Relevant bibliographies by topics / Torque model

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Torque model'

Author: Grafiati
Published: 5 June 2025
Last updated: 15 July 2025

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Journal articles on the topic "Torque model"

1

Yang, Zi-Qi, and Mehrdad R. Kermani. "A Computationally Efficient Hysteresis Model for Magneto-Rheological Clutches and Its Comparison with Other Models." Actuators 12, no. 5 (2023): 190. http://dx.doi.org/10.3390/act12050190.

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The collaborative robot market has experienced rapid growth, leading to advancements in compliant actuation and torque control. Magneto-rheological (MR) clutches offer a hardware-level solution for achieving both compliance and torque control through adjustable coupling between the input and output of the MR clutch. However, the presence of frequency-dependent magnetic hysteresis makes controlling the output torque challenging. In this paper, we present a comparative study of six widely used hysteresis models and propose a computationally efficient algebraic model to address the issue of hysteresis modeling and control of the output torque of rotary MR clutches. We compare the estimated torques with experimental measurements from a prototype MR clutch, to evaluate the computational complexity and accuracy of the model. Our proposed algebraic hysteresis model demonstrates superior accuracy and approximately two times less computational complexity than the Bouc–Wen model, and approximately twenty times less memory requirement than neural network-based models. We show that our proposed model has excellent potential for embedded indirect torque control schemes in systems with hysteresis, such as MR clutches and isolators.
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Rawashdeh, Samir A. "Attitude Analysis of Small Satellites Using Model-Based Simulation." International Journal of Aerospace Engineering 2019 (April 15, 2019): 1–11. http://dx.doi.org/10.1155/2019/3020581.

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CubeSats, and small satellites in general, being small and relatively light, are sensitive to disturbance torques in the orbital environment. We developed a simulation tool that includes models of the major environmental torques and small satellite experiences in low Earth orbit, which allows users to study the attitude response for a given spacecraft and assist in the design of attitude control systems, such as selecting the magnet strength when using passive magnetic stabilization or designing the shape of the spacecraft when using aerodynamic attitude stabilization. The simulation tool named the Smart Nanosatellite Attitude Propagator (SNAP) has been public in precompiled form and widely used since 2010; this paper accompanies the release of SNAP’s source code with the inclusion of new models for aerodynamic torque and other new features. Details on internal models are described, including the models for orbit propagation, Earth’s magnetic field, gravity gradient torque, spacecraft shape modelling and aerodynamic torque, permanent magnetic dipole torque, and magnetic hysteresis. A discussion is presented on the significance of aerodynamic torque and magnetic hysteresis on a magnetically stabilized 3-unit CubeSat in the orbit of the International Space Station, from which many small satellites are deployed.
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Zhang, Xuejian, Yue Deng, Yan Wang, Chuanrong Yin, and Junzhao Gao. "Effects of Implanting Torques on Implant Osseointegration in an Animal Model." Journal of Biomaterials and Tissue Engineering 12, no. 5 (2022): 933–38. http://dx.doi.org/10.1166/jbt.2022.2983.

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Objective: To investigate the effect of insertion torque on implant osseointegration in an animal model. Methods: First, the first to fourth premolars of nine healthy adult beagles’ mandibular were extracted to form an edentulous area, and then the beagles were equally divided into three groups with different torques (low torque: 10–30 Ncm; medium torque: 30–50 Ncm; high torque: > 70 Ncm). Three implants were placed on each side of the edentulous area of the beagles (54 total), and the dogs were observed for 8 weeks. Implant performance and removal torque values (RTV) were determined at 1, 4, and 8 weeks after surgery. In addition, the expression ratios of OPG and RANKL mRNAs in the surrounding bone tissue were determined. Results: None of the 54 implants showed loosening or loss, and no significant bone resorption was observed. The removing torques and the expression ratios of OPG and RANKL mRNAs showed differences at 1 and 4 weeks after surgery, while they converged at 8 weeks after the surgery (p > 0.05). Conclusion: The osteointegration process lasted approximately 8 weeks depending on the difference in parameters, and all parameters showed the same values even though the insertion torques at the beginning were different.
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Lewis, Martin G. C., Maurice R. Yeadon, and Mark A. King. "Are Torque-Driven Simulation Models of Human Movement Limited by an Assumption of Monoarticularity?" Applied Sciences 11, no. 9 (2021): 3852. http://dx.doi.org/10.3390/app11093852.

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Subject-specific torque-driven computer simulation models employing single-joint torque generators have successfully simulated various sports movements with a key assumption that the maximal torque exerted at a joint is a function of the kinematics of that joint alone. This study investigates the effect on model accuracy of single-joint or two-joint torque generator representations within whole-body simulations of squat jumping and countermovement jumping. Two eight-segment forward dynamics subject-specific rigid body models with torque generators at five joints are constructed—the first model includes lower limb torques, calculated solely from single-joint torque generators, and the second model includes two-joint torque generators. Both models are used to produce matched simulations to a squat jump and a countermovement jump by varying activation timings to the torque generators in each model. The two-joint torque generator model of squat and countermovement jumps matched measured jump performances more closely (6% and 10% different, respectively) than the single-joint simulation model (10% and 24% different, respectively). Our results show that the two-joint model performed better for squat jumping and the upward phase of the countermovement jump by more closely matching faster joint velocities and achieving comparable amounts of lower limb joint extension. The submaximal descent phase of the countermovement jump was matched with similar accuracy by the two models (9% difference). In conclusion, a two-joint torque generator representation is likely to be more appropriate for simulating dynamic tasks requiring large joint torques and near-maximal joint velocities.
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Shaw, Tiffany A., and William R. Boos. "The Tropospheric Response to Tropical and Subtropical Zonally Asymmetric Torques: Analytical and Idealized Numerical Model Results." Journal of the Atmospheric Sciences 69, no. 1 (2012): 214–35. http://dx.doi.org/10.1175/jas-d-11-0139.1.

