Parallel Coupled Micro-Macro Actuators

This thesis presents a new actuator system consisting of a micro-actuator and a macro-actuator coupled in parallel via a compliant transmission. The system is called the Parallel Coupled Micro-Macro Actuator, or PaCMMA. In this system, the micro-actuator is capable of high bandwidth force control due to its low mass and direct-drive connection to the output shaft. The compliant transmission of the macro-actuator reduces the impedance (stiffness) at the output shaft and increases the dynamic range of force. Performance improvement over single actuator systems was expected in force control, impedance control, force distortion and reduction of transient impact forces. A set of quantitative measures is proposed and the actuator system is evaluated against them: Force Control Bandwidth, Position Bandwidth, Dynamic Range, Impact Force, Impedance ("Backdriveability'"), Force Distortion and Force Performance Space. Several theoretical performance limits are derived from the saturation limits of the system. A control law is proposed and control system performance is compared to the theoretical limits. A prototype testbed was built using permanenent magnet motors and an experimental comparison was performed between this actuator concept and two single actuator systems. The following performance was observed: Force bandwidth of 56Hz, Torque Dynamic Range of 800:1, Peak Torque of 1040mNm, Minimum Torque of 1.3mNm. Peak Impact Force was reduced by an order of magnitude. Distortion at small amplitudes was reduced substantially. Backdriven impedance was reduced by 2-3 orders of magnitude. This actuator system shows promise for manipulator design as well as psychophysical tests of human performance.

Trajectory and Force Control of a Direct Drive Arm

Using the MIT Serial Link Direct Drive Arm as the main experimental device, various issues in trajectory and force control of manipulators were studied in this thesis. Since accurate modeling is important for any controller, issues of estimating the dynamic model of a manipulator and its load were addressed first. Practical and effective algorithms were developed fro the Newton-Euler equations to estimate the inertial parameters of manipulator rigid-body loads and links. Load estimation was implemented both on PUMA 600 robot and on the MIT Serial Link Direct Drive Arm. With the link estimation algorithm, the inertial parameters of the direct drive arm were obtained. For both load and link estimation results, the estimated parameters are good models of the actual system for control purposes since torques and forces can be predicted accurately from these estimated parameters. The estimated model of the direct drive arm was them used to evaluate trajectory following performance by feedforward and computed torque control algorithms. The experimental evaluations showed that the dynamic compensation can greatly improve trajectory following accuracy. Various stability issues of force control were studied next. It was determined that there are two types of instability in force control. Dynamic instability, present in all of the previous force control algorithms discussed in this thesis, is caused by the interaction of a manipulator with a stiff environment. Kinematics instability is present only in the hybrid control algorithm of Raibert and Craig, and is caused by the interaction of the inertia matrix with the Jacobian inverse coordinate transformation in the feedback path. Several methods were suggested and demonstrated experimentally to solve these stability problems. The result of the stability analyses were then incorporated in implementing a stable force/position controller on the direct drive arm by the modified resolved acceleration method using both joint torque and wrist force sensor feedbacks.

High Optical Quality Nanoporous GaN Prepared by Photoelectrochemical Etching

Nanoporous GaN films are prepared by UV assisted electrochemical etching using HF solution as an electrolyte. To assess the optical quality and morphology of these nanoporous films, micro-photoluminescence (PL), micro-Raman scattering, scanning electron microscopy (SEM), and atomic force microscopy (AFM) techniques have been employed. SEM and AFM measurements revealed an average pore size of about 85-90 nm with a transverse dimension of 70-75 nm. As compared to the as-grown GaN film, the porous layer exhibits a substantial photoluminescence intensity enhancement with a partial relaxation of compressive stress. Such a stress relaxation is further confirmed by the red shifted E₂(TO) phonon peak in the Raman spectrum of porous GaN.

