Academic literature on the topic 'Force based impedance control'
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Journal articles on the topic "Force based impedance control"
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Kong, Dexin, and Qingjiu Huang. "Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control." Actuators 12, no. 8 (2023): 305. http://dx.doi.org/10.3390/act12080305.
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Impedance control is a classic and straightforward control method that finds wide applications in various fields. However, traditional constant impedance control requires prior knowledge of the environment’s stiffness and position information. If the environmental information is unknown, constant impedance control is not capable of handling the task. To address this, this paper proposes a variable universe fuzzy model reference adaptive impedance control method that achieves effective force tracking even in the presence of unknown environmental information. A variable universe fuzzy controller was employed to determine the impedance parameters. The force tracking error and its rate of change were used as two input parameters for the variable universe fuzzy controller, which utilizes fuzzy inference to obtain the incremental values of the impedance parameters. For the introduced model reference controller, a novel adaptive law was employed to obtain the coefficients for contact force and torque. Subsequently, the contact force of the manipulator in Cartesian space was taken as the research object, and a simulation model of a six-joint manipulator was established in MATLAB/Simulink. By comparing it with the constant impedance control method, the feasibility and effectiveness of this control approach were validated.
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Wen, K., D. Necsulescu, and J. Sasiadek. "HAPTIC FORCE CONTROL BASED ON IMPEDANCE/ADMITTANCE CONTROL." IFAC Proceedings Volumes 38, no. 1 (2005): 427–32. http://dx.doi.org/10.3182/20050703-6-cz-1902.01341.
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Li, Wen Jun, Bai Ling An, and Hong Kun Zhang. "Adaptive Multiple Impedance Control Based on Passivity." Applied Mechanics and Materials 34-35 (October 2010): 265–70. http://dx.doi.org/10.4028/www.scientific.net/amm.34-35.265.
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Adaptive multiple impedance control based on passivity is studied about two robot manipulators cooperating an object which interacts with external environment actively. The dynamic model is derived by Newton-Euler equation and the relations between the forces are analyzed. The relations between stiffness coefficient and convergence are explained by solving the differential equation when the stiffness coefficient is known. The adaptive impedance controller based on passivity is designed combining adaptive control and generalized impedance control when the stiffness coefficient is unknown. The impedance control based on internal force is adopted for the cooperative system. The simulation results prove the validity of the method.
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Yu, Xiaowei, Wei Ji, Hongwei Zhang, Chengzhi Ruan, Bo Xu, and Kaiyang Wu. "Grasping Force Optimization and DDPG Impedance Control for Apple Picking Robot End-Effector." Agriculture 15, no. 10 (2025): 1018. https://doi.org/10.3390/agriculture15101018.
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To minimize mechanical damage caused by an apple picking robot end-effector during the apple grasping process, and on the basis of optimizing the minimum stable grasping force of apple, a variable impedance control strategy based on a reinforcement learning deep deterministic policy gradient (DDPG) algorithm is proposed to achieve compliant grasping control for apples. Firstly, according to the apple contact force model, the gradient flow algorithm is adopted to optimize grasping force in terms of the friction cone, force balancing condition, and stability assessment index and to obtain a minimum stable grasping force for apples. Secondly, based on the analysis of the influence of impedance parameters on the control system, a variable impedance control based on the DDPG algorithm is designed, with the reward function adopted so as to improve the control performance. Then, the improved control strategy is used to train the optimized impedance control. Finally, simulation and experimental results indicate that the proposed variable impedance control outperforms the traditional impedance control by reducing the peak grasping force from 4.49 N to 4.18 N while achieving a 0.6 s faster adjustment time and a 0.24 N narrower grasping force fluctuation range. The improved impedance control successfully tracks desired grasping forces for apples of varying sizes and significantly reduces mechanical damage during apple harvesting.
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Dong, Xiao Xing, Ge Li, Geng Feng Liu, and Jie Zhao. "Cartesian Impedance Control for Space Robotic Arm Based on End Force/Torque Sensor." Applied Mechanics and Materials 268-270 (December 2012): 1531–37. http://dx.doi.org/10.4028/www.scientific.net/amm.268-270.1531.
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A Cartesian impedance control for a 7-DOF space robotic arm (SRA) based on the feedback from a 6-dimensional force/torque sensor on its end effecter is presented in this paper. The unavoidable position error of SRA would generate large contact forces during the connection between SRA’s end effecter (EE) and grapple fixture (GF). To control the contact force we used 6D force feedback to modify the desired trajectory controlling a PID position inner loop to make the manipulator exert desired impedance dynamic properties on its end-effecter. After optimization of impedance parameters in Simulink, this control strategy has significantly improved the force control effect in EE/GF connection experiment. Kinematic solution of the 7-DOF redundant manipulator is also provided.
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Yuan, Jianjun, Yingjie Qian, Liming Gao, Zhaohan Yuan, and Weiwei Wan. "Position-based impedance force controller with sensorless force estimation." Assembly Automation 39, no. 3 (2019): 489–96. http://dx.doi.org/10.1108/aa-09-2018-0124.
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Purpose This paper aims to purpose an improved sensorless position-based force controller in gravitational direction for applications including polishing, milling and deburring. Design/methodology/approach The first issue is the external force/torque estimation at end-effector. By using motor’s current information and Moore-Penrose generalized inverse matrix, it can be derived from the external torques of every joints for nonsingular cases. The second issue is the force control strategy which is based on position-based impedance control model. Two novel improvements were made to achieve a better performance. One is combination of impedance control and explicit force control. The other one is the real-time prediction of the surface’s shape allowing the controller adaptive to arbitrary surfaces. Findings The result of validation experiments indicates that the estimation of external force and prediction of surface’s shape are credible, and the position-based constant contact force controller in gravitational direction is functional. The accuracy of force tracking is adequate for targeted applications such as polishing, deburring and milling. Originality/value The value of this paper lies in three aspects which are sensorless external force estimation, the combination of impedance control and explicit force control and the independence of surface shape information achieved by real-time surface prediction.
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Gu, Longhao, and Qingjiu Huang. "Adaptive Impedance Control for Force Tracking in Manipulators Based on Fractional-Order PID." Applied Sciences 13, no. 18 (2023): 10267. http://dx.doi.org/10.3390/app131810267.
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Force tracking control in robot arms has been widely used in many industrial applications, particularly in tasks involving end effectors and environmental contact, such as grinding, polishing, and other similar operations. However, these environments are not always precisely known. In order to address the force tracking control problem in unknown environments, this paper proposes a fractional-order PID adaptive impedance control strategy based on traditional impedance control. The unknown environmental information is estimated online using the adaptive impedance control algorithm, and the estimated parameters are used to generate reference trajectories to reduce force tracking errors. Fractional-order PID control is then introduced into the system to improve the control performance of the system model, and the theoretical proof of strategy stability is conducted. Finally, a comparison of four strategies was conducted through simulations: traditional impedance control, adaptive hybrid impedance control, adaptive variable impedance control, and the fractional-order PID impedance control proposed in this paper. The simulation results demonstrate that the strategy proposed in this paper exhibits robustness, virtually eliminates overshoot, and enhances response speed. In contrast, both adaptive hybrid impedance control and adaptive variable impedance control exhibit approximately 30% to 45% overshoot during interactions with the environment. Furthermore, in terms of force tracking error, the proposed strategy in this paper outperforms the above two strategies by approximately 29% to 60%, achieving excellent force tracking control performance.
