir, VA: Defense Technical Information Center, January 1999. http://dx.doi.org/10.21236/ada375112.

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Pai, Dinesh K., and Bruce R. Donald. On the Motion of Compliantly-Connected Rigid Bodies in Contact, Part 2: A System for Analyzing Designs for Assembly. Fort Belvoir, VA: Defense Technical Information Center, January 1989. http://dx.doi.org/10.21236/ada214136.

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S. Abdellatif, Omar. Localizing Human Rights SDGs: Ghana in context. Raisina House, June 2021. http://dx.doi.org/10.52008/gh2021sdg.

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In September 2015, Ghana along all UN member states endorsed the Agenda 2030 Sustainable Development Goals (SDGs) as the cardinal agenda towards achieving a prosperous global future. The SDGs are strongly interdependent, making progress in all goals essential for a country’s achievement of sustainable development. While Ghana and other West African nations have exhibited significant economic and democratic development post-independence. The judiciary system and related legal frameworks, as well as the lack of rule law and political will for safeguarding the human rights of its citizens, falls short of considering violations against minorities. Will Ghana be able to localize human rights related SDGs, given that West African governments historically tended to promote internal security and stability at the expense of universal human rights? This paper focuses on evaluating the commitments made by Ghana towards achieving Agenda 2030, with a particular focus on the SDGs 10 and 16 relating to the promotion of reduced inequalities, peace, justice and accountable institutions. Moreover, this paper also analyzes legal instruments and state laws put in place post Ghana’s democratization in 1992 for the purpose of preventing discrimination and human rights violations in the nation. The article aims to highlight how Ghana’s post-independence political experience, the lack of rule of law, flaws in the judiciary system, and the weak public access to justice are obstacles to its effective localization of human rights SGDs. Those obstacles to Ghana’s compliance with SDGs 10 and 16 are outlined in this paper through a consideration of human rights violations faced by the Ghanaian Muslim and HIV minorities, poor prison conditions, limited public access to justice and the country’s failure to commit to international treaties on human rights. Keywords: Ghana, human rights, rule of law, security, Agenda 2030

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Borrett, Veronica, Melissa Hanham, Gunnar Jeremias, Jonathan Forman, James Revill, John Borrie, Crister Åstot, et al. Science and Technology for WMD Compliance Monitoring and Investigations. The United Nations Institute for Disarmament Research, December 2020. http://dx.doi.org/10.37559/wmd/20/wmdce11.

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The integration of novel technologies for monitoring and investigating compliance can enhance the effectiveness of regimes related to weapons of mass destruction (WMD). This report looks at the potential role of four novel approaches based on recent technological advances – remote sensing tools; open-source satellite data; open-source trade data; and artificial intelligence (AI) – in monitoring and investigating compliance with WMD treaties. The report consists of short essays from leading experts that introduce particular technologies, discuss their applications in WMD regimes, and consider some of the wider economic and political requirements for their adoption. The growing number of space-based sensors is raising confidence in what open-source satellite systems can observe and record. These systems are being combined with local knowledge and technical expertise through social media platforms, resulting in dramatically improved coverage of the Earth’s surface. These open-source tools can complement and augment existing treaty verification and monitoring capabilities in the nuclear regime. Remote sensing tools, such as uncrewed vehicles, can assist investigators by enabling the remote collection of data and chemical samples. In turn, this data can provide valuable indicators, which, in combination with other data, can inform assessments of compliance with the chemical weapons regime. In addition, remote sensing tools can provide inspectors with real time two- or three-dimensional images of a site prior to entry or at the point of inspection. This can facilitate on-site investigations. In the past, trade data has proven valuable in informing assessments of non-compliance with the biological weapons regime. Today, it is possible to analyse trade data through online, public databases. In combination with other methods, open-source trade data could be used to detect anomalies in the biological weapons regime. AI and the digitization of data create new ways to enhance confidence in compliance with WMD regimes. In the context of the chemical weapons regime, the digitization of the chemical industry as part of a wider shift to Industry 4.0 presents possibilities for streamlining declarations under the Chemical Weapons Convention (CWC) and for facilitating CWC regulatory requirements.