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Abstract The tropospheric response to prescribed tropical and subtropical zonally asymmetric torques, which can be considered as idealizations of vertical momentum transfers by orographic gravity waves or convection, is investigated. The linear analytical Gill model response to westward upper-tropospheric torques is compared to the response to a midtropospheric heating, which is a familiar point of reference. The response to an equatorial torque projects onto a Kelvin wave response to the east that is of opposite sign to the response to the east of the heating at upper levels. In contrast, the torque and heating both produce Rossby gyres of the same sign to the west of the forcing and the zonal-mean streamfunction responses are identical. When the forcings are shifted into the Northern Hemisphere, the streamfunction responses have opposite signs: there is upwelling in the Southern (Northern) Hemisphere in response to the torque (heating). The nonlinear response to westward torques was explored in idealized general circulation model experiments. In the absence of a large-scale meridional temperature gradient, the response to an equatorial torque was confined to the tropics and was qualitatively similar to the linear solutions. When the torque was moved into the subtropics, the vorticity budget response was similar to a downward control–type balance in the zonal mean. In the presence of a meridional temperature gradient, the response to an equatorial torque involved a poleward shift of the midlatitude tropospheric jet and Ferrel cell. The response in midlatitudes was associated with a poleward shift of the regions of horizontal eddy momentum flux convergence, which coincided with a shift in the upper-tropospheric critical line for baroclinic waves. The shift in the critical line was caused (in part) by the zonal wind response to the prescribed torque, suggesting a possible cause of the response in midlatitudes. Overall, this hierarchy of analytical and numerical results highlights robust aspects of the response to tropical and subtropical zonally asymmetric torques and represents the first step toward understanding the response in fully comprehensive general circulation models.
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Robinette, D. L., J. M. Schweitzer, D. G. Maddock, C. L. Anderson, J. R. Blough, and M. A. Johnson. "Predicting the Onset of Cavitation in Automotive Torque Converters—Part II: A Generalized Model." International Journal of Rotating Machinery 2008 (2008): 1–8. http://dx.doi.org/10.1155/2008/312753.

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The objective of this investigation was to develop a dimensionless model for predicting the onset of cavitation in torque converters applicable to general converter designs. Dimensional analysis was applied to test results from a matrix of torque converters that ranged from populations comprised of strict geometric similitude to those with more relaxed similarities onto inclusion of all the torque converters tested. Stator torque thresholds at the onset of cavitation for the stall operating condition were experimentally determined with a dynamometer test cell using nearfield acoustical measurements. Cavitation torques, design parameters, and operating conditions were resolved into a set of dimensionless quantities for use in the development of dimensionless empirical models. A systematic relaxation of the fundamental principle of dimensional analysis, geometric similitude, was undertaken to present empirical models applicable to torque converter designs of increasingly diverse design parameters. A stepwise linear regression technique coupled with response surface methodology was utilized to produce an empirical model capable of predicting stator torque at the onset of cavitation with less than 7% error for general automotive torque converter designs.
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Young, Fletcher R., Hillel J. Chiel, Matthew C. Tresch, Charles J. Heckman, Alexander J. Hunt, and Roger D. Quinn. "Analyzing Modeled Torque Profiles to Understand Scale-Dependent Active Muscle Responses in the Hip Joint." Biomimetics 7, no. 1 (2022): 17. http://dx.doi.org/10.3390/biomimetics7010017.

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Animal locomotion is influenced by a combination of constituent joint torques (e.g., due to limb inertia and passive viscoelasticity), which determine the necessary muscular response to move the limb. Across animal size-scales, the relative contributions of these constituent joint torques affect the muscular response in different ways. We used a multi-muscle biomechanical model to analyze how passive torque components change due to an animal’s size-scale during locomotion. By changing the size-scale of the model, we characterized emergent muscular responses at the hip as a result of the changing constituent torque profile. Specifically, we found that activation phases between extensor and flexor torques to be opposite between small and large sizes for the same kinematic motion. These results suggest general principles of how animal size affects neural control strategies. Our modeled torque profiles show a strong agreement with documented hindlimb torque during locomotion and can provide insights into the neural organization and muscle activation behavior of animals whose motion has not been extensively documented.
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Hu, Shengqiao, Houcai Liu, Huimin Kang, Puren Ouyang, Zhicheng Liu, and Zhengjie Cui. "High Precision Hybrid Torque Control for 4-DOF Redundant Parallel Robots under Variable Load." Actuators 12, no. 6 (2023): 232. http://dx.doi.org/10.3390/act12060232.

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As regards the impact and chattering of 4-DOF redundant parallel robots that occur under high-speed variable load operating conditions, this study proposed a novel control algorithm based on torque feedforward and fuzzy computational torque feedback hybrid control, which considered both the joint friction torque and the disturbance torque caused by the variable load. First of all, a modified dynamic model under variable load was established as follows: converting terminal load change to terminal centroid coordinate change, then mapping to the calculation of terminal energy, and lastly, establishing a dynamic model for each branch chain under variable load based on the Lagrange equation. Subsequently, torque feedforward was used to compensate for the friction torque and the disturbance torque caused by the variable load. Feedforward torques include friction torque and nonlinear disturbance torque under variable load. The friction torque is obtained by parameter identification based on the Stribeck friction model, while the nonlinear disturbance torque is obtained by real-time calculation based on the modified dynamic model under variable load. Finally, dynamic control of the robot under variable load was realized in combination with the fuzzy computational torque feedback control. The experimental and simulation results show that the motion accuracy of the fuzzy calculation torque feedback and torque feedforward control of the three drive joints of the robot under variable loads is 49.87%, 70.48%, and 50.37% lower than that of the fuzzy calculation torque feedback. Compared with pure torque feedback control, the speed stability of the three driving joints under fuzzy calculation torque feedback and torque feedforward control is 23.35%, 17.66%, and 25.04% higher, respectively.
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Zhou, R. S., and M. R. Hoeprich. "Torque of Tapered Roller Bearings." Journal of Tribology 113, no. 3 (1991): 590–97. http://dx.doi.org/10.1115/1.2920664.

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An analytic tapered roller bearing torque model is presented along with laboratory test data. Initial results of this proposed model are favorable. An accurate general purpose torque prediction tool could be obtained by extending the concepts presented in conjunction with a more comprehensive analysis of actual bearing operating conditions. By using EHL (Elastohydrodynamic Lubrication) theory and micro-macro contact analysis, the bearing torque can be determined by predicting each torque component for each roller due to raceway rolling, raceway moments due to EHL pressure distribution, and frictional force of rib-roller end contact. The roughness effect of contact surfaces, effect of EHL film thickness parameter (the ratio of film thickness to composite surface roughness), and thermal EHL effects are also included. A bearing torque test rig, which can measure the torque of cup race, cone race, and rib separately, was built and used to provide test data. Good agreement between the experimentally measured bearing torques and the predictions of the new torque model has been obtained. This torque model will provide a greater fundamental understanding and is more versatile over a wide range of operating conditions.
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Khorsandi, Farzaneh, and Paul D. Ayers. "The Effect of Friction on Actuation Torques of Foldable Rollover Protective Structures." Journal of Agricultural Safety and Health 24, no. 4 (2018): 227–42. http://dx.doi.org/10.13031/jash.12844.

