Lumped Element Modeling of a Flexible Manipulator System

This paper is concerned with a modeling method that can be used for an experimental identification of a dynamic system. More specifically, an equivalent lumped element system is presented to represent in a unique and exact manner a complete proportional-derivative (PD) controlled servo positioning system having a flexible manipulator. The impedance and mobility approach is used to transform the P and D control gains to an electrical spring and an electrical damper, respectively. The impedance model method is used to transform the flexible manipulator to a coupled system between a single contact mass at the driving position and a series of noncontact masses each of which is connected to the contact mass via a resilient member. This method is applicable whenever the driving point response of such a manipulator is available. Experimental work is presented to support the theory developed.

Biocellulose-based flexible magnetic paper

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Transfer of a cold atmospheric pressure plasma jet through a long flexible plastic tube

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Thermal inkjet printing of copper tetrasulfonated phthalocyanine (CuTsPc) as a semiconducting layer on flexible MIS capacitors

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Natural rubber latex coated with calcium phosphate for biomedical application

Natural rubber latex (NRL) is a flexible biomembrane that possesses angiogenic properties and has recently been used for guided bone regeneration, enhancing healing without fibrous tissue, allergies or rejection. Calcium phosphate (Ca/P) ceramics have chemical, biological, and mechanical properties similar to mineral phase of bone, and ability to bond to the host tissue, although it can disperse from where it is applied. Therefore, to create a composite that could enhance the properties of both materials, NRL biomembranes were coated with Ca/P. NRL biomembranes were soaked in 1.5 times concentrated SBF solution for seven days, avoiding the use of high temperatures. SEM showed that Ca/P has been coated in NRL biomembrane, XRD showed low crystallinity and FTIR showed that is the carbonated type B. Furthermore, hemolysis of erythrocytes, quantified spectrophotometrically using materials (Ca/P, NRL, and NRL + Ca/P) showed no hemolytic effects up to 0.125 mg/mL (compounds and mixtures), indicating no detectable disturbance of the red blood cell membranes. The results show that the biomimetic is an appropriate method to coat NRL with Ca/P without using high temperatures, aiming a new biomembrane to improve guided bone regeneration.