The design and control of a 5.5Nm maximal torque, 17.75kN/m2 torque density hybrid actuator for haptic feedback devices are presented.The system employs two unidirectional magneto-rheological fluid based brakes and a DC motor. The brakes are coupled to opposite overrunning clutches. By these means, each brake can generate a torque only in a defined direction. Thus, when both a brake and a motor are engaged to constrain the motion of the end-effector, the brake does not block the motor. Theoretical results demonstrate that the system generates less friction and presents less inertia compared to a DC motor associated to an ideal capstan transmission. The proposed control laws determine the shear of efforts between the brakes and the motor in terms of stiffness and energy of the virtual environment, in order to achieve high torque capability while maintaining stability and safety. The control laws do not necessitate a measure of interaction forces. Besides, the design of the actuator and the control laws are completely independent of the virtual environment allowing for the implementation of the system in many different haptic feedback devices.
The design and control of a 5.5Nm maximal torque, 17.75kN/m2 torque density hybrid actuator for haptic feedback devices are presented.The system employs two unidirectional magneto-rheological fluid based brakes and a DC motor.
The book is a new comprehensive textbook about creating and publishing geoinformation metadata. It is a compendium of knowledge about geoinformation metadata in INSPIRE Directive and Spatial Information Infrastructures. It contains the knowledge necessary to understand prior to the creation of geoinformation metadata. Metadata – “data about data” - describe the layers of spatial data (data series, services) responding to the questions: what?, why?, when?, who?, how? and where? Geoinformation metadata allows for exact search of the spatial data according to given criteria, regardless of where this data is located. On 15 May 2007 the EU Directive 2007/2/EC came into force establishing Infrastructure for Spatial Information in Europe - INSPIRE. The proper functioning of the infrastructure for spatial information would not be possible without the metadata.
Banyak tanah rakyat digusur dengan paksa dengan berbagai macam-macam
dalih, bahwa kelak sebagian besar masyarakat akan diuntungkan dengan
adanya pembangunan, dan lain-lain. Namun kenyataan menunjukkan rakyat
pemilik ...
The course for teachers who want to get their students communicating with confidence. face2face is an easy-to-teach General English course that helps adults and young adults to speak and listen with confidence. The Workbook with Key offers additional consolidation activities and a Reading and Writing Portfolio for extra skills practice.
Tersedia di Pustaka Kubang Putih - UIN Sjech M. Djamil Djambek Bukittinggi
2016-33538-0004
Tersedia di Pustaka Kubang Putih - UIN Sjech M. Djamil Djambek Bukittinggi
2016-33538-0003
Tersedia di Pustaka Kubang Putih - UIN Sjech M. Djamil Djambek Bukittinggi
2016-33538-0002
Tersedia di Pustaka Kubang Putih - UIN Sjech M. Djamil Djambek Bukittinggi
2016-33538-0001
Tersedia di Pustaka Kubang Putih - UIN Sjech M. Djamil Djambek Bukittinggi
face2face Second edition is the flexible, easy-to-teach, 6-level course (A1 to C1) for busy teachers who want to get their adult and young adult learners to communicate with confidence.
The Just Right course is a five-level general English course for adults and young adults. Students learn in different ways. Just Right seamlessly integrates different approaches, motivating students and encouraging them to learn rapidly.
The Just Right course is a five-level general English course for adults and young adults. Students learn in different ways. Just Right seamlessly integrates different approaches, motivating students and encouraging them to learn rapidly.
