Adaptive control of stiffness to stabilize hand position with large loads.

The goal of this work was to investigate stability in relation to the magnitude and direction of forces applied by the hand. The endpoint stiffness and joint stiffness of the arm were measured during a postural task in which subjects exerted up to 30% maximum voluntary force in each of four directions while controlling the position of the hand. All four coefficients of the joint stiffness matrix were found to vary linearly with both elbow and shoulder torque. This contrasts with the results of a previous study, which employed a force control task and concluded that the joint stiffness coefficients varied linearly with either shoulder or elbow torque but not both. Joint stiffness was transformed into endpoint stiffness to compare the effect on stability as endpoint force increased. When the joint stiffness coefficients were modeled as varying with the net torque at only one joint, as in the previous study, we found that hand position became unstable if endpoint force exceeded about 22 N in a specific direction. This did not occur when the joint stiffness coefficients were modeled as varying with the net torque at both joints, as in the present study. Rather, hand position became increasingly more stable as endpoint force increased for all directions of applied force. Our analysis suggests that co-contraction of biarticular muscles was primarily responsible for the increased stability. This clearly demonstrates how the central nervous system can selectively adapt the impedance of the arm in a specific direction to stabilize hand position when the force applied by the hand has a destabilizing effect in that direction.

Influence of a building's integrated-photovoltaics on heating and cooling loads

Building integrated photovoltaics (BIPV) has the potential to become a major source of renewable energy in the urban environment. BIPV has significant influence on the heat transfer through the building envelope because of the change of the thermal resistance by adding or replacing the building elements. Four different roofs are used to assess the impacts of BIPV on the building's heating-and-cooling loads; namely ventilated air-gap BIPV, non-ventilated (closed) air-gap BIPV, closeroof mounted BIPV, and the conventional roof with no PV and no air gap. One-dimensional transient models of four cases are derived to evaluate the PV performances and building cooling-and-heating loads across the different roofs in order to select the appropriate PV building integration method in Tianjin, China. The simulation results show that the PV roof with ventilated air-gap is suitable for the application in summer because this integration leads to the low cooling load and high PV conversion efficiency. The PV roof with ventilation air-gap has a high time lag and small decrement factor in comparison with other three roofs and has the same heat gain as the cool roof of absorptance 0.4. In winter, BIPV of non-ventilated air gap is more appropriate due to the combination of the low heating-load through the PV roof and high PV electrical output. © 2005 Elsevier Ltd. All rights reserved.

Statistical gear health analysis which is robust to fluctuating loads and operating speeds

Condition-based maintenance is concerned with the collection and interpretation of data to support maintenance decisions. The non-intrusive nature of vibration data enables the monitoring of enclosed systems such as gearboxes. It remains a significant challenge to analyze vibration data that are generated under fluctuating operating conditions. This is especially true for situations where relatively little prior knowledge regarding the specific gearbox is available. It is therefore investigated how an adaptive time series model, which is based on Bayesian model selection, may be used to remove the non-fault related components in the structural response of a gear assembly to obtain a residual signal which is robust to fluctuating operating conditions. A statistical framework is subsequently proposed which may be used to interpret the structure of the residual signal in order to facilitate an intuitive understanding of the condition of the gear system. The proposed methodology is investigated on both simulated and experimental data from a single stage gearbox. © 2011 Elsevier Ltd. All rights reserved.

Nonsmooth geometry and collapse of flexible structures under smooth loads

While static equilibria of flexible strings subject to various load types (gravity, hydrostatic pressure, Newtonian wind) is well understood textbook material, the combinations of the very same loads can give rise to complex spatial behaviour at the core of which is the unilateral material constraint prohibiting compressive loads. While the effects of such constraints have been explored in optimisation problems involving straight cables, the geometric complexity of physical configurations has not yet been addressed. Here we show that flexible strings subject to combined smooth loads may not have smooth solutions in certain ranges of the load ratios. This non-smooth phenomenon is closely related to the collapse geometry of inflated tents. After proving the nonexistence of smooth solutions for a broad family of loadings we identify two alternative, critical geometries immediately preceding the collapse. We verify these analytical results by dynamical simulation of flexible chains as well as with simple table-top experiments with an inflated membrane.