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Xiao, Jianming, and Xinrui Zhou. "Research on force-controlled polishing system for robotic arm based on compliance control." Journal of Physics: Conference Series 2764, no. 1 (2024): 012055. http://dx.doi.org/10.1088/1742-6596/2764/1/012055.
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Abstract This thesis enhances robotic arm control in intricate polishing environments by using impedance control for consistent force regulation between the arm and workpiece. An adaptive impedance control algorithm accommodates contact force variations, boosting system robustness. The PSO-BP variable impedance controller integrates particle swarm optimization and BP neural network for real-time optimization, overcoming limitations of fixed-parameter impedance control on surfaces with curvature changes. Experimental results show a significant reduction in polishing force fluctuations and improved force tracking. These findings support efficient robotic arm utilization in polishing tasks.
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Ding, Yixiao, Ying Luo, and Yangquan Chen. "Dynamic Feedforward-Based Fractional Order Impedance Control for Robot Manipulator." Fractal and Fractional 7, no. 1 (2023): 52. http://dx.doi.org/10.3390/fractalfract7010052.
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Impedance control is widely applied in contact force control for robot manipulators. The traditional impedance model is linear, and has limitations in describing the actual impedance force. In addition, time-varying and dynamic coupling characteristics pose critical challenges to high-speed and high-precision impedance control. In this paper, a fractional order impedance controller (FOIC) is proposed for industrial robot manipulator control and a systematic FOIC parameters tuning strategy based on frequency-domain specifications is presented. In order to improve performance under dynamic disturbances, a dynamic feedforward-based fractional order impedance controller (DFF-FOIC) is further developed. The robot manipulator dynamics are investigated and the effectiveness of the DFF-FOIC is illustrated by simulation. Then, the DFF-FOIC is applied on a physical robot manipulator prototype. Our step force tracking test results show that the proposed FOIC has better control performance than an integer order impedance controller (IOIC), achieving a better step response with lower overshoot, less settling time, and smaller integral time absolute error (ITAE) than the IOIC under fair comparison conditions.
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Zhang, Tie, and Xiaohong Liang. "Disturbance Observer-Based Robot End Constant Contact Force-Tracking Control." Complexity 2019 (October 29, 2019): 1–20. http://dx.doi.org/10.1155/2019/5802453.
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A disturbance observer-based hybrid sliding mode impedance control method is proposed in this paper, which is able to achieve robot end constant contact force-tracking control without force/torque sensors. The method requires only the values of joint torque, joint angle, and joint angular velocity, which are converted by robot servo motor signals, to implement the control. The control scheme consists of two parts: one is a disturbance observer and the other is a hybrid sliding mode impedance controller. The disturbance observer, which takes robot internal signals mentioned above as the inputs to estimate the robot end contact force, is designed based on generalized momentum, thus improving the estimation accuracy. The hybrid sliding mode impedance controller, which uses the values estimated by the disturbance observer and the robot internal signals as the inputs to calculate the corresponding position adjustment, integrates both the impedance control and sliding mode control, thus improving the force-tracking performance and robustness. Experimental results show that the proposed disturbance observer-based hybrid sliding mode impedance control method possesses high control precision.
Dissertations / Theses on the topic "Force based impedance control"
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Wlassich, John J. (John James). "Nonlinear force feedback impedance control." Thesis, Massachusetts Institute of Technology, 1986. http://hdl.handle.net/1721.1/15032.
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Wang, Yanjun. "Impedance control without force sensors with application in homecare robotics." Thesis, University of British Columbia, 2014. http://hdl.handle.net/2429/51174.
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This thesis addresses the problem of interaction control between robot manipulator and the manipulated object in a homecare project. This project aims to use homecare robots at the elderly or disabled people’s home to provide necessary aid and assistance. The robot manipulator is to be operated in autonomous mode or teleoperation mode. The possible first aid or assistance requires direct interaction between the remote side robot manipulator and the human body.
To guarantee the compliant interaction between the manipulator and the human body, impedance control was applied. In impedance control, neither the force nor the actual motion of the manipulator is controlled. The dynamic relationship between the interaction force and the resulting motion is controlled so that the interaction force will be monitored and kept at an acceptable range.
To shape the mechanical impedance to any desired value as we wish, the remote side interaction force sensing is required. The interaction force could be sensed by a force sensor. Force sensors have a lot of inherent limitations such as narrow bandwidth, sensing noise, and high cost. To avoid a force sensor due to its limitations, sliding mode observers will be applied to estimate the interaction force. The estimated interaction force will be used in the impedance control algorithms. The observer and controller framework will be formulated and the solvability will be discussed thoroughly. In addition, the proposed approach will be compared with some available approaches to show its advantages over others.
Bilateral impedance control will be applied in a teleoperation system. The master side impedance controller is to ensure the robust stability of the teleoperation system. The remote slave side impedance controller is used so that the interaction force will be monitored and kept at some acceptable range. Desired impedance parameters selection will be discussed considering the compromise between robust stability and performance. Also, in order to deal with the uncertainties in operator and environment dynamics, a robust performance guaranteed controller synthesis approach will be proposed. Gain-scheduling control could guarantee the stability and the robust performance under those uncertainties.<br>Applied Science, Faculty of<br>Mechanical Engineering, Department of<br>Graduate
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Ali, Akbar Khayyat Amir. "Force tracking of hydraulic manipulators within an impedance control framework." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/NQ57501.pdf.
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Hara, Susumu, Yoji Yamada, and Lee Suwoong. "Power-assist control switching from adaptive nonstationary servo control to force sensorless nonstationary impedance control." IEEE, 2009. http://hdl.handle.net/2237/13907.
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Isaksson, Robert. "Drilling with force feedback." Thesis, Linköping University, Automatic Control, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-20897.
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<p>Industrial robots have been used for a long time in the industry. Despite this thedevelopment of advanced force control system using industrial robots is relativelylimited. Using force controlled robot systems expands the possibility of what canbe done with industrial robots.Previously a force feedback system for a standard industrial robot from ABBhas been developed. The system is developed towards the aircraft industry, where amounted drill machine on the robot has to fulfill the requirements in robot drillingin aircraft structures. This thesis presents experimental results and improvementsof this industrial robot system. Mechanical modifications and tests of a new endeffector are analyzed.</p>
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Mohorcic, John Francis. "Pressure-based Impedance Control of a Pneumatic Actuator." Cleveland State University / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=csu1591188440286793.