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Abstract. The number of fatal tractor rollover accidents with an inoperative foldable rollover protective structure (FROPS) has increased sharply in recent years. Operators frequently leave the FROPS in the folded-down position after lowering the FROPS to pass a low overhead obstacle. One possible explanation for leaving the FROPS in the folded position is that raising and lowering the FROPS is a time-consuming and strenuous process. The actuation torques required to raise and lower a FROPS are not well known and may be influenced by friction. The actuation torques of ten FROPS from four different models were measured. One model FROPS was tested on seven different vehicles, and three models were tested separately. The dynamic and static (initiation and holding) actuation torques were measured to evaluate the effect of static and kinetic friction on actuation torque. The dynamic actuation torques were measured before and after greasing the FROPS. The proposed instruction to measure the actuation torque based on OECD Code 7 was evaluated. Results showed that friction has a significant effect on the measured actuation torque and can increase the actuation torque by up to 212%. The friction varies between FROPS of the same model, which is due to variations in the manufacturing, maintenance, and age of the FROPS. The friction force could be decreased by greasing the FROPS, and decreasing the friction increased the lowering resisting torques and decreased raising torques of FROPS. The measured actuation torque based on OECD Code 7 instruction (static holding) is not a constant value. The dynamic method is recommended for measuring FROPS actuation torques. Keywords: Actuating torque, Foldable rollover protective structure, FROPS, Safety, Standards, Tractor.
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Dissertations / Theses on the topic "Torque model"

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Liu, Pu. "Effect of Joint Angle on EMG-Torque Model During Constant-Posture, Quasi-Constant-Torque Contractions." Digital WPI, 2011. https://digitalcommons.wpi.edu/etd-theses/376.

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The electrical activity of skeletal muscle¡ªthe electromyogram (EMG)¡ªis of value to many different application areas, including ergonomics, clinical biomechanics and prosthesis control. For many applications the EMG is related to muscular tension, joint torque and/or applied forces. In these cases, a goal is for an EMG-torque model to emulate the natural relationship between the central nervous system and peripheral joints and muscles. This thesis mainly describes an experimental study which relates the simultaneous biceps/triceps surface EMG of 12 subjects to elbow torque at seven joint angles (ranging from 45¡ÃƒÂ£to 135¡ÃƒÂ£) during constant-posture, quasi-constant-torque contractions. The contractions ranged between 50% maximum voluntary contractions (MVC) extension and 50% MVC flexion. Advanced EMG amplitude (EMG¦Ãƒâ€™) estimation processors were investigated, and three nonlinear EMG¦Ãƒâ€™-torque models were evaluated. Results show that advanced (i.e., whitened, multiple-channel) EMG¦Ãƒâ€™ processors lead to improved joint torque estimation, compared to unwhitened, single-channel EMG¦Ãƒâ€™ processors. Depending on the joint angle, use of the multiple-channel whitened EMG¦Ãƒâ€™ processor with higher polynomial degrees produced a median error that was 50%-66% that found when using the single-channel, unwhitened EMG¦Ãƒâ€™ processor with a polynomial degree of 1. The best angle-specific model achieved a minimum error of 3.39% MVCF90 (i.e., error referenced to MVC at 90¢X flexion), yet it does not allow interpolation across angles. The best model which parameterizes the angle dependence achieved an error of 3.55% MVCF90. This thesis also summarizes other collaborative research contributions performed as part of this thesis. (1) Decomposition of needle EMG data was performed as part of a study to characterize motor unit behavior in patients with amyotrophic lateral sclerosis (ALS) [with Spaulding Rehabilitation Hospital, Boston, MA]. (2) EMG-force modeling of force produced at the finger tips was studied with the purpose of assessing the ability to determine two or more independent, continuous degrees of freedom of control from the muscles of the forearm [with WPI and Sherbrooke University]. (3) Identification of a nonlinear, dynamic EMG-torque relationship about the elbow was studied [WPI]. (4) Signal whitening preprocessing for improved classification accuracies in myoelectric control of a prosthesis was studied [with WPI and the University of New Brunswick].
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Hoult, W. "A neuromuscular model for simulating driver steering torque." Thesis, University of Cambridge, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.604261.

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A linear neuromuscular model was developed and incorporated within a driver/vehicle model. Optimal control was used to minimise metabolic energy and path-following error. Simultaneous feed-forward and feedback operation was observed, with the stretch reflex loop acting to reject disturbances. A trade-off between minimising the feedback error signal and energy consumption exists that has not been previously identified. A non-linear, Huxley/Zahalak-based model of an agonist/antagonist muscle pair connected to a second order load was implemented (the ‘MDM’ model). Mechanistic and energy consumption predictions compare favourably with published data. The model was linearized, to allow incorporation within a linear neuromuscular framework. A suitable model structure was fitted using parametric methods. A novel, linear, energy consumption model was proposed. A parameter study of the MDM model was carried out. Variable natural length behaviour was observed, consistent with real muscle operation. Findings suggested that the stretch reflex gain is not large enough to account for low frequency behaviour observed by some researchers for ‘stochastic disturbance’ type experiments. An optimal controller representing cognitive influence was shown to account for this behaviour. A Box-Jenkins method for identifying intrinsic and reflex dynamics models (on the basis of reflex delay) was developed and validated. The impact of the stretch reflex gain and noise levels on identification success was investigated. Intrinsic and reflex models were identified from eight test subjects’ data. The closed-loop neuromuscular model agreed well with measured data, and was generally consistent with MDM model predictions. Low frequency control action and changes in stretch reflex dynamics were observed, stemming from cognitive influence. Other researchers have failed to account for this.
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Esposito, Delia. "Torque Model Calibration of a Motorcycle Internal Combustion Engine." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2018. http://amslaurea.unibo.it/15964/.

