30 resultados para Compliant cannula

em Universidad Politécnica de Madrid


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The field of exoskeletons and wearable devices for walking assistance and rehabilitation has advanced considerably over the past few years. Currently, commercial devices contain joints with stiff actuators that cannot adapt to unpredictable environments. These actuators consume more energy and may not be appropriate for human-machine interactions. Thus, adjustable compliant actuators are being cautiously incorporated into new exoskeletons and active orthoses. Some simulation-based studies have evaluated the benefits of incorporating compliant joints into such devices. Another reason that compliant actuators are desirable is that spasticity and spasmodic movements are common among patients with motor deficiencies; compliant actuators could efficiently absorb these perturbations and improve joint control. In this paper, we provide an overview of the requirements that must be fulfilled by these actuators while evaluating the behavior of leg joints in the locomotion cycle. A brief review of existing compliant actuators is conducted, and our proposed variable stiffness actuator prototype is presented and evaluated. The actuator prototype is implemented in an exoskeleton knee joint operated by a state machine that exploits the dynamics of the leg, resulting in a reduction in actuation energy demand and better adaptability to disturbances.

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This paper describes the CyberAula 2.0 project which presents an integrated solution for videoconferencing and lecture recording as a mechanism to support subjects which need to be promoted or discontinued within the framework of the European convergence process. Our solution is made up of a web portal, a videoconferencing tool and an economical and easily transportable hardware kit. Recording sessions can be exported to SCORM and LOM compliant files which can be imported by an LMS. The validation process is currently being carried out in five scenarios at our university that use Moodle as a way to deliver content to students.

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In this paper we present a novel Radio Frequency Identification (RFID) system for accurate indoor localization. The system is composed of a standard Ultra High Frequency (UHF), ISO-18006C compliant RFID reader, a large set of standard passive RFID tags whose locations are known, and a newly developed tag-like RFID component that is attached to the items that need to be localized. The new semi-passive component, referred to as sensatag (sense-a-tag), has a dual functionality wherein it can sense the communication between the reader and standard tags which are in its proximity, and also communicate with the reader like standard tags using backscatter modulation. Based on the information conveyed by the sensatags to the reader, localization algorithms based on binary sensor principles can be developed. We present results from real measurements that show the accuracy of the proposed system.

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Systems relying on fixed hardware components with a static level of parallelism can suffer from an underuse of logical resources, since they have to be designed for the worst-case scenario. This problem is especially important in video applications due to the emergence of new flexible standards, like Scalable Video Coding (SVC), which offer several levels of scalability. In this paper, Dynamic and Partial Reconfiguration (DPR) of modern FPGAs is used to achieve run-time variable parallelism, by using scalable architectures where the size can be adapted at run-time. Based on this proposal, a scalable Deblocking Filter core (DF), compliant with the H.264/AVC and SVC standards has been designed. This scalable DF allows run-time addition or removal of computational units working in parallel. Scalability is offered together with a scalable parallelization strategy at the macroblock (MB) level, such that when the size of the architecture changes, MB filtering order is modified accordingly

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All-terrain robot locomotion is an active topic of research. Search and rescue maneuvers and exploratory missions could benefit from robots with the abilities of real animals. However, technological barriers exist to ultimately achieving the actuation system, which is able to meet the exigent requirements of these robots. This paper describes the locomotioncontrol of a leg prototype, designed and developed to make a quadruped walk dynamically while exhibiting compliant interaction with the environment. The actuation system of the leg is based on the hybrid use of series elasticity and magneto-rheological dampers, which provide variable compliance for natural-looking motion and improved interaction with the ground. The locomotioncontrol architecture has been proposed to exploit natural leg dynamics in order to improve energy efficiency. Results show that the controller achieves a significant reduction in energy consumption during the leg swing phase thanks to the exploitation of inherent leg dynamics. Added to this, experiments with the real leg prototype show that the combined use of series elasticity and magneto-rheologicaldamping at the knee provide a 20 % reduction in the energy wasted in braking the knee during its extension in the leg stance phase.