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Neal, Jordan Downey. "Design and Control of a Cable-Driven Sectorial Rotary Actuator for Open-Loop Force Control." Thesis, Virginia Tech, 2015. http://hdl.handle.net/10919/56958.
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This thesis focuses on the detailed design, implementation, and testing of a unique high performance rotary actuator for use in a custom haptic force feedback device. This six degree of freedom (DoF) position input and three DoF force output haptic device is specifically designed to recreate force sensations with the goal of improving operator performance in remote or simulated environments. By upholding the strict design principles of an ideal force-source actuator, the developed actuator and consequently the haptic controller can successfully replicate forces accurately and realistically. In the comprehensive presentation of this design, numerous analytical tools are also developed and presented with the intention of them being resourceful in the design or improvement of other haptic actuators, specifically cable-driven force feedback designs. These tools which include a linear system model can be valuable not only in the development but in the control of cable-driven actuators.
Due to the imposed design criteria, the developed 1.045 Nm (1.359 Nm peak) cable-driven sectorial rotary actuator exhibits numerous properties that are desired in an open-loop force controlled actuator. These properties include low inertia (6.53e-04 kgm^2), low perceived mass (0.102 kg), small torque resolution (3.84e-04 Nm), small position resolution (21.5 arcsec), and high bandwidth (300 Hz). Due to the efficient cable transmission the design is also backdrivable, isotropic, low friction, and zero backlash. As a result of these numerous intrinsic properties, a high fidelity force feedback haptic actuator was conceived and is presented in this thesis.<br>Master of Science
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Saeidpourazar, Reza. "Microcantilever-based force sensing, control and imaging." Connect to this title online, 2009. http://etd.lib.clemson.edu/documents/1247509027/.
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Wittenstein, Nikolaus Adrian. "Force Feedback for Reliable Robotic Door Opening." Thesis, Virginia Tech, 2015. http://hdl.handle.net/10919/56584.
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Opening a door is still a hard problem in robotics. Many robotic manipulators use open-loop position control to open doors, which reduces reusability and reliability in the face of slight differences or sensor errors. Many others use force feedback or impedance control but skip past the problem of grabbing the handle, which could lead to failures due to sensor errors. This research assumes that perception is faulty, and uses joint-level force feedback to probe the location of the door and its handle before attempting to open it. The resulting control strategy is at least 33% faster than the open-loop control system it replaces, and had an 83% success rate during testing in place of the previous method's 60% success rate.<br>Master of Science
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West, Jerry. "Orthoplanar Spring Based Compliant Force/Torque Sensor for Robot Force Control." Scholar Commons, 2017. http://scholarcommons.usf.edu/etd/6637.
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A compliant force/torque sensor for robot force control has been developed. This thesis presents methods of designing, testing, and implementing the sensor on a robotic system. The sensor uses an orthoplanar spring equipped with Hall-effect sensors to measure one component of force and two moment components. Its unique design allows for simple and cost effective manufacturing, high reliability, and compactness. The device may be used in applications where a robot must control contact forces with its environment, such as in surface cleaning tasks, manipulating doors, and removing threaded fasteners. The compliant design of the sensor improves force control performance and reduces impact forces.
Sensor design considerations are discussed, followed by a discussion of the proposed design concept. Theoretical compliance and stress analysis of the orthoplanar spring is presented that allows for rapid design calculations; these calculations are validated via finite element analysis. A mechanical design method is given which uses the results of the compliance and stress analysis. Transducer design is then addressed by developing a model of the sensor. The design methods are used to design a prototype sensor which is tested to determine its instrument uncertainty. Finally, the sensor is implemented on a robotic platform to test its performance in force control.
Books on the topic "Force based impedance control"
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United States. National Aeronautics and Space Administration., ed. Capaciflector-based virtual force control and centering. Catholic University of America, Dept. of Electrical Engineering, 1993.
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United States. National Aeronautics and Space Administration., ed. Capaciflector-based virtual force control and centering. Catholic University of America, Dept. of Electrical Engineering, 1993.
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korkeakoulu, Teknillinen, ed. Force based motion control of a walking machine. Technical Research Centre of Finland, VTT Automation, Machine Automation, 1994.
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Hayat, Abdullah Aamir, Shraddha Chaudhary, Riby Abraham Boby, et al. Vision Based Identification and Force Control of Industrial Robots. Springer Singapore, 2022. http://dx.doi.org/10.1007/978-981-16-6990-3.
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Zhen, Robert Ruo Yu. Robust position and force control of manipulators based on sliding mode. National Library of Canada, 1993.
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United States. Army Space Command, ed. Space-based combat/force multiplier capabilities for the warfighter. U.S. Army Space Command, 1999.
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Office, General Accounting. Defense acquisitions: Space-based infrared system-low at risk of missing initial deployment date : report to the Chaitman, Subcommittee on Defense, Committee on Appropriations, House of Representatives. U.S. General Accounting Office, 2001.
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Capaciflector-based virtual force control and centering. Catholic University of America, Dept. of Electrical Engineering, 1993.
Find full textBook chapters on the topic "Force based impedance control"
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Baranyi, Péter. "Impedance Control for Force Reflecting Telemanipulation." In TP-Model Transformation-Based-Control Design Frameworks. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-19605-3_16.
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Chen, Pengfei, Huan Zhao, Xin Yan, and Han Ding. "Force Control Polishing Device Based on Fuzzy Adaptive Impedance Control." In Intelligent Robotics and Applications. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-27538-9_16.
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Lee, Tong Heng, Wenyu Liang, Clarence W. de Silva, and Kok Kiong Tan. "Robust Impedance Control of Constrained Piezoelectric Actuator-Based End-Effector." In Force and Position Control of Mechatronic Systems. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-52693-1_7.
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Wang, Nianfeng, Jianbin Zhou, Kaifan Zhong, Xianmin Zhang, and Wei Chen. "Force Tracking Impedance Control Based on Contour Following Algorithm." In Intelligent Robotics and Applications. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-13835-5_63.
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Su, Xuesong, Mei Wang, Huifang Song, Jia Liu, Kaiyue Wang, and Hongyuan Guo. "A Study of an Impedance-Controlled Force Feedback Grasping Technique." In Lecture Notes in Mechanical Engineering. Springer Nature Singapore, 2025. https://doi.org/10.1007/978-981-97-7887-4_64.
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Abstract This study delves into force feedback-based grasping techniques, utilizing impedance control methods to achieve precise control over both the end-effector pose and contact force of a robotic arm. A meticulous model of the AUBO i5 robotic arm is constructed in MATLAB/Simscape Multibody, and its performance is validated through simulation. Through the configuration of three distinct sets of impedance controller parameters, a thorough analysis is conducted to discern the impact of these parameters on the efficacy of the impedance controller, leading to the identification of the three primary parameters of the impedance controller. This research contributes to a more comprehensive understanding of the role of impedance control technology in grasping applications, offering valuable insights for the optimization of robotic arm systems.