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Optimizing the performance of internal combustion engines increases complexity of control strategies and makes the calibration process long and expensive. The first activity of this Thesis explains the possibility of reduce tests on the bench saving in terms of working hours and operating costs. In particular, through MATLAB codes, it’s shown how extrapolating data of spark advance min and extramin from the spark advance dynamic sweep. The tests are usually demanded by the ECU supplier, who is responsible for the final calibration, but the calibrator engineer still has the task of checking the work of the supplier. For this reason the second activity of this Thesis was to create a simplified Torque-based model that determines the behavior and response of the engine (R2 = 0.98). Cases of study are explained in details and various simulations are realized.
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Bojcic, Predrag. "Development of a model for predicting thickener rake torque /." St. Lucia, Qld, 2000. http://www.library.uq.edu.au/pdfserve.php?image=thesisabs/absthe17870.pdf.

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Pew, Jefferson W. "A torque-based weld power model for friction stir welding /." Diss., CLICK HERE for online access, 2006. http://contentdm.lib.byu.edu/ETD/image/etd1649.pdf.

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Pew, Jefferson W. "A Torque Based Power Input Model for Friction Stir Welding." BYU ScholarsArchive, 2006. https://scholarsarchive.byu.edu/etd/1100.

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For decades models have been developed for predicting the size of the weld nugget and heat affected zones in fusion welded structures. The basis for these models is the welding heat input, which is fairly well understood for most arc welding processes. However, this traditional approach is not as straightforward for Friction Stir Welding (FSW). To date, there is no definitive relationship to quantify the heat input for FSW. An important step to establish a heat input model is to identify how FSW process parameters affect weld power. This study details the relationship between FSW process parameters and torque for three different aluminum alloys: 7075, 5083 and 2024. A quantitative weld power and heat input model is created from the torque input. The heat input model shows that decreasing the spindle speed or increasing the feed rate significantly decreases the heat input at low feed rates. At high feed rates, feed rate and spindle speed have little effect on the heat input. Process parameter versus heat input trends are verified by measurements of the weld heat affected zones. In addition, this study outlines and validates the use of a variable spindle speed test for determining torque over a broad range of parameters. The variable spindle speed test provided significant improvements over previous methods of determining torque as this new method enabled the torque to be modeled over a broad range of parameters using a minimum number of welds. The methods described in this study can be easily used to develop torque models for different alloys and materials.
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Bengtsson, Fredrik. "Estimation of Indicated– and Load– Torque from Engine Speed Variations." Thesis, Linköping University, Department of Electrical Engineering, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-7097.

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<p>The importance of control systems and diagnostics in vehicles are increasing and has resulted in several new methods to calculate better control signals. The performance can be increased by calculating these signals close to optimum, but that also require more and precise information regarding the system.</p><p>One of the wanted control signals are the crankshaft torque and the thesis presents two different methods to estimate this torque using engine speed variations. These methods are Modeling of the Crankshaft and Frequency Analysis. The methods are evaluated and implemented on for a four cylinder SAAB engine. Measurements are made in an engine test cell as well as a vehicle.</p><p>The results show that the Modeling of the Crankshaft method does not produce a satisfying estimation, with a difference of about 200% between estimated and calculated torque. On the other hand, the Frequency Analysis provides an accurate estimation of both mean and instantaneous indicated torque, with a maximum difference of ±20% between estimated and calculated torque.</p>
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Mehdizadeh, Gavgani Arash. "Advanced model-based control of energy efficient torque-gap filling drivetrains." Thesis, University of Surrey, 2016. http://epubs.surrey.ac.uk/811737/.

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This thesis deals with advanced modelling and control of energy efficient automotive drivetrains with torque-fill capability during gearshifts. The literature discussing automotive transmission technology, in particular manual transmissions, automated manual transmissions (AMTs) and dual clutch transmissions (DCTs), with the respective gearshift control methodologies, is reviewed in detail. To increase the overall drivetrain efficiency and address the problem of AMT torque interruption during the shift transients, a novel transmission layout, named as ‘6+2’ in the remainder of the thesis, is introduced. The ‘6+2’ is based on the hybridisation of an AMT. In this layout the torque-fill functionality is achieved via an embedded electric motor drive, which is connected to the transmission output shaft. The gearshift performance of the ‘6+2’ is analysed and compared to that of the DCT of a case study high performance passenger car, through a high-fidelity model-based method and objective gearshift performance indicators. The gearshift simulation models are validated in terms of longitudinal acceleration profiles, with gearshift test data provided by the industrial sponsors of the project, Oerlikon Graziano (Italy) and Vocis Driveline Controls (UK). The analysis shows that with the current ‘6+2’ prototype full torque-fill is supported for gearshifts of up to 40% of driver torque demand. This thesis proposes a novel optimal gearshift controller for the clutch reengagement phase of the ‘6+2’. The controller is designed with the purpose of simultaneously reducing clutch energy dissipation and providing smooth clutch engagement. The computationally efficient structure of this controller facilitates its real-vehicle implementation. The performance of the controller is evaluated on the gearshift simulator and compared to that of the conventional gearshift controller of the prototype ‘6+2’. Significant reductions (53% on the average) in clutch dissipation energy are achieved with the proposed control structure. A similar optimal controller and a model predictive controller are designed and successfully assessed for the inertia phase of the case study DCT. The objectives of these advanced formulations are tuneable reductions clutch dissipation losses, smooth clutch engagement, and capability of handling variations in the oncoming clutch torque, determined by the driver input on the accelerator pedal.
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Hozumi, Yuya, Shinji Doki, and Shigeru Okuma. "Fast torque control system of PMSM based on model predictive control." IEEE, 2009. http://hdl.handle.net/2237/13963.

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Falbo, Giorgia. "Study of the torque vectoring control problem." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019. http://amslaurea.unibo.it/19725/.

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The aim of this thesis is to address the design of a torque vectoring system for an electric All-Wheel-Drive car. The torque vectoring objective is to substitute the need of a mechanical differential in case of an electric car with four individual hub motors. It can be exploited also to perform various forms of electronic stability, such as traction and launch control, improving safety, sports performance and off-road capabilities of vehicles. These technologies involve individual control of each wheel’s drive torque or braking force in response to the dynamics of the driving conditions and the driver’s intentions. This work present a non-linear model derived from a Lagrangian approach to the solution of the control problem, that is then studied at the equilibrium point along a curvilinear trajectory.
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Books on the topic "Torque model"

1

Janabi-Sharifi, Farrokh. A torque-free flexible model gyro. National Library of Canada, 1990.

