Impedance control is tuned to multiple directions of movement

Humans are able to learn tool-handling tasks, such as carving, demonstrating their competency to make and vary the direction of movements in unstable environments. It has been shown that when a single reaching movement is repeated in unstable dynamics, the central nervous system (CNS) learns an impedance internal model to compensate for the environment instability. However, there is still no explanation for how humans can learn to move in various directions in such environments. In this study, we investigated whether and how humans compensate for instability while learning two different reaching movements simultaneously. Results show that when performing movements in two different directions, separated by a 35° angle, the CNS was able to compensate for the unstable dynamics. After adaptation, the force was found to be similar to the free movement condition, but stiffness increased in the direction of instability, specifically for each direction of movement. Our findings suggest that the CNS either learned an internal model generalizing over different movements, or alternatively that it was able to switch between specific models acquired simultaneously. © 2008 IEEE.

Application of scalar dissipation rate modelling to industrial burners in partially premixed regimes

The objective of this paper is to test various available turbulent burning velocity models on an experimental version of Siemens small scale combustor using the commercial CFD code. Failure of burning velocity model with different expressions for turbulent burning velocity is observed with an unphysical flame flashback into the swirler. Eddy Dissipation Model/Finite Rate Chemistry is found to over-predict mean temperature and species concentrations. Solving for reaction progress equation with its variance using scalar dissipation rate modelling produced reasonably good agreement with the available experimental data. Two different turbulence models Shear Stress Transport (SST) and Scale Adaptive Simulation (SAS) SST are tested and results from transient SST simulations are observed to be predicting well. SAS-SST is found to under-predict with temperature and species distribution.