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  • SAGE Publications  (3)
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  • SAGE Publications  (3)
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  • 1
    Online Resource
    Online Resource
    SAGE Publications ; 2019
    In:  International Journal of Advanced Robotic Systems Vol. 16, No. 3 ( 2019-05-01), p. 172988141984671-
    In: International Journal of Advanced Robotic Systems, SAGE Publications, Vol. 16, No. 3 ( 2019-05-01), p. 172988141984671-
    Abstract: For robots with flexible joints, the joint torque dynamics makes it difficult to control. An effective solution is to carry out a joint torque controller with fast enough dynamic response. This article is dedicated to design such a torque controller based on sliding mode technique. Three joint torque control approaches are proposed: (1) The proportional-derivative (PD)-type controller has some degree of robustness by properly selecting the control gains. (2) The direct sliding mode control approach which fully utilizes the physical properties of electric motors. (3) The sliding mode estimator approach was proposed to compensate the parameter uncertainties and the external disturbances of the joint torque system. These three joint torque controllers are tested and verified by the simulation studies with different reference torque trajectories and under different joint stiffness.
    Type of Medium: Online Resource
    ISSN: 1729-8814 , 1729-8814
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2019
    detail.hit.zdb_id: 2202393-8
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  • 2
    Online Resource
    Online Resource
    SAGE Publications ; 2012
    In:  American Journal of Rhinology Vol. 22, No. 6 ( 2012-11-01), p. 664-664
    In: American Journal of Rhinology, SAGE Publications, Vol. 22, No. 6 ( 2012-11-01), p. 664-664
    Type of Medium: Online Resource
    ISSN: 1050-6586 , 1539-6290
    RVK:
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2012
    detail.hit.zdb_id: 2083922-4
    detail.hit.zdb_id: 2554548-6
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  • 3
    Online Resource
    Online Resource
    SAGE Publications ; 2008
    In:  American Journal of Rhinology Vol. 22, No. 5 ( 2008-09), p. 477-482
    In: American Journal of Rhinology, SAGE Publications, Vol. 22, No. 5 ( 2008-09), p. 477-482
    Abstract: This study aimed to investigate airflow velocity, trace, distribution, and air pressure, as well as the airflow exchange between the nasal cavity and paranasal sinus in a normal subject using computational fluid dynamics. Methods Fluent software is used to simulate nasal cavity and paranasal sinus structure after CT scanning of a normal adult subject. Airflow velocity, pressure, distribution, and trace lines were calculated by Navier-Stokes equation and numerically visualized. Results Airflow in the common and middle meatus accounted for 〉 50 and 30% of total nasal cavity flow. Flow velocity was maximal in the common meatus, followed by the middle meatus. Flow velocity and flux in each paranasal sinus was extremely low. The flow trace in the inferior and lower part of the common meatus was predominately straight inform. Flow was parabolic in the middle and superior meatus and the middle and upper parts of the common meatus. Air pressure was high at the front end of the inferior and middle turbinate and the uncinate process. There was little pressure difference/flow exchange between inner and outer aspects of the paranasal sinus. Conclusion The major airflow forms are straight (lower common and inferior meatus) and parabolic (middle and upper common meatus and middle superior). Flow force is strongest at the front end of the inferior and middle turbinate and uncinate process. There is very little exchange between the paranasal sinus and the nasal cavity during stable airflow.
    Type of Medium: Online Resource
    ISSN: 1050-6586 , 1539-6290
    RVK:
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2008
    detail.hit.zdb_id: 2083922-4
    detail.hit.zdb_id: 2554548-6
    Location Call Number Limitation Availability
    BibTip Others were also interested in ...
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