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Reichert, C., K. Müller, and T. Bruckmann. "Internal Force-Based Impedance Control for Cable-Driven Parallel Robots." In Advances on Theory and Practice of Robots and Manipulators. Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-07058-2_49.
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Reichert, Christopher, Katharina Müller, and Tobias Bruckmann. "Robust Internal Force-Based Impedance Control for Cable-Driven Parallel Robots." In Mechanisms and Machine Science. Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-09489-2_10.
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Tang, Wei, Wei Ji, Xiangli Meng, Bo Xu, Dean Zhao, and Shihong Ding. "Research on Grasp Force Control of Apple-Picking Robot Based on Improved Impedance Control." In Proceedings of 2016 Chinese Intelligent Systems Conference. Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-2335-4_13.
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Wang, Yina, Xiangling Huang, Zhongliang Liu, Junyou Yang, Kairu Li, and Shuoyu Wang. "Force Coordination Control of Dual-Arm Robot Based on Modified Sliding Mode Impedance Control." In Intelligent Robotics and Applications. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-13844-7_14.
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Horie, Ryosuke, Kiyotoshi Komuta, and Toshiyuki Murakami. "Transparency Analysis of a Force Sensorless Master-Slave Control by Force Feedback Based Virtual Impedance Controller with Time Delay." In Advances in Reconfigurable Mechanisms and Robots I. Springer London, 2012. http://dx.doi.org/10.1007/978-1-4471-4141-9_61.
Full textConference papers on the topic "Force based impedance control"
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Yuan, Zhihang, Linshuai Zhang, Tao Jiang, et al. "A Force Control Method of Medical Robot Based on Impedance Control." In 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2024. https://doi.org/10.1109/robio64047.2024.10907510.
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Karacan, Kübra, Robin Jeanne Kirschner, Hamid Sadeghian, Fan Wu, and Sami Haddadin. "Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control." In 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610054.
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Zhou, Zhenning, Lei Zhou, Shengxin Sun, and Marcelo H. Ang. "A Robust and Efficient Robotic Packing Pipeline with Dissipativity- Based Adaptive Impedance-Force Control." In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2024. https://doi.org/10.1109/iros58592.2024.10802392.
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Jiang, Xiaoyan, and Zhen Zhou. "Research on Force/Position Hybrid Control Method for Cooperative Polishing of Dual Robots Based on Adaptive Impedance." In 2024 5th International Conference on Mechatronics Technology and Intelligent Manufacturing (ICMTIM). IEEE, 2024. http://dx.doi.org/10.1109/icmtim62047.2024.10629450.
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Qin, Shuo, Jiangbo Zhao, Junzheng Wang, Shicheng Ma, Shanshuai Niu, and Wenting Hou. "Force Based Fractional Impedance Control." In 2019 Chinese Automation Congress (CAC). IEEE, 2019. http://dx.doi.org/10.1109/cac48633.2019.8996574.
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Samuel, Kangwagye, and Sehoon Oh. "FDOB-Based Robust Impedance Control of Force Sensor Implemented Force Servo System." In IECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society. IEEE, 2021. http://dx.doi.org/10.1109/iecon48115.2021.9589162.
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Sasaki, Masaru, Taro Shibanoki, and Hideyuki Tonooka. "Mobile Robot Control Based on Virtual Impedance Force Feedback." In 2023 International Conference on Emerging Smart Computing and Informatics (ESCI). IEEE, 2023. http://dx.doi.org/10.1109/esci56872.2023.10099666.
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Xu, Guanhua, Zhipeng Wang, Jiafu Zhang, Bo Yang, Zhengtuo Wang, and Yuetong Xu. "Compliance Control of Deburring Robots based on Force Impedance." In 2020 Chinese Automation Congress (CAC). IEEE, 2020. http://dx.doi.org/10.1109/cac51589.2020.9327372.
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Ye, Haoliang, Shuo Jiang, and Junzheng Wang. "Research on Robot Contact Force Control Based on Adaptive Impedance Control." In 2021 5th International Conference on Robotics and Automation Sciences (ICRAS). IEEE, 2021. http://dx.doi.org/10.1109/icras52289.2021.9476431.
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Heck, Dennis, Dragan Kostic, Alper Denasi, and Henk Nijmeijer. "Internal and external force-based impedance control for cooperative manipulation." In 2013 European Control Conference (ECC). IEEE, 2013. http://dx.doi.org/10.23919/ecc.2013.6669163.
Full textReports on the topic "Force based impedance control"
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Castellano, Francis X. Effects-Based Command and Control: An Alternative Organizational Structure for the Joint Force Commander. Defense Technical Information Center, 2003. http://dx.doi.org/10.21236/ada415388.
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Kumar, Aishani, Thendral Yalini, and Sunil Kumar C. Unlocking Cellular Control: The Promise of PROTACs in Disease Intervention. Science Reviews - Biology, 2024. http://dx.doi.org/10.57098/scirevs.biology.3.2.1.
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The discovery of proteolysis-targeting chimeras (PROTACs) is among the most exciting and promising avenues in cancer therapy. These fascinating compounds signify a paradigm shift from traditional approaches to medication development, offering a new idea that leverages the complexities of biological mechanisms to accomplish highly focused degradation of particular proteins implicated in pathological processes. This novel strategy has the potential to address a number of drawbacks with conventional therapy techniques, such as the development of drug resistance and unexpected adverse effects resulting from interactions that are not intended. The fundamental attraction of PROTACs is their distinct mode of action, which is based on controlling the cell's own machinery for protein degradation. This orchestrated degradation translates to a substantial reduction in the levels of disease-driving proteins, often leading to the disruption of critical pathways involved in cancer growth and progression. The in-depth principles underlying PROTAC technology are thoroughly explored in this review study, which also provides insight into the complex chemical mechanisms that enable these chimeric molecules to specifically degrade certain proteins while leaving others intact. Showcasing the potential of PROTACs as a revolutionary force in targeted cancer therapy, and focusing on its application in prostate and breast cancer especially, the article draws from a comprehensive compilation of preclinical and clinical studies, advancements, and breakthroughs in the field. The methods used to create and refine PROTACs for various cancer types will be examined throughout the review, along with the subtleties of the ligand and linker choices that are crucial to their effectiveness and selectivity. The difficulties and possibilities of transferring this ground-breaking technology from the lab to clinical practice will also be thoroughly examined, with an emphasis on issues like bioavailability, administration strategies, and potential resistance mechanisms. Through the integration of perspectives from various studies, the objective is to present a thorough but succinct review of the state of ongoing PROTAC research, emphasizing both, noteworthy advancements and the important issues that still need to be resolved. In the end, our investigation into PROTACs aims to shed light on how they can change the face of cancer therapy by providing a preview of a day when targeted protein degradation of disease-causing proteins would lead the way in novel therapeutic approaches.