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United States. National Aeronautics and Space Administration., ed. Active vibration control of a large flexible manipulator by intertial force and joint torque. National Aeronautics and Space Administration, 1989.

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Kluszczyński, Krzysztof. Momenty pasożytnicze w maszynach asynchronicznych. Dział Wydawnictw Politechniki Śląskiej, 1986.

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Swanson, William J. Determination of diesel engine cylinder gas torques from speed fluctuations with a high-fidelity crankshaft torsional model. Naval Postgraduate School, 1998.

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Klinger, L. Simulation numérique 3D d'une torche à plasma par une méthode de volumes finis. Centre de Recherches en Physique des Plasmas, Ecole Polytechnique Fédérale de Lausanne, 2002.

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Sun, Bohua. Toroidal shells. Nova Science Publishers, 2011.

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Pivar, Stuart. On the origin of form: Evolution by self-organization. North Atlantic Books, 2009.

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UN. Commission on Human Rights. Special Rapporteur on Violence against Women, ed. Report of the Special Rapporteur on Violence against Women, Its Causes and Consequences, Radhika Coomaraswamy, submitted in accordance with Commission on Human Rights resolution 2002/52: Addendum. UN, 2003.

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Chesser, Hugh G. Attitude drift of torque-free flexible gyros using the viscous damping model. 1987.

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Vaez-Zadeh, Sadegh. Predictive, Deadbeat, and Combined Controls. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780198742968.003.0005.

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In this chapter, three control methods recently developed for or applied to electric motors in general and to permanent magnet synchronous (PMS) motors, in particular, are presented. The methods include model predictive control (MPC), deadbeat control (DBC), and combined vector and direct torque control (CC). The fundamental principles of the methods are explained, the machine models appropriate to the methods are derived, and the control systems are explained. The PMS motor performances under the control systems are also investigated. It is elaborated that MPC is capable of controlling the motor under an optimal performance according to a defined objective function. DBC, on the other hand, provides a very fast response in a single operating cycle. Finally, combined control produces motor dynamics faster than one under VC, with a smoother performance than the one under DTC.
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Book chapters on the topic "Torque model"

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Simoncelli, A., L. Buglioni, G. Abate, P. Gayol, A. J. Sánchez Egea, and D. Martínez Krahmer. "Effects of Drill Point Geometry on Cutting Forces and Torque When Drilling AA1050." In Lecture Notes in Mechanical Engineering. Springer Nature Switzerland, 2025. https://doi.org/10.1007/978-3-031-77429-4_74.

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AbstractReducing energy consumption in drilling operations is crucial for achieving sustainability goals. A study examined 36 drill bits with different geometries and conditions on AA1050. It assessed thrust forces and torque in two machining conditions (Cmin and Cmax) while considering mesh density, tool geometry, and boundary conditions. The results show that finer mesh models exhibit lower thrust forces, while mass scaling primarily influences torque. The pilot hole configuration decreases force, consistent with experiments. Torque decreases by increasing mesh density, matching with the experimental results. Finally, temperature and chip shape are mesh-dependent, affecting torque and force. As a result, our FEM model effectively predicted thrust force and torque, emphasizing the role of the pilot hole configuration in temperature and plastic strain results.
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Li, Jiuyi, Yunhou Sun, Qiang Yan, Huaiqiang Kang, Haoxiang Wang, and Shangwei Dong. "Accurate Finite Element Modeling of Bolted Joints and Modified IWAN Model." In Lecture Notes in Mechanical Engineering. Springer Nature Singapore, 2024. http://dx.doi.org/10.1007/978-981-97-1876-4_90.

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AbstractA three-dimensional finite element model of helical bolted joints is established in this paper, and the validity of the model establishment scheme is verified by a numerical examples of “the stress distribution on the bolted joint”. Then, Hysteresis curves of the resultant torque versus the applied torsion angle are obtained from the finite element analysis. The results indicate that: (1) The contact threads have experienced three states of adhesion, partial slip and macro slip during the tightening and loosening process; (2) In the state of macro sliding, the resultant torque exhibits an upward trend due to the increase of the clamping pressure in tightening process. On the contrary, the resultant torque exhibits a downward trend due to the decrease of the clamping pressure in the loosening process. A modified IWAN model is established for the three-dimensional helical bolted joint under torsional load by adding the residual stiffness and correction of torque based on the results of finite element analysis. The results of the modified IWAN model for the M12 bolted joint present that the modified IWAN model can reproduce the hysteresis curves obtained by finite element analysis accurately, and the modified IWAN model composed of three Jenkins elements can cover the dissipated energy precisely.
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Bai, Kun, and Kok-Meng Lee. "PMSM Force/Torque Model for Real-Time Control." In Permanent Magnet Spherical Motors. Springer Singapore, 2018. http://dx.doi.org/10.1007/978-981-10-7962-7_4.

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Dung, Nguyen Quang, and Hau Huu Vo. "Induction Motor Drive Using Model Prediction Torque Control." In Lecture Notes in Networks and Systems. Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-65656-9_9.

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Grcar, Bojan, Anton Hofer, Gorazd Stumberger, and Peter Cafuta. "Induction Machine Torque Control with Self-Tuning Capabilities." In Mechanics and Model-Based Control of Advanced Engineering Systems. Springer Vienna, 2013. http://dx.doi.org/10.1007/978-3-7091-1571-8_16.

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Prost, Mattéo, Ivan Cvok, and Efstathios Velenis. "Energy-Efficient Optimal Torque Vectoring for a Four-Motor High-Performance Electric Vehicle." In Lecture Notes in Mechanical Engineering. Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-70392-8_114.

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AbstractThe paper presents and compares an optimal control allocation (CA) and model predictive control (MPC)-based torque vectoring (TV) for improved energy efficiency of electric vehicle with four independent electric motors. Offline and online (instantaneous) optimisation-based CA are designed for front-rear torque distribution. For overall wheel torque allocation, a production-ready MPC-based TV is extended with energy consumption minimisation terms. CA and MPC rely on power loss curves of differently sized front and rear powertrains that are fitted with polynomial regression models. Performance of both strategies is evaluated in high-fidelity nonlinear simulation environment in terms of energy efficiency improvement on standard driving cycles and impact on the vehicle dynamics in lateral manoeuvres. Results demonstrate consistent reduction of the energy consumption and preservation of the vehicle handling behaviour.
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Li, Zhixiang, Zhen Zhao, and Jiaying Zhang. "Load and Deformation Distribution Along the Bolt During Assembly Process." In Lecture Notes in Mechanical Engineering. Springer Nature Singapore, 2024. http://dx.doi.org/10.1007/978-981-97-1876-4_75.