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Under-deck cable-stayed bridges are very effective structural systems for which the strong contribution of the stay cables under live loading allows for the design of very slender decks for persistent and transient loading scenarios. Their behaviour when subjected to seismic excitation is investigated herein and a set of design criteria are presented that relate to the type and arrangement of bearings, the number and configuration of struts, and the transverse distribution of stay cables. The nonlinear behaviour of these bridges when subject to both near-field and far-field accelerograms has been thoroughly investigated through the use of incremental dynamic analyses. An intensity measure that reflects the pertinent contributions to response when several vibration modes are activated was proposed and is shown to be effective for the analysis of this structural type. The under-deck cable-stay system contributes in a very positive manner to reducing the response when the bridges are subject to very strong seismic excitation. For such scenarios, the reduction in the stiffness of the deck because of crack formation, when prestressed concrete decks are used, mobilises the cable system and enhances the overall performance of the system. Sets of natural accelerograms that are compliant with the prescriptions of Eurocode 8 were also applied to propose a set of design criteria for this bridge type in areas prone to earthquakes. Particular attention is given to outlining the optimal strategies for the deployment of bearings

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We present and evaluate a compiler from Prolog (and extensions) to JavaScript which makes it possible to use (constraint) logic programming to develop the client side of web applications while being compliant with current industry standards. Targeting JavaScript makes (C)LP programs executable in virtually every modern computing device with no additional software requirements from the point of view of the user. In turn, the use of a very high-level language facilitates the development of high-quality, complex software. The compiler is a back end of the Ciao system and supports most of its features, including its module system and its rich language extension mechanism based on packages. We present an overview of the compilation process and a detailed description of the run-time system, including the support for modular compilation into separate JavaScript code. We demonstrate the maturity of the compiler by testing it with complex code such as a CLP(FD) library written in Prolog with attributed variables. Finally, we validate our proposal by measuring the performance of some LP and CLP(FD) benchmarks running on top of major JavaScript engines.

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A boundary element approach for time harmonic axisymmetric problems using the complete space point load fundamental solution is presented. The fundamental solution is integrated numerically along the azimuthal co-ordinate of each axisymmetric element. To increase the accuracy of the numerical integration a simple co-ordinate transformation is proposed. The approach is applied to the computation of the dynamic stiffness functions of rigid circular foundations on layered viscoelastic soils. Three different sites are considered: a uniform half-space, a soil layer on a half-space, and a soil consisting of four horizontal layers and a compliant half-space. The numerical results obtained by the proposed approach for surface circular foundations are very close to corresponding published results obtained by different procedures.

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Digital image correlation (DIC) is applied to analyzing the deformation mechanisms under transverse compression in a fiber-reinforced composite. To this end, compression tests in a direction perpendicular to the fibers were carried out inside a scanning electron microscope and secondary electron images obtained at different magnifications during the test. Optimum DIC parameters to resolve the displacement and strain field were computed from numerical simulations of a model composite and they were applied to micrographs obtained at different magnifications (250_, 2000_, and 6000_). It is shown that DIC of low-magnification micrographs was able to capture the long range fluctuations in strain due to the presence of matrix-rich and fiber-rich zones, responsible for the onset of damage. At higher magnification, the strain fields obtained with DIC qualitatively reproduce the non-homogeneous deformation pattern due to the presence of stiff fibers dispersed in a compliant matrix and provide accurate results of the average composite strain. However, comparison with finite element simulations revealed that DIC was not able to accurately capture the average strain in each phase.