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Han and Burns. L51587 Field Techniques to Determine Electrical Shorts Between Carrier Pipe and Casing Pipe. Pipeline Research Council International, Inc. (PRCI), 1988. http://dx.doi.org/10.55274/r0010311.
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Corrosion protection of pipelines inside casings recently has received increasing attention. Although, historically, the safety record of operating pipelines within casings has been excellent, recent experience of the pipeline industry has suggested that potential problems may exist and improved or new field techniques for monitoring the effectiveness of corrosion control practices need to be developed specifically for the pipeline within casings. Furthermore, the mechanism or the root cause of corrosion of pipelines inside casings needs to be better understood. The objectives of the research have been to develop a reliable field technique, based upon the AC-impedance technique, to determine whether or not a carrier pipe is electrically (metallically) shorted to a casing pipe, and to develop a prototype instrument for field use. During 1987, Task 1 "Development of a Field Technique to Determine Electrical Shorts" was performed. Major subtasks performed in Task 1 were a review of the currently available field techniques for electrical short detection
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Siripatrawan, Ubonratana. Active Chitosan-Based Film with Antimicrobial Property for Food Packaging Application. Chulalongkorn University, 2010. https://doi.org/10.58837/chula.res.2010.22.
Full textAbstract:
This research was aimed to develop an active film from chitosan film incorporated with green tea extract to enhance antioxidant and antimicrobial properties in order to be used for food shelf life extension. The experiments were divided into 3 parts. Firstly, chitosan-based film preparation and modification were determined. The results suggested that the optimum chitosan films could be prepared from 2% chitosan in 1% acetic acid. However, the chitosan film was brittle and had low flexibility. Mechanical property of chitosan film was modified by adding different concentrations of glycerol, as a plasticizer, including 0, 10, 20, 30, 40 and 50% (w/w of chitosan). The effect of plasticizer concentration on the mechanical properties of the chitosan film was determined by measuring their tensile strength, elongation at break, thickness, surface colors and water vapor transmission rate. The results showed that 30% glycerol was the optimum concentration to improve flexibility, while maintaining tensile strength and other physical properties of the film. Secondly, chitosan-based film was incorporated with green tea extract (GT) in order to improve film’s antioxidant and antimicrobial properties. The optimum concentration of green tea extract was then determined by adding 0, 2, 5, 10 and 20% (w/v) of green tea in film-forming solution, and tensile strength, elongation at break, water vapor permeability (WVP), density, total phenolic compounds (TPC), radicals scavenging 2,2-diphenyl-1-picrylhydrazyl (DPPH) of the film were determined. Fourier Transform Infrared (FTIR) spectrometry was carried out to observe the potential modifications of the chitosan films when incorporated with GTE. The ability to inhibit Staphylococcus aureus TISTR 118, Salmonella enteritidis DMST 17368, Escherichia coli TISTR 780 and Pseudomonas fluorescens TISTR 358 was conducted using agar diffusion method. It was found that WVP and lightness (L) decreased, while density, TPC, DPPH scavenging activity, redness (a), and yellowness (b) increased with increasing green tea concentration. The results also showed that films containing green tea extract had inhibition zone and could inhibit bacterial growth underneath film, while chitosan-alone film had no inhibition zone. The results suggested that incorporation of GT into chitosan films improved mechanical and water vapor barrier properties and enhanced polyphenolic content, antioxidant activity and antimicrobial property of the films. Changes in the FTIR spectra of the chitosan films were observed when GTE was incorporated, suggesting some interactions occurred between amine group of chitosan and hydroxyl group of green tea polyphenols. Lastly, the chitosan film containing green tea extract (CGT-film) was used as an active film for shelf life extension of pork sausage. Qualities of pork sausages wrapped with CGT-film were compared with those wrapped with chitosan-alone film without green tea incorporation (C-film) and those without chitosan film wrapping (Control). Changes in the physical qualities including color values and texture, the chemical qualities including pH and thiobarbituric value (TBA), the microbiological qualities including total plate count, yeasts/moulds, and lactic acid bacteria were determined throughout the storage. The sensory qualities including odor, color, slime formation, and overall acceptance were also evaluated using Quantitative Descriptive Analysis. The results showed that samples wrapped with CGT-film had higher cutting force, lightness and yellowness values, but lower TBA and microbial growth than those wrapped with C-film and control. Based on microbiological analysis and sensory evaluation, control samples and those wrapped with C-film had shelf life of less than 12 and 20 days, respectively. Samples wrapped with GCT-film had better qualities than other samples and had shelf life of up to 20 days at 4℃. Incorporation of GT into chitosan film could enhance the antioxidant and antiomicrobial properties of the film. CGT-film reduced the lipid oxidation and inhibited microbial growth and, consequently, could maintain qualities and extended shelf life of the pork sausage.
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Deaton and Frost. L51571 Pipe-Soil Interaction Tests on Sand and Soft Clay. Pipeline Research Council International, Inc. (PRCI), 1987. http://dx.doi.org/10.55274/r0010291.
Full textAbstract:
This project was performed to establish a basis for developing pipe-soil interaction models suitable for PRCI's pipeline design program: "PIPEDYN". Full-scale pipe-soil tests on loose and dense sand and soft clay were performed at the Norwegian Hydrotechnical Laboratory, affiliated with SINTEF. The program tested soil resistance to lateral motions of full-scale (0.5 m and 1.0 m OD) pipe sections on loose and dense sand and soft clay. A test rig was used with a soil flume 12.5 m long, 1.8 m wide, and 0.6 m high, and containing 13.5 m3 of sand or soft clay. Three control signals were applied to the test pipes: simple breakout, regular oscillatory tests and breakout, and random tests with force time histories. The parameters considered were pipe diameter, pipe weight, pipe oscillations, and oscillation amplitude. A total of 110 tests were performed in 25 test flumes (13 preliminary and 12 main) on loose sand, three test flumes on dense sand and ten test flumes on soft clay. Forty-five preliminary and 32 main tests were performed in 25 loose sand flume preparations, whereas 8 main tests were performed in 3 dense sand flumes and 25 main tests in 10 soft clay flumes, for a grand total of 110 pipe-soil tests in 38 soil flumes. Special plate and cone penetration tests were also performed as part of the soil bed tests. Based on the results of the tests, pipe penetration appears to be the most important factor influencing lateral soil resistance. Also, the soil resistance in loose sand was generally higher than in dense sand due to larger pipe penetration and an accordingly higher lateral earth pressure.
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Lazonick, William. Investing in Innovation: A Policy Framework for Attaining Sustainable Prosperity in the United States. Institute for New Economic Thinking Working Paper Series, 2022. http://dx.doi.org/10.36687/inetwp182.