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AbstractBolt connection structure is widely utilized in modern large-scale equipment. Understanding the stress distribution along the bolt during assembly process is essential for improving its reliability. In this paper, assembly torque model is established to formulate the relationship between tightening torque and preload force, and a linear proportionality between them is obtained. The stress distribution during assembly process is modeled. Rotation angle and displacement distribution can be obtained from the proposed method. To validate our model, numerical simulation analysis is carried out to obtain the load and deformation distribution under different conditions. Comparison with the previous literature confirms the accuracy of the proposed model.
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Li, Chang, Wensong Wu, Jing Du, Shuang Wang, Shuxin Jiang, and Weiwei Sun. "Numerical Analysis Model of Contact Stress in the Raceway of Double Row Tapered Roller Bearing Under Overturning Torque in Wind Turbine." In Lecture Notes in Mechanical Engineering. Springer Nature Singapore, 2025. https://doi.org/10.1007/978-981-97-7887-4_62.

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Abstract This article extends the force analysis of the single rolling element in the whole double row tapered roller bearing to the establishment of a global static equilibrium equation. And further analyzes the position relationship between the roller and the raceway after deflection under overturning torque. Based on non-Hertz line contact theory and bearing force balance equation, a numerical analysis model for the contact stress of the raceway in a double row tapered roller bearing is proposed; To verify this model, a local finite element model of bearing contact was established based on ANSYS to obtain the stress distribution of the raceway. The results show that the stress calculation model for wind turbine spindle double row tapered roller bearings under overturning torque proposed in this paper has good simulation accuracy.
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Jia, Chengli, Tianfu Sun, Gang Yu, Jianing Liang, and Dingfang Lin. "Torque Ripple Minimization of PMSM Drives with Multiple Reference Frame and DNN Based High-Fidelity Torque Model." In Communications in Computer and Information Science. Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-33-6378-6_14.

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Roa, Maximo A., Bernd Henze, and Christian Ott. "Model-Based Posture Control for a Torque-Controlled Humanoid Robot." In Biosystems & Biorobotics. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-01887-0_66.

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Conference papers on the topic "Torque model"

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Wang, Zhihao, and Shilin Wu. "Transformer Oil Valve Torque Measurement and Model Construction." In 2024 5th International Conference on Clean Energy and Electric Power Engineering (ICCEPE). IEEE, 2024. https://doi.org/10.1109/iccepe62686.2024.10931440.

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Cho, Changik, Puneet Singh, Christopher Rahn, and Edward Smith. "Active Vibration Damping and Harmonic Vibration Reduction in an eVTOL Aircraft Model Using Electric Rotor Torque." In Vertical Flight Society 80th Annual Forum & Technology Display. The Vertical Flight Society, 2024. http://dx.doi.org/10.4050/f-0080-2024-0040.

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Rotorcraft experience significant vibrations due to periodic aerodynamic forces and moments on the rotor blades and wings. Rotor torque damping is a novel vibration damping method which uses small torque perturbations from the main electric motor to reduce vibrations. The large inertial and aerodynamic rotor loading and relatively high frequency torque perturbations mean that the rotor speed changes are small, so the rotor thrust and flight control performance are not significantly affected. This paper investigates the application of electric motor torque control for damping structural vibrations of an aircraft. The structural dynamics of the aircraft are represented using a finite element model of a quad tiltrotor eVTOL. Using collocated angular rate feedback on all four rotors provides more than 10% damping in controllable modes. The RMS value of flap-wise angular rate can be reduced by 91% with less than 1.2 RPM rotor speed change in response to a 20% vertical step gust in airplane mode. For N/rev disturbance cancellation, an optimal controller is designed assuming known disturbance location and frequency for active vibration control (AVC). The transfer matrix of a single cantilevered wing is calculated and used to feed forward harmonic rotor torques. The wing undergoes aerodynamic disruptions at N/rev and the harmonic controller reduces N/rev shear force and bending moment at the root by 20% and 58% with less than 1 RPM rotor speed change, respectively.
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Adelino, Gustavo R., Nady Rocha, Bruna S. Gehrke, Darlan Fernandes, and Edison R. da Silva. "Optimizing Vector Selection for Model Predictive Direct Torque Control." In 2024 IEEE Energy Conversion Congress and Exposition (ECCE). IEEE, 2024. https://doi.org/10.1109/ecce55643.2024.10860806.

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Guo, Mingjie, Zhihui Jin, and Jian Luo. "Improved model predictive torque control based on deadbeat principle." In 2024 8th International Conference on Electrical, Mechanical and Computer Engineering (ICEMCE). IEEE, 2024. https://doi.org/10.1109/icemce64157.2024.10862458.

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Houck, Daniel, Nathaniel deVelder, and Christopher Kelley. "Comparison of a mid-fidelity free vortex wake method to a high-fidelity actuator line model large eddy simulation for wind turbine wake simulations." In Proposed for presentation at the Torque in ,. US DOE, 2022. http://dx.doi.org/10.2172/2003062.

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Schroeder, Kyle A., Mitch Pryor, and Troy Harden. "A Black Box Model for Estimating Joint Torque in an Industrial Serial Manipulator." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-12407.