Numerical comparison between Maxwell stress method and equivalent multipole approach for calculation of the dielectrophoretic force in octupolar cell traps

This work presents detailed numerical calculations of the dielectrophoretic force in octupolar traps designed for single-cell trapping. A trap with eight planar electrodes is studied for spherical and ellipsoidal particles using an indirect implementation of the boundary element method (BEM). Multipolar approximations of orders one to three are compared with the full Maxwell stress tensor (MST) calculation of the electrical force on spherical particles. Ellipsoidal particles are also studied, but in their case only the dipolar approximation is available for comparison with the MST solution. The results show that the full MST calculation is only required in the study of non-spherical particles.

Laser stripe peak detector for 3D scanners: a FIR filter approach

The accuracy of a 3D reconstruction using laser scanners is significantly determined by the detection of the laser stripe. Since the energy pattern of such a stripe corresponds to a Gaussian profile, it makes sense to detect the point of maximum light intensity (or peak) by computing the zero-crossing point of the first derivative of such Gaussian profile. However, because noise is present in every physical process, such as electronic image formation, it is not sensitive to perform the derivative of the image of the stripe in almost any situation, unless a previous filtering stage is done. Considering that stripe scanning is an inherently row-parallel process, every row of a given image must be processed independently in order to compute its corresponding peak position in the row. This paper reports on the use of digital filtering techniques in order to cope with the scanning of different surfaces with different optical properties and different noise levels, leading to the proposal of a more accurate numerical peak detector, even at very low signal-to-noise ratios

Análisis geopolítico de las relaciones y tensiones político-militares entre Rusia y Georgia a raíz de su participación en el conflicto de independencia de Osetia del Sur entre 2004 y 2008

Desde la caída de la URSS el continente Euroasiático ha sufrido cambios importantes como una nueva configuración del Sistema Internacional que generó procesos políticos a través de la lucha de los Estados por alcanzar sus objetivos. La ubicación geográfica y los recursos resaltan la importancia de la zona y es por esto empiezan los conflictos entre los Estados por obtener un control y poder sobre estos territorios. Rusia afianzo su fuerza con la influencia que logró sobre los territorios que quedaron después de la disolución de la URSS en 1991 creando así una zona de protección y apoyo para sus intereses. Por su lado Georgia que había logrado finalmente su independencia total buscaba consolidar una estabilidad política, económica, social y cultural, elementos que se habían perdido un poco después de las invasiones y ocupaciones por otros poderes. En este contexto cae como una bomba la intención independentista de Abjasia y Osetia del Sur, territorios que siempre habían estado bajo mando de otros poderes y ahora querían libertad a través de la conformación de un Estado propio y una autonomía que les permitiera tener un gobierno y un aparato estatal que velara por sus intereses. Este trabajo se centrará en contestar a la siguiente pregunta ¿De qué manera la situación geopolítica de Osetia del Sur y Abjasia y las relaciones entre Rusia y Georgia influyeron en el conflicto generado a partir de la intención de independencia de los territorios de Abjasia y Osetia del Sur?

The project of land restitution in Colombia: an illustration of the civilizing force of hypocrisy?

