1,354,931 research outputs found
Cocuzza, G. -- 1969 -- Correspondence, Individual -- letter, 1969-05-31
No full textLetter from Cocuzza, G. to Sabin, Albert B. dated 1969-05-31.Sabin Collection Fair Use Policy</a
Cocuzza, G. -- 1969 -- Correspondence, Individual -- letter, 1969-10-18
No full textLetter from Cocuzza, G. to Sabin, Albert B. dated 1969-10-18.Sabin Collection Fair Use Policy</a
Cocuzza, G. -- 1969 -- Correspondence, Individual -- letter, 1969-10-23
No full textLetter from Sabin, Albert B. to Cocuzza, G. dated 1969-10-23.Sabin Collection Fair Use Policy</a
Experimental vibration analysis and development of the dynamic model of a uav for aerial manipulation
No full textIn the near future, aerial manipulators will be employed in important field applications, such as inspection and maintenance of bridges, tall buildings, wind farms, and offshore and nuclear plants, and search and rescue or structure assembly in hazardous environments. Unfortunately, the precision of aerial manipulators is seriously affected by the dynamic interaction between the Unmanned Aerial Vehicle (UAV) and the robot manipulator. Indeed, on the one hand, the manipulator transfers forces and torques to the UAV, which affect the UAV position and attitude. On the other hand, the UAV induces undesired vibrations on the manipulator. In this paper, first, Experimental Modal Analysis (EMA) has been used to find the experimental vibration modes of a heavy payload UAV. Then, simplified Mass-Spring-Damper (MSD) dynamic models of the UAV have been proposed, to model the most relevant experimental modes of vibration. Finally, a simple 3-Degrees-of-Freedom (3-DOFs) MSD model has been proposed to model the whole system, which eigenfrequencies and vibration modes are in good agreement with the experimental data. The developed model has been used to simulate the system response in the real scenario of a sudden variation in the lift force due to turbulence
Globally optimal inverse kinematics method for a redundant robot manipulator with linear and nonlinear constraints
No full textThis paper presents a novel inverse kinematics global method for a redundant robot manipulator performing a tracking maneuver. The proposed method, based on the choice of appropriate initial joint trajectories that satisfy the kinematic constraints to be used as inputs for a multi-start optimization algorithm, allows for the optimization of different integral cost functions, such as kinetic energy and joint torques norm, and can provide solutions with a variety of constraints, both linear and nonlinear. Furthermore, it is suitable for multi-objective optimization, and it is able to find multiple optima with minimal input from the user, and to solve cyclic trajectories. Problems with a high number of parameters have been addressed providing a sequential version of the method based on successive stages of interpolation. The results of simulations with a three-Degrees-of-Freedom (DOF) redundant manipulator have been compared with a solution available in the literature based on the calculus of variations, thus leading to the validation of the method. Moreover, the effectiveness of the presented method has been shown when used to solve problems with constraints on joint displacement, velocity, torque, and power
Correction to: advanced olfactory neuroblastoma in a teenager: a clinical case and short review of literature (Child's Nervous System, (2020), 36, 3, (485-489), 10.1007/s00381-020-04514-9)
No full textThe original version of this article unfortunately contained an error. The author apologizes for having communicated an interchanged author’s first and family names. Given in this article are the correct author names
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