Full textAbstract:
“Sustainable prosperity” denotes an economy that generates stable and equitable growth for a large and growing middle class. From the 1940s into the 1970s, the United States appeared to be on a trajectory of sustainable prosperity, especially for white-male members of the U.S. labor force. Since the 1980s, however, an increasing proportion of the U.S labor force has experienced unstable employment and inequitable income, while growing numbers of the business firms upon which they rely for employment have generated anemic productivity growth. Stable and equitable growth requires innovative enterprise. The essence of innovative enterprise is investment in productive capabilities that can generate higher-quality, lower-cost goods and services than those previously available. The innovative enterprise tends to be a business firm—a unit of strategic control that, by selling products, must make profits over time to survive. In a modern society, however, business firms are not alone in making investments in the productive capabilities required to generate innovative goods and services. Household units and government agencies also make investments in productive capabilities upon which business firms rely for their own investment activities. When they work in a harmonious fashion, these three types of organizations—household units, government agencies, and business firms—constitute “the investment triad.” The Biden administration’s Build Back Better agenda to restore sustainable prosperity in the United States focuses on investment in productive capabilities by two of the three types of organizations in the triad: government agencies, implementing the Infrastructure Investment and Jobs Act, and household units, implementing the yet-to-be-passed American Families Act. Absent, however, is a policy agenda to encourage and enable investment in innovation by business firms. This gaping lacuna is particularly problematic because many of the largest industrial corporations in the United States place a far higher priority on distributing the contents of the corporate treasury to shareholders in the form of cash dividends and stock buybacks for the sake of higher stock yields than on investing in the productive capabilities of their workforces for the sake of innovation. Based on analyzes of the “financialization” of major U.S. business corporations, I argue that, unless Build Back Better includes an effective policy agenda to encourage and enable corporate investment in innovation, the Biden administration’s program for attaining stable and equitable growth will fail. Drawing on the experience of the U.S. economy over the past seven decades, I summarize how the United States moved toward stable and equitable growth from the late 1940s through the 1970s under a “retain-and-reinvest” resource-allocation regime at major U.S. business firms. Companies retained a substantial portion of their profits to reinvest in productive capabilities, including those of career employees. In contrast, since the early 1980s, under a “downsize-and-distribute” corporate resource-allocation regime, unstable employment, inequitable income, and sagging productivity have characterized the U.S. economy. In transition from retain-and-reinvest to downsize-and-distribute, many of the largest, most powerful corporations have adopted a “dominate-and-distribute” resource-allocation regime: Based on the innovative capabilities that they have previously developed, these companies dominate market segments of their industries but prioritize shareholders in corporate resource allocation. The practice of open-market share repurchases—aka stock buybacks—at major U.S. business corporations has been central to the dominate-and-distribute and downsize-and-distribute regimes. Since the mid-1980s, stock buybacks have become the prime mode for the legalized looting of the business corporation. I call this looting process “predatory value extraction” and contend that it is the fundamental cause of the increasing concentration of income among the richest household units and the erosion of middle-class employment opportunities for most other Americans. I conclude the paper by outlining a policy framework that could stop the looting of the business corporation and put in place social institutions that support sustainable prosperity. The agenda includes a ban on stock buybacks done as open-market repurchases, radical changes in incentives for senior corporate executives, representation of workers and taxpayers as directors on corporate boards, reform of the tax system to reward innovation and penalize financialization, and, guided by the investment-triad framework, government programs to support “collective and cumulative careers” of members of the U.S. labor force. Sustained investment in human capabilities by the investment triad, including business firms, would make it possible for an ever-increasing portion of the U.S. labor force to engage in the productive careers that underpin upward socioeconomic mobility, which would be manifested by a growing, robust, and hopeful American middle class.
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Epel, Bernard, and Roger Beachy. Mechanisms of intra- and intercellular targeting and movement of tobacco mosaic virus. United States Department of Agriculture, 2005. http://dx.doi.org/10.32747/2005.7695874.bard.
Full textAbstract:
To cause disease, plant viruses must replicate and spread locally and systemically within the host. Cell-to-cell virus spread is mediated by virus-encoded movement proteins (MPs), which modify the structure and function of plasmodesmata (Pd), trans-wall co-axial membranous tunnels that interconnect the cytoplasm of neighboring cells. Tobacco mosaic virus (TMV) employ a single MP for cell- cell spread and for which CP is not required. The PIs, Beachy (USA) and Epel (Israel) and co-workers, developed new tools and approaches for study of the mechanism of spread of TMV that lead to a partial identification and molecular characterization of the cellular machinery involved in the trafficking process. Original research objectives: Based on our data and those of others, we proposed a working model of plant viral spread. Our model stated that MPᵀᴹⱽ, an integral ER membrane protein with its C-terminus exposed to the cytoplasm (Reichel and Beachy, 1998), alters the Pd SEL, causes the Pd cytoplasmic annulus to dilate (Wolf et al., 1989), allowing ER to glide through Pd and that this gliding is cytoskeleton mediated. The model claimed that in absence of MP, the ER in Pd (the desmotubule) is stationary, i.e. does not move through the Pd. Based on this model we designed a series of experiments to test the following questions: -Does MP potentiate ER movement through the Pd? - In the presence of MP, is there communication between adjacent cells via ER lumen? -Does MP potentiate the movement of cytoskeletal elements cell to cell? -Is MP required for cell-to-cell movement of ER membranes between cells in sink tissue? -Is the binding in situ of MP to RNA specific to vRNA sequences or is it nonspecific as measured in vitro? And if specific: -What sequences of RNA are involved in binding to MP? And finally, what host proteins are associated with MP during intracellular targeting to various subcellular targets and what if any post-translational modifications occur to MP, other than phosphorylation (Kawakami et al., 1999)? Major conclusions, solutions and achievements. A new quantitative tool was developed to measure the "coefficient of conductivity" of Pd to cytoplasmic soluble proteins. Employing this tool, we measured changes in Pd conductivity in epidermal cells of sink and source leaves of wild-type and transgenic Nicotiana benthamiana (N. benthamiana) plants expressing MPᵀᴹⱽ incubated both in dark and light and at 16 and 25 ᵒC (Liarzi and Epel, 2005 (appendix 1). To test our model we measured the effect of the presence of MP on cell-to-cell spread of a cytoplasmic fluorescent probe, of two ER intrinsic membrane protein-probes and two ER lumen protein-probes fused to GFP. The effect of a mutant virus that is incapable of cell-to-cell spread on the spread of these probes was also determined. Our data shows that MP reduces SEL for cytoplasmic molecules, dilates the desmotubule allowing cell-cell diffusion of proteins via the desmotubule lumen and reduces the rate of spread of the ER membrane probes. Replicase was shown to enhance cell-cell spread. The data are not in support of the proposed model and have led us to propose a new model for virus cell-cell spread: this model proposes that MP, an integral ER membrane protein, forms a MP:vRNAER complex and that this ER-membrane complex diffuses in the lipid milieu of the ER into the desmotubule (the ER within the Pd), and spreads cell to cell by simple diffusion in the ER/desmotubule membrane; the driving force for spread is the chemical potential gradient between an infected cell and contingent non-infected neighbors. Our data also suggests that the virus replicase has a function in altering the Pd conductivity. Transgenic plant lines that express the MP gene of the Cg tobamovirus fused to YFP under the control the ecdysone receptor and methoxyfenocide ligand were generated by the Beachy group and the expression pattern and the timing and targeting patterns were determined. A vector expressing this MPs was also developed for use by the Epel lab . The transgenic lines are being used to identify and isolate host genes that are required for cell-to-cell movement of TMV/tobamoviruses. This line is now being grown and to be employed in proteomic studies which will commence November 2005. T-DNA insertion mutagenesis is being developed to identify and isolate host genes required for cell-to-cell movement of TMV.