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Einhorn, Robert, Dina Esfandiary, Anton Khlopkov, Grégoire Mallard, and Andreas Persbo. From the Iran nuclear deal to a Middle East Zone? Lessons from the JCPOA for the ME WMDFZ. Edited by Chen Zak and Farzan Sabet. The United Nations Institute for Disarmament Research, May 2021. http://dx.doi.org/10.37559/wmdfz/2021/jcpoa1.

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The Joint Comprehensive Plan of Action (JCPOA) explicitly states that it “should not be considered as setting precedents for any other state or for fundamental principles of international law.” However, its unique negotiations process, provisions, and implementation created an important set of tools that could provide valuable insights and lessons for a Middle East Weapons of mass Destruction Free Zone (ME WMDFZ). Understanding these tools in a regional context based on the JCPOA experience could provide ME WMDFZ negotiators and researchers important additional tools, ideas, and lessons learned on the road toward negotiating a Zone treaty. This series explores lessons from the JCPOA for the ME WMDFZ through essays focusing on five key themes, including the Iran nuclear deal’s negotiating process, structure and format; nuclear fuel cycle activities and research; safeguards and verification; nuclear cooperation; and compliance and enforcement.

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Cao, Shoufeng, Uwe Dulleck, Warwick Powell, Charles Turner-Morris, Valeri Natanelov, and Marcus Foth. BeefLedger blockchain-credentialed beef exports to China: Early consumer insights. Queensland University of Technology, May 2020. http://dx.doi.org/10.5204/rep.eprints.200267.

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The BeefLedger Export Smart Contracts project is a collaborative research study between BeefLedger Ltd and QUT co-funded by the Food Agility CRC. This project exists to deliver economic value to those involved in the production, export and consumption of Australian beef to China through: (1) reduced information asymmetry; (2) streamlined compliance processes, and; (3) developing and accessing new data-driven value drivers, through the deployment of decentralised ledger technologies and associated governance systems. This report presents early insights from a survey deployed to Chinese consumers in Nov/Dec 2019 exploring attitudes and preferences about blockchain-credentialed beef exports to China. Our results show that most local and foreign consumers were willing to pay more than the reference price for a BeefLedger branded Australian cut and packed Sirloin steak at the same weight. Although considered superior over Chinese processed Australian beef products, the Chinese market were sceptical that the beef they buy was really from Australia, expressing low trust in Australian label and traceability information. Despite lower trust, most survey respondents were willing to pay more for traceability supported Australian beef, potentially because including this information provided an additional sense of safety. Therefore, traceability information should be provided to consumers, as it can add a competitive advantage over products without traceability.

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Phillips, Jake. Understanding the impact of inspection on probation. Sheffield Hallam University, 2021. http://dx.doi.org/10.7190/shu.hkcij.05.2021.