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Joint torque feedback is useful in serial manipulator control algorithms for contact control, collision detection, performance analysis, etc. For example, the predicted torque can be compared to the measured torque so the system can respond to unexpected or unmodeled physical inputs. The input current to the joint motors can be used to estimate the input torque if the motor parameters are well-understood. However, in a closed commercial system, the motor parameters are often proprietary or unknown. Also, systems that sense or estimate motor torques instead of the joint torques require compensation for gear train losses. In this work, we propose a method for mapping the measured motor current to the joint torque on a serial manipulator without joint torque sensors, thus advancing the potential to implement torque feedback algorithms such as collision detection on any industrial robot with joint position and motor current feedback. This new torque estimating technique (as opposed to using Newton-Euler dynamics) allows for sensing of external forces in collision detection applications for a position controlled robot. The method requires knowledge of the robot link centers of mass, masses, and inertias and that the motor currents and joint positions can be measured. The joint torques due to gravity, inertia, and Coriolis are estimated by the Newton-Euler method using the system geometry, link masses, and the measured joint positions. A method for estimating friction losses using only the current and the predicted joint torque is demonstrated. The measured current, less estimated friction, is then mapped to the joint torque. The validity of the black box joint torque estimating model was demonstrated using two Motoman SIA-5D manipulators with a 3rd party controller provided by Agile Planet. The joints of the robot were moved through a variety of test motions with known joint torque characteristics (as calculated using Newton-Euler dynamics). Estimated joint torques are similar to the calculated torque. Physical significance of the torque is validated by comparing the estimated torque to the calculated torque generated by a known force. The feasibility of the estimated torque error to force detection is discussed in terms of improving the safety and deployment options for industrial robotic systems.
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Samuel, Robello, and Wenjun Huang. "Dynamic Torque and Drag Model." In SPE Annual Technical Conference and Exhibition. Society of Petroleum Engineers, 2020. http://dx.doi.org/10.2118/201629-ms.

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Cayeux, Eric, Espen Jettestuen, and Adrian Ambrus. "Dynamic Torque and Drag Model Coupled With Transient Hydraulic." In ASME 2023 42nd International Conference on Ocean, Offshore and Arctic Engineering. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/omae2023-104704.

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Abstract A drill-string is an extremely slender mechanical structure and consequently it can oscillate very easily. Drill-string vibrations during drilling operations is the source of many drilling dysfunctions such as decreased drilling performance, damage to downhole equipment, or formation instabilities. Several dynamic torque and drag models have been developed in the recent years. But most of them do not incorporate the tight relationship that exists with transient hydraulically induced forces and torques. This paper presents a dynamic hydro-mechanical approach to the estimation of the dynamic drill-string movement. The force and torque balance equations are expressed including several nonlinear effects such as the transition between static and kinetic frictions, but also the impact of hydraulically induced forces and torques. The model considers both axial and transverse forces, yet with the simplification that the drill-string direction remains parallel to the wellbore at the contact points. Pressure intervenes in these equations through two gradients, one that is oriented vertically and another that is oriented axially. The vertical pressure gradient is related solely to the fluid density and influences torque and drag results through the actual distribution of the buoyancy forces along the drill-string. The fluid velocity fields inside the pipe and in the borehole are modelled using the lattice Boltzmann method to obtain precise estimates of the shear stress at the wall of the pipe under dynamic conditions of flow and pipe movement. These simulations show that hydraulically induced forces and torques are non-linearly and non-obviously related to fluid flow and pipe movement.
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Tahmid, Shadman, Josep Maria Font-Llagunes, and James Yang. "Upper Extremity Joint Torque Estimation Through an EMG-Driven Model." In ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/detc2022-89952.

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Abstract Cerebrovascular accidents like a stroke can affect lower limb as well as upper extremity joints (i.e., shoulder, elbow or wrist) and hinder the ability to produce necessary torque for activities of daily living. In such cases, muscles’ ability to generate force reduces, thus affecting the joint’s torque production. Understanding how muscles generate force is a key element to injury detection. Researchers developed several computational methods to obtain muscle forces and joint torques. Electromyography (EMG) driven modeling is one of the approaches to estimate muscle forces and obtain joint torques from muscle activity measurements. Musculoskeletal models and EMG-driven models require necessary muscle-specific parameters for the calculation. The focus of this research is to investigate the EMG-driven approach along with an upper extremity musculoskeletal model to determine muscle forces of two major muscle groups, biceps brachii and triceps brachii, consisting of seven muscle-tendon units. Estimated muscle forces were used to determine the elbow joint torque. Experimental EMG signals and motion capture data were collected for a healthy subject. The musculoskeletal model was scaled to match the geometric parameters of the subject. First, the approach calculated muscle forces and joint moment for simple elbow flexion-extension. Later, the same approach was applied to an exercise called triceps kickback, which trains the triceps muscle group. Individual muscle forces and net joint torques for both tasks were estimated.
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McKeever, Steve. "Torque not Work, Representing Kinds of Quantities." In 12th International Conference on Model-Based Software and Systems Engineering. SCITEPRESS - Science and Technology Publications, 2024. http://dx.doi.org/10.5220/0012318900003645.

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Reports on the topic "Torque model"

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Harris and Edlund. L51766 Instantaneous Rotational Velocity Development. Pipeline Research Council International, Inc. (PRCI), 1997. http://dx.doi.org/10.55274/r0010119.

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Considerable effort has been put forth to develop an automated method for balancing the power cylinders of reciprocating integral engines used in the natural gas industry. The benefits to power cylinder balance include reducted emissions and improved cylinder component mechanical integrity (which should lead to reductions in repair costs). The current approach to automate engine balancing uses pressure transducers to measure cylinder pressure, then integrate the signals into the engine fuel /timing management controller to achieve engine balance. Each power cylinder must be instrumented, which quickly leads to an expensive installation package. For large units (12 to 16 power cylinders), the likelihood of transducer failure and / or calibration changes will be problematic to reliable operation of this autobalancing system. A potential alternative to multiple transducers measuring power cylinder pressure is to use a single transducer to measure instantaneous shaft rotational velocity. Instantaneous shaft rotational velocity is driven by engine / compressor torque loads, and therefore is sensitive to changes in both power and compressor cylinder operation. This report summarizes the results of an investigation into the possible use of the flywheel rotational velocity as a surrogate for power cylinder pressure measurements in an autobalancing arrangement, or as a balanced/need-to-balance indicator for integral engines. A fundamental model of the rotational kinetics/dynamics was developed and used to predict the flywheel rotational acceleration. The model was validated and enhanced with data acquired as part of this study. The model was then extended to establish a sensitivity matrix, which established the change in predicted torque as a function of power cylinder imbalance. Using the sensitivity matrix, an algorithm was developed to predict the change in power cylinder peak pressures as a function of the change in the measured shaft rotational velocity.
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Eberlein, Robert, and Sven Düzel. Fatigue lifetime analysis of POM gears for generalized tooth root shapes. Universidad de los Andes, 2024. https://doi.org/10.51573/andes.pps39.gs.ms.1.