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The dynamic effects of high-speed trains on viaducts are important issues for the design of the structures, as well as for the consideration of safe running conditions for the trains. In this work we start by reviewing the relevance of some basic design aspects. The significance of impact factor envelopes for moving loads is considered first. Resonance which may be achieved for high-speed trains requires dynamic analysis, for which some key aspects are discussed. The relevance of performing a longitudinal distribution of axle loads, the number of modes taken in analysis, and the consideration of vehicle-structure interaction are discussed with representative examples. The lateral dynamic effects of running trains on bridges is of importance for laterally compliant viaducts, such as some very tall structures erected in new high-speed lines. The relevance of this study is mainly for the safety of the traffic, considering both internal actions such as the hunting motion as well as external actions such as wind or earthquakes [1]. These studies require three-dimensional dynamic coupled vehicle-bridge models, and consideration of wheel to rail contact, a phenomenon which is complex and costly to model in detail. We describe here a fully nonlinear coupled model, described in absolute coordinates and incorporated into a commercial finite element framework [2]. The wheel-rail contact has been considered using a FastSim algorithm which provides a compromise between accuracy and computational cost, and captures the main nonlinear response of the contact interface. Two applications are presented, firstly to a vehicle subject to a strong wind gust traversing a bridge, showing the relevance of the nonlinear wheel-rail contact model as well as the dynamic interaction between bridge and vehicle. The second application is to a real HS viaduct with a long continuous deck and tall piers and high lateral compliance [3]. The results show the safety of the traffic as well as the importance of considering features such as track alignment irregularities.

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The study of lateral dynamics of running trains on bridges is of importance mainly for the safety of the traffic, and may be relevant for laterally compliant bridges. These studies require 3D coupled vehicle-bridge models, and consideration of wheel to rail contact, a phenomenon which is complex and costly to model in detail. We describe here a fully nonlinear coupled model, described in absolute coordinates and incorporated into a commercial finite element framework. Two applications are presented, firstly to a vehicle subject to a strong wind gust traversing a br idge, showing the relevance of the nonlinear wheel-rail contact model as well as the interaction between bridge and vehicle. The second application is to a real viaduct in a high-speed line, with a long continuous deck and tall piers with high lateral compliance. The results show the safety of the traffic as well as the relevance of considering the wind action and the nonlinear response.

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The dynamic effects of high-speed trains on viaducts are important issues for the design of the structures, as well as for determining safe running conditions of trains. In this work we start by reviewing the relevance of some basic moving load models for the dynamic action of vertical traffic loads. The study of lateral dynamics of running trains on bridges is of importance mainly for the safety of the traffic, and may be relevant for laterally compliant bridges. These studies require 3D coupled vehicle-bridge models and consideration of wheel to rail contact. We describe here a fully nonlinear coupled model, formulated in absolute coordinates and incorporated into a commercial finite element framework. An application example is presented for a vehicle subject to a strong wind gust traversing a bridge, showing the relevance of the nonlinear wheel-rail contact model as well as the interaction between bridge and vehicle.

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Abstract. The ASSERT project de?ned new software engineering methods and tools for the development of critical embedded real-time systems in the space domain. The ASSERT model-driven engineering process was one of the achievements of the project and is based on the concept of property- preserving model transformations. The key element of this process is that non-functional properties of the software system must be preserved during model transformations. Properties preservation is carried out through model transformations compliant with the Ravenscar Pro?le and provides a formal basis to the process. In this way, the so-called Ravenscar Computational Model is central to the whole ASSERT process. This paper describes the work done in the HWSWCO study, whose main objective has been to address the integration of the Hardware/Software co-design phase in the ASSERT process. In order to do that, non-functional properties of the software system must also be preserved during hardware synthesis. Keywords : Ada 2005, Ravenscar pro?le, Hardware/Software co-design, real- time systems, high-integrity systems, ORK

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Stroke is the leading cause of long-term disability in the United States, affecting over 795,000 people annually. In order to regain motor function of the upper body, patients are usually treated by regular sessions with a dedicated physical therapist. A cost-effective wearable upper body orthotics system that can be used at home to empower both the patients and physical therapists is described. The system is composed of a thin, compliant, lightweight, cost-effective soft orthotic device with an integrated cable actuation system that is worn over the upper body, an embedded limb position sensing system, an electric actuator package and controller. The proposed device is robust to misalignments that may occur during actuation of the compliant brace or when putting on the system. Through simulations and experimental evaluation, it was demonstrated i) that the soft orthotic cable-driven shoulder brace can be successfully actuated without the production of off-axis torques in the presence of misalignments and ii) that the proposed model can identify linear and angular misalignments online.

