This study aims to explore the humanoid robot joint servo drive integration design and adaptive backstepping control. To make the humanoid robot have explosive power as the human does, simply increasing the power outp...This study aims to explore the humanoid robot joint servo drive integration design and adaptive backstepping control. To make the humanoid robot have explosive power as the human does, simply increasing the power output of the motor of a lightweight design cannot meet the demand of moving heavy objects and so on. Moreover, the backstepping control algorithm is designed to implement the dual-arm cooperative control. The joint servo drive is redesigned in the present study, which can drive the motor at a limitation state when needed output high-voltage pulse can stimulate the motor so that the motor can produce an instantaneous large torque. A miniature design scheme is presented in this study for the servo drive, explaining the design method of each part module. The ex- perimental data illustrate that the servo drive can produce an output torque greater than the rate of the high-voltage pulse that stimulates the motor. Knowledge of the control of humanoid robot moving a heavy object has important practical significance. The present study provides a complete actual problem and exhibits a real practical use case which can be used to speed up the explosive humanoid robot arms.展开更多
Advanced high alumina refractory castables of ultra-low and to cement types, are well-known because of their ability on developing similar and/or superior thermal and mechanical properties. Following the recent trend ...Advanced high alumina refractory castables of ultra-low and to cement types, are well-known because of their ability on developing similar and/or superior thermal and mechanical properties. Following the recent trend of including nanoparticles in refractory castables, in this work, it is presented a novel way to obtain the benefit effects on the thermal and mechanical properties, promoted by the development in situ, of alumina’s nanoparticles in the matrix of castable (85 wt% Al2O3). The alumina nanoparticles were originated in situ after firing, due to the pyrolysis and oxidation of an aqueous resin, produced by the Pechini process. The resin played a double role, one as mixing liquid vehicle and the other as the aluminum oxide nanoparticles precursor. The results indicate a strong increase in flexural strength and elastic modulus as well as leading to a higher residual strength after thermal shock.展开更多
In face of scarcity in the supply of non-traditional Brazilian woods properly treated for use in high quality musical instruments,pieces of Amazonian wood species muiracatiara(Astronium lecointei)and maçaranduba(...In face of scarcity in the supply of non-traditional Brazilian woods properly treated for use in high quality musical instruments,pieces of Amazonian wood species muiracatiara(Astronium lecointei)and maçaranduba(Manilkara huberi)purchased in the common internal Brazilian timber market were examined.These species were pre-selected for use in fingerboards of acoustic and electric guitars due to similar properties with ebony(Diospyros crassiflora).Variabilities of elastic modulus parallel to grain and density were investigated inside wooden pieces.In addition,referred parameters were used in calculation of speed of sound.Statistical tests were performed in order to compare both species and revealed inequality for variances of dynamic elastic modulus(E_(d))and speed of sound,but equality for density.Equality of means was also examined via unequal variance t-test.Despite color differences,lower variability of M.huberi led to the indication of this species as likely capable to substitute satisfactorily ebony in fingerboards manufacturing.展开更多
文摘This study aims to explore the humanoid robot joint servo drive integration design and adaptive backstepping control. To make the humanoid robot have explosive power as the human does, simply increasing the power output of the motor of a lightweight design cannot meet the demand of moving heavy objects and so on. Moreover, the backstepping control algorithm is designed to implement the dual-arm cooperative control. The joint servo drive is redesigned in the present study, which can drive the motor at a limitation state when needed output high-voltage pulse can stimulate the motor so that the motor can produce an instantaneous large torque. A miniature design scheme is presented in this study for the servo drive, explaining the design method of each part module. The ex- perimental data illustrate that the servo drive can produce an output torque greater than the rate of the high-voltage pulse that stimulates the motor. Knowledge of the control of humanoid robot moving a heavy object has important practical significance. The present study provides a complete actual problem and exhibits a real practical use case which can be used to speed up the explosive humanoid robot arms.
基金The authors thank the support of the Sao Paulo State Research Funding FAPESP through CDMF/CEPID programto Capes for the scholarship to Jose Antonio Alves Jr.
文摘Advanced high alumina refractory castables of ultra-low and to cement types, are well-known because of their ability on developing similar and/or superior thermal and mechanical properties. Following the recent trend of including nanoparticles in refractory castables, in this work, it is presented a novel way to obtain the benefit effects on the thermal and mechanical properties, promoted by the development in situ, of alumina’s nanoparticles in the matrix of castable (85 wt% Al2O3). The alumina nanoparticles were originated in situ after firing, due to the pyrolysis and oxidation of an aqueous resin, produced by the Pechini process. The resin played a double role, one as mixing liquid vehicle and the other as the aluminum oxide nanoparticles precursor. The results indicate a strong increase in flexural strength and elastic modulus as well as leading to a higher residual strength after thermal shock.
文摘In face of scarcity in the supply of non-traditional Brazilian woods properly treated for use in high quality musical instruments,pieces of Amazonian wood species muiracatiara(Astronium lecointei)and maçaranduba(Manilkara huberi)purchased in the common internal Brazilian timber market were examined.These species were pre-selected for use in fingerboards of acoustic and electric guitars due to similar properties with ebony(Diospyros crassiflora).Variabilities of elastic modulus parallel to grain and density were investigated inside wooden pieces.In addition,referred parameters were used in calculation of speed of sound.Statistical tests were performed in order to compare both species and revealed inequality for variances of dynamic elastic modulus(E_(d))and speed of sound,but equality for density.Equality of means was also examined via unequal variance t-test.Despite color differences,lower variability of M.huberi led to the indication of this species as likely capable to substitute satisfactorily ebony in fingerboards manufacturing.