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Galili, Naftali, Roger P. Rohrbach, Itzhak Shmulevich, Yoram Fuchs, and Giora Zauberman. Non-Destructive Quality Sensing of High-Value Agricultural Commodities Through Response Analysis. United States Department of Agriculture, 1994. http://dx.doi.org/10.32747/1994.7570549.bard.
Full textAbstract:
The objectives of this project were to develop nondestructive methods for detection of internal properties and firmness of fruits and vegetables. One method was based on a soft piezoelectric film transducer developed in the Technion, for analysis of fruit response to low-energy excitation. The second method was a dot-matrix piezoelectric transducer of North Carolina State University, developed for contact-pressure analysis of fruit during impact. Two research teams, one in Israel and the other in North Carolina, coordinated their research effort according to the specific objectives of the project, to develop and apply the two complementary methods for quality control of agricultural commodities. In Israel: An improved firmness testing system was developed and tested with tropical fruits. The new system included an instrumented fruit-bed of three flexible piezoelectric sensors and miniature electromagnetic hammers, which served as fruit support and low-energy excitation device, respectively. Resonant frequencies were detected for determination of firmness index. Two new acoustic parameters were developed for evaluation of fruit firmness and maturity: a dumping-ratio and a centeroid of the frequency response. Experiments were performed with avocado and mango fruits. The internal damping ratio, which may indicate fruit ripeness, increased monotonically with time, while resonant frequencies and firmness indices decreased with time. Fruit samples were tested daily by destructive penetration test. A fairy high correlation was found in tropical fruits between the penetration force and the new acoustic parameters; a lower correlation was found between this parameter and the conventional firmness index. Improved table-top firmness testing units, Firmalon, with data-logging system and on-line data analysis capacity have been built. The new device was used for the full-scale experiments in the next two years, ahead of the original program and BARD timetable. Close cooperation was initiated with local industry for development of both off-line and on-line sorting and quality control of more agricultural commodities. Firmalon units were produced and operated in major packaging houses in Israel, Belgium and Washington State, on mango and avocado, apples, pears, tomatoes, melons and some other fruits, to gain field experience with the new method. The accumulated experimental data from all these activities is still analyzed, to improve firmness sorting criteria and shelf-life predicting curves for the different fruits. The test program in commercial CA storage facilities in Washington State included seven apple varieties: Fuji, Braeburn, Gala, Granny Smith, Jonagold, Red Delicious, Golden Delicious, and D'Anjou pear variety. FI master-curves could be developed for the Braeburn, Gala, Granny Smith and Jonagold apples. These fruits showed a steady ripening process during the test period. Yet, more work should be conducted to reduce scattering of the data and to determine the confidence limits of the method. Nearly constant FI in Red Delicious and the fluctuations of FI in the Fuji apples should be re-examined. Three sets of experiment were performed with Flandria tomatoes. Despite the complex structure of the tomatoes, the acoustic method could be used for firmness evaluation and to follow the ripening evolution with time. Close agreement was achieved between the auction expert evaluation and that of the nondestructive acoustic test, where firmness index of 4.0 and more indicated grade-A tomatoes. More work is performed to refine the sorting algorithm and to develop a general ripening scale for automatic grading of tomatoes for the fresh fruit market. Galia melons were tested in Israel, in simulated export conditions. It was concluded that the Firmalon is capable of detecting the ripening of melons nondestructively, and sorted out the defective fruits from the export shipment. The cooperation with local industry resulted in development of automatic on-line prototype of the acoustic sensor, that may be incorporated with the export quality control system for melons. More interesting is the development of the remote firmness sensing method for sealed CA cool-rooms, where most of the full-year fruit yield in stored for off-season consumption. Hundreds of ripening monitor systems have been installed in major fruit storage facilities, and being evaluated now by the consumers. If successful, the new method may cause a major change in long-term fruit storage technology. More uses of the acoustic test method have been considered, for monitoring fruit maturity and harvest time, testing fruit samples or each individual fruit when entering the storage facilities, packaging house and auction, and in the supermarket. This approach may result in a full line of equipment for nondestructive quality control of fruits and vegetables, from the orchard or the greenhouse, through the entire sorting, grading and storage process, up to the consumer table. The developed technology offers a tool to determine the maturity of the fruits nondestructively by monitoring their acoustic response to mechanical impulse on the tree. A special device was built and preliminary tested in mango fruit. More development is needed to develop a portable, hand operated sensing method for this purpose. In North Carolina: Analysis method based on an Auto-Regressive (AR) model was developed for detecting the first resonance of fruit from their response to mechanical impulse. The algorithm included a routine that detects the first resonant frequency from as many sensors as possible. Experiments on Red Delicious apples were performed and their firmness was determined. The AR method allowed the detection of the first resonance. The method could be fast enough to be utilized in a real time sorting machine. Yet, further study is needed to look for improvement of the search algorithm of the methods. An impact contact-pressure measurement system and Neural Network (NN) identification method were developed to investigate the relationships between surface pressure distributions on selected fruits and their respective internal textural qualities. A piezoelectric dot-matrix pressure transducer was developed for the purpose of acquiring time-sampled pressure profiles during impact. The acquired data was transferred into a personal computer and accurate visualization of animated data were presented. Preliminary test with 10 apples has been performed. Measurement were made by the contact-pressure transducer in two different positions. Complementary measurements were made on the same apples by using the Firmalon and Magness Taylor (MT) testers. Three-layer neural network was designed. 2/3 of the contact-pressure data were used as training input data and corresponding MT data as training target data. The remaining data were used as NN checking data. Six samples randomly chosen from the ten measured samples and their corresponding Firmalon values were used as the NN training and target data, respectively. The remaining four samples' data were input to the NN. The NN results consistent with the Firmness Tester values. So, if more training data would be obtained, the output should be more accurate. In addition, the Firmness Tester values do not consistent with MT firmness tester values. The NN method developed in this study appears to be a useful tool to emulate the MT Firmness test results without destroying the apple samples. To get more accurate estimation of MT firmness a much larger training data set is required. When the larger sensitive area of the pressure sensor being developed in this project becomes available, the entire contact 'shape' will provide additional information and the neural network results would be more accurate. It has been shown that the impact information can be utilized in the determination of internal quality factors of fruit. Until now,
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Anderson, Donald M., Lorraine C. Backer, Keith Bouma-Gregson, et al. Harmful Algal Research & Response: A National Environmental Science Strategy (HARRNESS), 2024-2034. Woods Hole Oceanographic Institution, 2024. http://dx.doi.org/10.1575/1912/69773.
