Nonlinear Couplings (nonlinear + coupling)

Distribution by Scientific Domains


Selected Abstracts


Compliant grasping with passive forces

JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 5 2005
Cai-Hua Xiong
Because friction is central to robotic grasp, developing an accurate and tractable model of contact compliance, particularly in the tangential direction, and predicting the passive force closure are crucial to robotic grasping and contact analysis. This paper analyzes the existence of the uncontrollable grasping forces (i.e., passive contact forces) in enveloping grasp or fixturing, and formulates a physical model of compliant enveloping grasp. First, we develop a locally elastic contact model to describe the nonlinear coupling between the contact force with friction and elastic deformation at the individual contact. Further, a set of "compatibility" equations is given so that the elastic deformations among all contacts in the grasping system result in a consistent set of displacements of the object. Then, combining the force equilibrium, the locally elastic contact model, and the "compatibility" conditions, we formulate the natural compliant model of the enveloping grasp system where the passive compliance in joints of fingers is considered, and investigate the stability of the compliant grasp system. The crux of judging passive force closure is to predict the passive contact forces in the grasping system, which is formulated into a nonlinear least square in this paper. Using the globally convergent Levenberg-Marquardt method, we predict contact forces and estimate the passive force closure in the enveloping grasps. Finally, a numerical example is given to verify the proposed compliant enveloping grasp model and the prediction method of passive force closure. © 2005 Wiley Periodicals, Inc. [source]


The double-mode RR Lyrae variable BS Com

ASTRONOMISCHE NACHRICHTEN, Issue 8 2007
I. Dékány
Abstract We present the frequency analysis of the multicolour time series photometry of the field RRd variable BS Comae. The large number of data points in each of the BV (RI)C bands and the ,0.01 magnitude accuracy of the individual measurements allow us a high precision analysis of the properties of the combination frequencies due to nonlinear coupling. Through the combination of the frequency spectra in different colors we show that except for the components corresponding to the linear combinations of the two pulsation modes, there are no other components present above the millimagnitude amplitude level. (© 2007 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim) [source]


Drug effect on EEG connectivity assessed by linear and nonlinear couplings

HUMAN BRAIN MAPPING, Issue 3 2010
Joan F. Alonso
Abstract Quantitative analysis of human electroencephalogram (EEG) is a valuable method for evaluating psychopharmacological agents. Although the effects of different drug classes on EEG spectra are already known, interactions between brain locations remain unclear. In this work, cross mutual information function and appropriate surrogate data were applied to assess linear and nonlinear couplings between EEG signals. The main goal was to evaluate the pharmacological effects of alprazolam on brain connectivity during wakefulness in healthy volunteers using a cross-over, placebo-controlled design. Eighty-five pairs of EEG leads were selected for the analysis, and connectivity was evaluated inside anterior, central, and posterior zones of the scalp. Connectivity between these zones and interhemispheric connectivity were also measured. Results showed that alprazolam induced significant changes in EEG connectivity in terms of information transfer in comparison with placebo. Trends were opposite depending on the statistical characteristics: decreases in linear connectivity and increases in nonlinear couplings. These effects were generally spread over the entire scalp. Linear changes were negatively correlated, and nonlinear changes were positively correlated with drug plasma concentrations; the latter showed higher correlation coefficients. The use of both linear and nonlinear approaches revealed the importance of assessing changes in EEG connectivity as this can provide interesting information about psychopharmacological effects. Hum Brain Mapp, 2010. © 2009 Wiley-Liss, Inc. [source]


On modelling and analysis of gear drives with nonlinear couplings

PROCEEDINGS IN APPLIED MATHEMATICS & MECHANICS, Issue 1 2006
Miroslav Byrtus
The paper deals with modelling of vibration of shaft systems with gears and rolling-element bearings using the modal synthesis method with DOF number reduction. The influence of the nonlinear bearing and gearing contact forces with the possibility of the contact interruption is respected. The gear drive nonlinear vibrations caused by internal excitation generated in gear meshing, accompanied by impact and chaotic motions are studied. The theory is applied to a simple test-gearbox. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim) [source]