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A lo largo de este proyecto se han tratado las diferentes fases que tienen lugar durante el desarrollo del programa de Diseño y Verificación de una Bocina en Banda C destinada a un satélite comercial de comunicaciones. En un primer lugar, se introduce el proyecto en el mundo real realizando una pequeña aproximación a los satélites artificiales y su historia. Después, en una primera fase, se describen los diversos puntos de la etapa de diseño y los resultados de la simulación de nuestra Antena. Se estudian por separado los diferentes elementos que componen el equipo, y además, se realiza un análisis de los parámetros eléctricos que se deben tener en cuenta durante el diseño para adaptar el comportamiento de la Antena a los requisitos solicitados por el cliente. Antes de realizar la verificación de la Antena, se procede a la definición de los ensayos, que se debe realizar sobre el equipo con el fin de simular las condiciones a las que se verá sometido. Pruebas y medidas, niveles de test, etc. que nos ayudan a demostrar que nuestra Antena está preparada para realizar su misión en el espacio. Se hará una descripción sobre la forma de realizar de los ensayos y de las instalaciones donde se van a llevar a cabo, además del orden que llevaremos durante la campaña. Una vez determinados los test y con la Antena fabricada y lista, se procede a la Verificación de nuestro equipo mediante la Campaña de Ensayos con el objetivo de caracterizar por completo el funcionamiento de nuestra Antena en cualquier circunstancia. Se muestran los resultados obtenidos en los test siguiendo el orden establecido por el Test Plan. Medidas en Laboratorio y Radiación, los test de vibración y las pruebas ambientales en las Cámaras Térmicas de Vacío, y medidas eléctricas en condiciones extremas de temperatura y presión. Y una vez realizada la Campaña, se vuelve a medir la Antena para comprobar el funcionamiento tras soportar todos los ensayos. Se analizan los resultados obtenidos en cada una de las pruebas y se comparan con las simulaciones obtenidas durante la fase de diseño. Finalmente, se realiza un pequeño resumen de los valores más importantes obtenidos durante la Verificación y exponen las Conclusiones que se desprende de dicho proceso. Como último punto del proyecto, se estudian las correcciones y mejoras que se podrán llevar a cabo en futuros programas gracias a lo que hemos aprendido en este proyecto. Abstract This project presents a C Band Horn Antenna for a commercial communications satellite. All the different phases from Design to Verification are presented. First of all, an introduction to artificial satellites and their history is presented to put this project into perspective. Next, the electrical design of the Antenna is presented. Taking into account the theoretical fundamentals, each element that comprises this Antenna was designed. Their electrical performances, obtained from analysis using commercial software, are presented in the simulation results. In the design of each element of the antenna, some critical parameters are set and optimized in order to be compliant with the global requirements requested by the customer. After the design is completed, it is necessary to define the Test Campaign that has to be carried out in order to verify the validity of the designed and manufactured Antenna. Therefore, a Test Plan and the Electrical and Environmental Test Procedures are defined. This Test Campaign must be representative of the same conditions of the real space mission. Considering this, the following are defined: parameters for the network analyzer and radiation patterns measurements; test levels for the environmental test; definition of the RF measurements to be carried out and the temperatures to be applied in the thermal vacuum cycling. If the Antenna surpasses these tests, it will be ready to perform its mission in space over the entire satellite’s life cycle. The facilities where the tests are performed, as well as the sequence of the tests along the campaign are described too. After that, the Test Campaign is performed to fully characterize the Antenna in the space simulated conditions. Following the order established in the Test Plan, a radiation pattern and laboratory parameters are measured to correlate its electrical response with the simulations. Then, vibration and thermal vacuum tests are performed to verify its behavior in extreme environmental conditions. Last, if the final electrical results are the same as the initial ones, it can be stated that the antenna has successfully passed the Test Campaign. And finally, conclusions obtained from the data simulation design and Test Campaign results are presented. Status of Compliance with the specification is shown to demonstrate that the Antenna fulfills the requested requirements. Although the purpose of this project is to design and verify the response of C Band Horn Antenna, it is important to highlight improvements for future developments and the lessons learnt during this project.