Full textAbstract:
Harmful and toxic algal blooms (HABs) are a well-established and severe threat to human health, economies, and marine and freshwater ecosystems on all coasts of the United States and its inland waters. HABs can comprise microalgae, cyanobacteria, and macroalgae (seaweeds). Their impacts, intensity, and geographic range have increased over past decades due to both human-induced and natural changes. In this report, HABs refers to both marine algal and freshwater cyanobacterial events. This Harmful Algal Research and Response: A National Environmental Science Strategy (HARRNESS) 2024-2034 plan builds on major accomplishments from past efforts, provides a state of the science update since the previous decadal HARRNESS plan (2005-2015), identifies key information gaps, and presents forward-thinking solutions. Major achievements on many fronts since the last HARRNESS are detailed in this report. They include improved understanding of bloom dynamics of large-scale regional HABs such as those of Pseudo-nitzschia on the west coast, Alexandrium on the east coast, Karenia brevis on the west Florida shelf, and Microcystis in Lake Erie, and advances in HAB sensor technology, allowing deployment on fixed and mobile platforms for long-term, continuous, remote HAB cell and toxin observations. New HABs and impacts have emerged. Freshwater HABs now occur in many inland waterways and their public health impacts through drinking and recreational water contamination have been characterized and new monitoring efforts have been initiated. Freshwater HAB toxins are finding their way into marine environments and contaminating seafood with unknown consequences. Blooms of Dinophysis spp., which can cause diarrhetic shellfish poisoning, have appeared around the US coast, but the causes are not understood. Similarly, blooms of fish- and shellfish-killing HABs are occurring in many regions and are especially threatening to aquaculture. The science, management, and decision-making necessary to manage the threat of HABs continue to involve a multidisciplinary group of scientists, managers, and agencies at various levels. The initial HARRNESS framework and the resulting National HAB Committee (NHC) have proven effective means to coordinate the academic, management, and stakeholder communities interested in national HAB issues and provide these entities with a collective voice, in part through this updated HARRNESS report. Congress and the Executive Branch have supported most of the advances achieved under HARRNESS (2005-2015) and continue to make HABs a priority. Congress has reauthorized the Harmful Algal Bloom and Hypoxia Research and Control Act (HABHRCA) multiple times and continues to authorize the National Oceanic and Atmospheric Administration (NOAA) to fund and conduct HAB research and response, has given new roles to the US Environmental Protection Agency (EPA), and required an Interagency Working Group on HABHRCA (IWG HABHRCA). These efforts have been instrumental in coordinating HAB responses by federal and state agencies. Initial appropriations for NOAA HAB research and response decreased after 2005, but have increased substantially in the last few years, leading to many advances in HAB management in marine coastal and Great Lakes regions. With no specific funding for HABs, the US EPA has provided funding to states through existing laws, such as the Clean Water Act, Safe Drinking Water Act, and to members of the Great Lakes Interagency Task Force through the Great Lakes Restoration Initiative, to assist states and tribes in addressing issues related to HAB toxins and hypoxia. The US EPA has also worked towards fulfilling its mandate by providing tools and resources to states, territories, and local governments to help manage HABs and cyanotoxins, to effectively communicate the risks of cyanotoxins and to assist public water systems and water managers to manage HABs. These tools and resources include documents to assist with adopting recommended recreational criteria and/or swimming advisories, recommendations for public water systems to choose to apply health advisories for cyanotoxins, risk communication templates, videos and toolkits, monitoring guidance, and drinking water treatment optimization documents. Beginning in 2018, Congress has directed the U.S. Army Corps of Engineers (USACE) to develop a HAB research initiative to deliver scalable HAB prevention, detection, and management technologies intended to reduce the frequency and severity of HAB impacts to our Nation’s freshwater resources. Since the initial HARRNESS report, other federal agencies have become increasingly engaged in addressing HABs, a trend likely to continue given the evolution of regulations(e.g., US EPA drinking water health advisories and recreational water quality criteria for two cyanotoxins), and new understanding of risks associated with freshwater HABs. The NSF/NIEHS Oceans and Human Health Program has contributed substantially to our understanding of HABs. The US Geological Survey, Centers for Disease Control and Prevention, and the National Aeronautics Space Administration also contribute to HAB-related activities. In the preparation of this report, input was sought early on from a wide range of stakeholders, including participants from academia, industry, and government. The aim of this interdisciplinary effort is to provide summary information that will guide future research and management of HABs and inform policy development at the agency and congressional levels. As a result of this information gathering effort, four major HAB focus/programmatic areas were identified: 1) Observing systems, modeling, and forecasting; 2) Detection and ecological impacts, including genetics and bloom ecology; 3) HAB management including prevention, control, and mitigation, and 4) Human dimensions, including public health, socio-economics, outreach, and education. Focus groups were tasked with addressing a) our current understanding based on advances since HARRNESS 2005-2015, b) identification of critical information gaps and opportunities, and c) proposed recommendations for the future. The vision statement for HARRNESS 2024-2034 has been updated, as follows: “Over the next decade, in the context of global climate change projections, HARRNESS will define the magnitude, scope, and diversity of the HAB problem in US marine, brackish and freshwaters; strengthen coordination among agencies, stakeholders, and partners; advance the development of effective research and management solutions; and build resilience to address the broad range of US HAB problems impacting vulnerable communities and ecosystems.” This will guide federal, state, local and tribal agencies and nations, researchers, industry, and other organizations over the next decade to collectively work to address HAB problems in the United States.
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POWER FLOW ANALYSIS OF BRIDGE U-RIB STIFFENED PLATES BASED ON THE CONCEPT OF STRUCTURAL INTENSITY. The Hong Kong Institute of Steel Construction, 2022. http://dx.doi.org/10.18057/icass2020.p.061.
Full textAbstract:
Due to its advantages of good mechanical properties, simple appearance and strong adaptability, the steel box girder is being widely utilized in urban bridges. The noise radiated by steel box girders subjected to vehicle impacts has the characteristics of wide-spectrum, high-magnitude and control difficulty. U-rib stiffened roof, as a part of the steel box girder, directly bears the input load, which is the basis of studying the vibration of the steel box girder. Currently, the investigation on the vibro-acoustic performance of U-rib plates is very limited. With this regard, this paper introduces the concept of Structural Intensity (SI). The SI vector is calculated by the Finite Element (FE) method. The power flow is visualized by the self-programming post-processing code. The global and local vibration energy transmission characters of a U-rib stiffened plate under a harmonic nodal force are analyzed. Further, the influence of plate thickness is investigated. The optimum design is carried out based on the engineering standard dimensions. The research results indicate that increasing the thickness ratio of the U-rib to the baseplate is beneficial to reducing the vibration.