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This research sought to understand the impact of probation inspection on probation policy, practice and practitioners. This important but neglected area of study has significant ramifications because the Her Majesty’s Inspectorate of Probation has considerable power to influence policy through its inspection regime and research activities. The study utilised a mixed methodological approach comprising observations of inspections and interviews with people who work in probation, the Inspectorate and external stakeholders. In total, 77 people were interviewed or took part in focus groups. Probation practitioners, managers and leaders were interviewed in the weeks after an inspection to find out how they experienced the process of inspection. Staff at HMI Probation were interviewed to understand what inspection is for and how it works. External stakeholders representing people from the voluntary sector, politics and other non-departmental bodies were interviewed to find out how they used the work of inspection in their own roles. Finally, leaders within the National Probation Service and Her Majesty’s Prisons and Probation Service were interviewed to see how inspection impacts on policy more broadly. The data were analysed thematically with five key themes being identified. Overall, participants were positive about the way inspection is carried out in the field of probation. The main findings are: 1. Inspection places a burden on practitioners and organisations. Practitioners talked about the anxiety that a looming inspection created and how management teams created additional pressures which were hard to cope with on top of already high workloads. Staff responsible for managing the inspection and with leadership positions talked about the amount of time the process of inspection took up. Importantly, inspection was seen to take people away from their day jobs and meant other priorities were side-lined, even if temporarily. However, the case interviews that practitioners take part in were seen as incredibly valuable exercises which gave staff the opportunity to reflect on their practice and receive positive feedback and validation for their work. 2. Providers said that the findings and conclusions from inspections were often accurate and, to some extent, unsurprising. However, they sometimes find it difficult to implement recommendations due to reports failing to take context into account. Negative reports have a serious impact on staff morale, especially for CRCs and there was concern about the impact of negative findings on a provider’s reputation. 3. External stakeholders value the work of the Inspectorate. The Inspectorate is seen to generate highly valid and meaningful data which stakeholders can use in their own roles. This can include pushing for policy reform or holding government to account from different perspectives. In particular, thematic inspections were seen to be useful here. 4. The regulatory landscape in probation is complex with an array of actors working to hold providers to account. When compared to other forms of regulation such as audit or contract management the Inspectorate was perceived positively due to its methodological approach as well as the way it reflects the values of probation itself. 5. Overall, the inspectorate appears to garner considerable legitimacy from those it inspects. This should, in theory, support the way it can impact on policy and practice. There are some areas for development here though such as more engagement with service users. While recognising that the Inspectorate has made a concerted effort to do this in the last two years participants all felt that more needs to be done to increase that trust between the inspectorate and service users. Overall, the Inspectorate was seen to be independent and 3 impartial although this belief was less prevalent amongst people in CRCs who argued that the Inspectorate has been biased towards supporting its own arguments around reversing the now failed policy of Transforming Rehabilitation. There was some debate amongst participants about how the Inspectorate could, or should, enforce compliance with its recommendations although most people were happy with the primarily relational way of encouraging compliance with sanctions for non-compliance being considered relatively unnecessary. To conclude, the work of the Inspectorate has a significant impact on probation policy, practice and practitioners. The majority of participants were positive about the process of inspection and the Inspectorate more broadly, notwithstanding some of the issues raised in the findings. There are some developments which the Inspectorate could consider to reduce the burden inspection places on providers and practitioners and enhance its impact such as amending the frequency of inspection, improving the feedback given to practitioners and providing more localised feedback, and working to reduce or limit perceptions of bias amongst people in CRCs. The Inspectorate could also do more to capture the impact it has on providers and practitioners – both positive and negative - through existing procedures that are in place such as post-case interview surveys and tracking the implementation of recommendations.

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Megersa, Kelbesa. Tax Transparency for an Effective Tax System. Institute of Development Studies (IDS), January 2021. http://dx.doi.org/10.19088/k4d.2021.070.

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This rapid review examines evidence on the transparency in the tax system and its benefits; e.g. rising revenue, strengthen citizen/state relationship, and rule of law. Improvements in tax transparency can help in strengthening public finances in developing countries that are adversely affected by COVID-19. The current context (i.e. a global pandemic, widespread economic slowdown/recessions, and declining tax revenues) engenders the urgency of improving domestic resource mobilisation (DRM) and the fight against illicit financial flows (IFFs). Even before the advent of COVID-19, developing countries’ tax systems were facing several challenges, including weak tax administrations, low taxpayer morale and “hard-to-tax” sectors. The presence of informational asymmetry (i.e. low tax transparency) between taxpayers and tax authorities generates loopholes for abuse of the tax system. It allows the hiding of wealth abroad with a limited risk of being caught. Cases of such behaviour that are exposed without proper penalty may result in a decline in the morale of citizens and a lower level of voluntary compliance with tax legislation. A number of high-profile tax leaks and scandals have undermined public confidence in the fairness of tax systems and generated a strong demand for effective counteraction and tax transparency. One of the key contributing factors to lower tax revenues in developing countries (that is linked to low tax transparency) is a high level of IFFs. These flows, including international tax evasion and the laundering of corruption proceeds, build a major obstacle to successful DRM efforts. Research has also identified an association between organisational transparency (e.g. transparency by businesses and tax authorities) and stakeholder trust (e.g. between citizens and the state). However, the evidence is mixed as to how transparency in particular influences trust and perceptions of trustworthiness.

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