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RISReconfiguration of a Rolling Sphere: A Problem in Evolute-Involute Geometry
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper provides a new perspective to the problem of reconfiguration of a rolling sphere. It is shown that the motion of a rolling sphere can be characterized by evolute-involute geometry. ...
A Surface Integral Approach to the Motion Planning of Nonholonomic Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Nonholonomic mechanical systems are governed by constraints of motion that are nonintegrable differential expressions. Unlike holonomic constraints, these constraints do not reduce the number of ...
Under-Actuated Kinematic Structures for Miniature Climbing Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents two biped designs for miniature climbing robots. The designs use under-actuation to satisfy space and weight constraints. In the first design, one actuator provides steering ...
Steady-State and Transient Analysis of a Steam-Reformer Based Solid Oxide Fuel Cell System
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper we perform a model-based analysis of a solid oxide fuel cell (SOFC) system with an integrated steam reformer and with methane as a fuel. The objective of this study is to ...
Active Vibration Control of a Flexible Beam Using a Buckling-Type End Force
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we explore the use of end forces for vibration control in structural elements. The process involves vibration measurement and observer-based estimation of modal amplitudes, which ...
Energy Dissipation in Dynamical Systems Through Sequential Application and Removal of Constraints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A strategy to remove energy from finite-dimensional elastic systems is presented. The strategy is based on the cyclic application and removal of constraints that effectively remove and restore ...
Enhancing Controllability and Observability in Underactuated and Undersensed Systems Through Switching: Application to Vibration Control
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Many dynamical systems use transducers that can function both as actuators and sensors. It is possible to continuously switch the functionality of the transducer elements in such systems and ...
Vibration Suppression in Structures Using Cable Actuators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: We investigate the use of cable tension for active vibration control in frame structures. A general formulation for this class of systems is developed using finite elements, which includes the ...
Adaptive Compensation of Sensor Runout for Magnetic Bearings With Uncertain Parameters: Theory and Experiments
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The problem of sensor runout in magnetic bearing systems has been largely overlooked due to similarities with mass unbalance in creating periodic disturbances. While the effect of mass unbalance ...
Synchronous Sensor Runout and Unbalance Compensation in Active Magnetic Bearings Using Bias Current Excitation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Sensor runout and unbalance are the dominant sources of periodic disturbances in magnetic bearings. Many algorithms have been investigated for individual runout and unbalance compensation but the ...