This article offers a theoretical interpretation of the dispositions on land restitution contained in the famous “Victims’ Bill”, which was debated in the Colombian Congress during the year 2008. The bill included specific mechanisms aimed at guaranteeing the restitution of land to victims of the Colombian armed conflict. At the time, the bill was endorsed by all the main political actors in the country –notably the government and the elites that support it, on the one hand, and victims’ and human rights organizations and other opposition groups, on the other–. The fact that the restitution of land to victims of the Colombian armed conflict was being considered as a serious possibility by all political actors in the country seemed to indicate the existence of a consensus among actors whose positions are ordinarily opposed, on an issue that has traditionally led to high levels of polarization. This consensus is quite puzzling, because it seems to be at odds with the interests and/or the conceptions of justice advocated by these political actors, and because the restitution of land faces enormous difficulties both from a factual and a normative point of view, which indicates that it may not necessarily be the best alternative for dealing with the issue of land distribution in Colombia. This article offers an interpretation of said consensus, arguing that it is only an apparent consensus in which the actors are actually misrepresenting their interests and conceptions of justice, while at the same time adopting divergent strategies of implementation aimed at fulfilling their true interests. Nevertheless, the article concludes that the common adherence by all actors to the principle of restorative justice might bring about its actual realization, and thus produce an outcome that, in spite (and perhaps even because) of being unintended, might substantively contribute to solving the problem of unequal land distribution in Colombia. Even though the article focuses in some detail on the specificities of the 2008 Bill, it attempts to make a general argument about the state of the discussion on how to deal with the issue of land distribution in the country. Consequently, it may still be relevant today, especially considering that a new Bill on land restitution is currently being discussed in Congress, which includes the same restitution goals as the Victims’ Bill and many of its procedural and substantive details, and which therefore seems to reflect a similar consensus to the one analyzed in the article.

Sobrevida y factores relacionados con reintervención en pacientes tratados con valvuloplastia aórtica con balón en la Fundación Cardioinfantil

Introducción: La valvuloplastía aórtica con balón (VAB) es el procedimiento de elección para el manejo de La estenosis valvular aórtica en pediatría. La mortalidad y la supervivencia libre de reintervenciones no han sido evaluadas en Colombia. Objetivo: Determinar la sobrevida global y los factores asociados de reintervención valvular aórtica (RVA) en los pacientes tratados con VAB en la Fundación Cardio infantil – Instituto de Cardiología entre febrero del 2005 y marzo del 2013. Métodos: estudio estudio analítico de cohorte Resultados: Se evaluaron 69 VAB. La edad promedio de realización fue de 74,89 meses. La relación hombre: mujer de 4:1. Un 30,5% de los pacientes tenían malformaciones cardiacas asociadas. Se presentaron complicaciones en 13% de las VAB. La presión sistólica del ventrículo izquierdo presento una reducción promedio de un 63,6%. Se siguieron el 81,2% de las VAB, encontrando a los 9 años de seguimiento, supervivencia de 89,2% y necesidad de RVA en 14,2% de las VAB, siendo más frecuentes en VAB con gradiente post-VAB mayor de 35 mmhg (p= 0.005), con un RR de 6.6. Los otros factores no mostraron relaciones estadísticamente significativas (edad, morfología valvular, malformaciones asociadas, insuficiencia aórtica post-VAB). Conclusiones: La VAB es eficaz en el manejo de la EVA congénita, con una mortalidad y supervivencia libre de RVA similares a las encontradas en estudios previamente publicados. El gradiente post VAB mayor de 35 mm hg fue el único factor de riesgo que se correlacionó con la supervivencia libre de RVA.

Force and movement.

Es una introducción al mundo científico para los niños, con un texto sencillo y con actividades descritas paso a paso. Así, descubren que la ciencia es divertida de aprender y de interés para su vida cotidiana. Este volumen trata de los distintos tipos de fuerzas existentes para poner las cosas en movimiento: empujar, arrastrar, frenar; está dividido en cuatro secciones, cada una de ellas señalada con un triágulo de distinto color en la esquina de la página.

Can you feel the force?

Ofrece información, experiencias, preguntas y respuestas acerca de la física. En primer lugar se presenta una reseña histórica para ayudar a los estudiantes en la comprensión de la materia. En puedes sentir la fuerza, se definen algunos términos y explican las leyes de Newton. En cuál es el problema, explora imanes, y los estados de la materia, y en puede ver la luz analiza la teoría de partículas, el color, rayos electromagnéticos, y la velocidad de la luz. Hay experimentos que ayudan a explicar la materia, fricción, gravedad, la velocidad, la electricidad, la presión del aire y la presión del agua. En la sección quién es quién están los perfiles de 16 científicos, de Aristóteles a Dirac ,y sus descubrimientos. Hay un glosario.