In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided...In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.展开更多
This paper compares two models predicting elastic and viscoelastic properties of large arteries.Models compared include a Kelvin(standard linear)model and an extended 2-term exponential linear viscoelastic model.Mode...This paper compares two models predicting elastic and viscoelastic properties of large arteries.Models compared include a Kelvin(standard linear)model and an extended 2-term exponential linear viscoelastic model.Models were validated against in-vitro data from the ovine thoracic descending aorta and the carotid artery.Measurements of blood pressure data were used as an input to predict vessel cross-sectional area.Material properties were predicted by estimating a set of model parameters that minimize the difference between computed and measured values of the cross-sectional area.The model comparison was carried out using generalized analysis of variance type statistical tests.For the thoracic descending aorta,results suggest that the extended 2-term exponential model does not improve the ability to predict the observed cross-sectional area data,while for the carotid artery the extended model does statistically provide an improved fit to the data.This is in agreement with the fact that the aorta displays more complex nonlinear viscoelastic dynamics,while the stiffer carotid artery mainly displays simpler linear viscoelastic dynamics.展开更多
基金Project(2006AA04Z201,2012AA041601)supported by the National High-Tech Research and Development Program of China
文摘In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.
基金supported in part(DVJ)by the Consejo Nacional de Ciencias y Tecnologia de Mexico(CONACYT)in part(HTB)by the US Air Force Office of Scientific Research under grant AFOSR-FA9550-08-1-0147+3 种基金by the National Institute of Al-lergy and Infectious Disease under grant NIAID 9R01AI071915-05in part(MAH)by the National Science Foundation under grant DMS-0636590by the National Insti-tutes of Health under grant NIH-AG-15768in part(MSO)by the National Science Foundation under grant DMS-0616597。
文摘This paper compares two models predicting elastic and viscoelastic properties of large arteries.Models compared include a Kelvin(standard linear)model and an extended 2-term exponential linear viscoelastic model.Models were validated against in-vitro data from the ovine thoracic descending aorta and the carotid artery.Measurements of blood pressure data were used as an input to predict vessel cross-sectional area.Material properties were predicted by estimating a set of model parameters that minimize the difference between computed and measured values of the cross-sectional area.The model comparison was carried out using generalized analysis of variance type statistical tests.For the thoracic descending aorta,results suggest that the extended 2-term exponential model does not improve the ability to predict the observed cross-sectional area data,while for the carotid artery the extended model does statistically provide an improved fit to the data.This is in agreement with the fact that the aorta displays more complex nonlinear viscoelastic dynamics,while the stiffer carotid artery mainly displays simpler linear viscoelastic dynamics.