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The current calculation methods for determining the tooth root load capacity of polymer gears (e.g., VDI 2736) are based on the same assumptions as those for steel gears. However, due to the non-linear material behavior, temperature, and rate dependency of polymers, these predictions are often inaccurate. A previous study employed rate-dependent nonlinear viscoplastic finite element (FE) modelling of polyoxymethylene (POM) to quantify material influences not considered in standard metal gear assumptions. A lifetime model was developed and validated to predict tooth root fracture based on rotational speed for a constant tooth root geometry. In this study, the existing damage model is adapted and validated to include the dependency on notch (tooth root) geometry. The extension of the model to two damage parameters allows for a geometry-independent representation of the nonlinear speed dependency of tooth root breakage. This correlative modelling approach incorporates two independent damage mechanisms inside the material which lead to tooth root breakage failure of the gear. To map these mechanisms, local material states at the crack initiation point are used as damage parameters. Calibration of the bi-parametric damage model with experimental data shows that model predictions fall within the experimental scatter. Further research is ongoing to extend the damage model regarding generalized torque loading conditions.
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Hedrick, Jacob, and Timothy Jacobs. PR-457-14201-R02 Variable NG Composition Effects in LB 2S Compressor Engines Phase I Engine Response. Pipeline Research Council International, Inc. (PRCI), 2015. http://dx.doi.org/10.55274/r0010997.

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This is the final report summarizing work completed during the first phase of the PRCI study on large bore two stroke lean burn integral compressor engine response to variable natural gas compositions for the purposes of engine control development. Accomplished tasks include the completion of a detailed literature review covering the research topic, a parametric study of laminar flame speeds and ignition delays for binary methane and ethane mixtures up to 30%, and a GT-Power engine model of the Colorado State GMV-4 research engine with associated validation data from CSU�s variable ethane effects study. The chemistry of the combustion reaction is crucial to accurate modeling; laminar flame speeds and ignition delays as function of composition were determined from the solutions to published chemical kinetics mechanisms GRI-Mech3.0 and Saudi Aramco Mech1.3, respectively. The Wiebe coefficients correlated to variations in ethane composition and spark timing were regressed from the crank angle resolved heat release rates. The Wiebe coefficients are the most significant achievement of this phase of the project, since they quantify the heat release as a function of composition. At this time, the Wiebe parameters only reflect the relative changes in the model since certain aspect of the models geometry are pending resolution. Future phases of the project could use the developed GT-Power model and Wiebe coefficients for development of control schemes that maintain emissions, speed and torque limits, and maximize thermal efficiency during a variable fuel composition event.
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Robinett, Fred. PR-471-16206-R01 Suction Piping Effect on Pump Performance Testing. Pipeline Research Council International, Inc. (PRCI), 2019. http://dx.doi.org/10.55274/r0011577.

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Pump suction piping testing was performed to measure the influence on pump performance and mechanical operation, and also provide a benchmark for comparing, verifying and improving CFD modeling techniques. Testing was performed in Sulzer's pump test laboratory, in Winterthur Switzerland, using a single stage double suction model pump a with similar specific speed and design as used in many crude oil pipeline installations. Testing included a baseline test with a straight pipe with a flow straightener at the pump suction and two arrangements with pipe elbows directly at the pump suction. All tests were performed with mineral oil at viscosities ranging from 90 to 500 cSt. Pump performance as well as several static and dynamic measurements were taken, including static pressure measurements along the suction pipe, dynamic pressure measurements at the pump suction and discharge, pump axial thrust and displacements and pump torque. The tests with elbows at the pump suction are compared to the baseline test results. This work will benefit the liquids pipeline station designers and operators and also CFD analysts by providing actual tested comparisons and benchmark measurements.
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S.M. Kaye, C.E. Bush, E. Fredrickson, B. LeBlanc, R. Maingi, and S.A. Sabbagh. L-H Mode Transitions in the National Spherical Torus Experiment. Office of Scientific and Technical Information (OSTI), 2003. http://dx.doi.org/10.2172/814726.

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Baumgaertel, J. A., M. H. Redi, R. V. Budny, G. Rewoldt, and W. Dorland. Gyrokinetic Stability Studies of the Microtearing Mode in the National Spherical Torus Experiment H-mode. Office of Scientific and Technical Information (OSTI), 2005. http://dx.doi.org/10.2172/899586.

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Fredrickson, E., N. Gorelenkov, W. Heidbrink, et al. �-Suppression of Alfv�n Cascade Modes in the National Spherical Torus Experiment. Office of Scientific and Technical Information (OSTI), 2007. http://dx.doi.org/10.2172/962716.

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Smith, D. R., W. Lee, E. Mazzucato, et al. Electron Gyro-scale Fluctuation Measurements in National Spherical Torus Experiment H-mode Plasmas. Office of Scientific and Technical Information (OSTI), 2009. http://dx.doi.org/10.2172/962142.

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Lehtimaki, Susanna, Kassim Nishtar, Aisling Reidy, Sara Darehshori, Andrew Painter, and Nina Schwalbe. Independent Review and Investigation Mechanisms to Prevent Future Pandemics: A Proposed Way Forward. United Nations University International Institute for Global Health, 2021. http://dx.doi.org/10.37941/pb-f/2021/2.

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Based on the proposal by the European Council, more than 25 heads of state and the World Health Organization (WHO) support development of an international treaty on pandemics, that planned to be negotiated under the auspices of WHO, will be presented to the World Health Assembly in May 2021. Given that the treaty alone is not enough to ensure compliance, triggers for a high-level political response is required. To this end, to inform the design of a support system, we explored institutional mechanismsi with a mandate to review compliance with key international agreements in their signatory countries and conduct independent country investigations in a manner that manages sovereign considerations. Based on our review, there is no single global mechanism that could serve as a model in its own right. There is, however, potential to combine aspects of existing mechanisms to support a strong, enforceable treaty. These aspects include: • Periodic review - based on the model of human rights treaties, with independent experts as the authorized monitoring body to ensure the independence. If made obligatory, the review could support compliance with the treaty. • On-site investigations - based on the model by the Committee on Prevention of Torture according to which visits cannot be blocked by state parties. • Non-negotiable design principles - including accountability; independence; transparency and data sharing; speed; emphasis on capabilities; and incentives. • Technical support - WHO can provide countries with technical assistance, tools, monitoring, and assessment to enhance emergency preparedness and response.
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Ono, M., D. Stutman, and Y. S. Hwang. Investigation of the effect of resistive MHD modes on spherical torus performance in CDX-U. Office of Scientific and Technical Information (OSTI), 1997. http://dx.doi.org/10.2172/304212.

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