Kane's Approach Research Articles

Dynamic model of upper extremity and its application: a systematic review

Dynamics models are widely used in analyzing kinematics and kinetics analysis. Dynamic modeling and simulation can be useful in estimating the torques/forces produced in the limb during various motions, as well as any potential dangers. The aim of this research is to examine the method that is preferable in analyzing the dynamic model of the upper extremity and its application. Several methods have been identified and widely used in analyzing the dynamic model of the upper extremity such as Kane’s method, Lagrange method, optimization method, regression method and many more. Kane's approach, on the other hand, is most commonly used to analyze3D arm segments due to its advantages which is a vector-based approach. The Lagrange approach is suitable to use when the potential and kinetic energy of a system could be easily identified. Meanwhile, most of the researchers used statistical analysis to verify their model and calculation. However, it could be difficult to replicate the simulation work of others because some were not publicly available. Thus, it was recommended to choose a reference from prior studies that will serve as guidance for researchers to solve relevant issues in this field.

Coupled rigid-flexible dynamics modeling and validations of floating offshore wind turbine

Floating offshore wind turbine (FOWT) is a complex dynamical system, and reasonable dynamic model is significant to the structural response analysis and reliability evaluation of FOWTs. In this paper, a coupled rigid-flexible modeling method is proposed to predict the dynamic response of spar-type FOWTs and validated by experimental results. The dynamic modeling framework of the method is firstly presented, including the multi-rigid-body (MRB) module and the flexible tower module. The integrated kinematics formulation of MRB module considering the servo control mechanism is derived based on the quasi-coordinates Lagrange's equation. The equation of motion of the flexible tower is established by synthesizing the finite element method (FEM) and Kane's approach. Next, the external loads modules including gravity effects, hydrostatic and hydrodynamic loads, aerodynamic and mooring loads are addressed and incorporated into the equations of motion of the system. The proposed method is then validated against a scaled experiment and full-scale numerical results of FAST, and the aerodynamic performance, the hydrodynamic performance, the MRB module, the flexible analysis module, the mooring system and the servo control mechanism are systematically valuated. The results indicate that the proposed method has a satisfactory ability to predict the dynamic responses of FOWTs under different conditions.

Analytical modeling approach to drain current characterization of ionization irradiated dual material trigate TFET

Drain current modeling of dual material (DM) trigate TFET under the influence of radiation induced defects characterized by oxide trapped charges and ionized interface traps is formulated in this present research endeavor. An analytical methodology incorporating three dimensional Poisson's equation and Kane's approach introducing the impact of charge traps is derived here to explore the radiation response of the device. Radiation induced device characterization is then investigated in terms of electrostatic potential distribution, electric field profile and drain current performance of DM trigate TFET. Charge trapping and device parameters variation are further examined to capture the device response to radiation effect. Relevant simulated data extracted by ATLAS device simulator is used to substantiate the derived analytical model presented in this paper.

Multi-body dynamic analysis of offshore wind turbine considering soil-structure interaction for fatigue design of monopile

Fatigue design of monopile foundation for an offshore wind turbine using multi-body dynamic analysis is the theme of this paper. For this purpose, a benchmark turbine is modelled in Kane's approach considering soil-structure interaction for a site at the North Sea. Each soil layer is modelled using the p-y curve, and the dynamic response of the combined system is simulated using aero-hydro-servo-elastic analysis. The fatigue life is estimated following IEC 61400-3 guidelines. The numerical analysis presented in this study shows stress-based fatigue analysis using rainflow algorithm in the light of soil-structure interaction for short-term damage accumulation. Besides short-term effects, the study also investigates serviceability criteria over the lifespan of the structure, i.e. long-term effects. Finally, design curves are developed for a given power rating. Overall, the study highlights the importance of soil-structure interaction and its impact on the fatigue life of offshore wind turbines.

Sway vibration control of floating horizontal axis wind turbine by modified spar-torus combination

Spar type floating wind turbines exposed to marine environment experience significant vibration, which is more prominent under wind-wave misalignment. This unavoidable vibration, particularly in the sway direction, affects overall performance and can induce significant damage to sensitive electro-mechanical components leading to downtime for maintenance. With this in view, the present study aims to propose a modified spar-torus combination by introducing spring and dashpot in between, so that it can work as an isolator. First, a comprehensive mathematical model for this multi-body system is developed using Kane's approach with proper aero-elastic and hydrodynamic simulation. For this purpose, 3D wind fields are generated in TurbSim and the waves are simulated from Pierson-Moskovitch spectrum considering wind-wave correlation and misalignment. Aerodynamic loads are computed using modified Blade Element Momentum theory while and hydrodynamic loads are generated using Morison's equation. Using these inputs, the response of the modified spar-torus combination is solved, which demonstrates the efficiency and advantage of the proposed vibration isolation. Different sea states and wind conditions are simulated replicating the actual scenario to investigate the performance envelope of the proposed controller for spar-type floating wind turbines.

Modeling and stabilization control for space-borne series-wound capturing mechanism with multi-stage damping

Using a space-borne tandem arrest mechanism to do spacecraft docking is expected to play an increasingly important role in on-orbit operations. Disturbance and instability of both the capturing mechanism and the free-floating base can be easily caused by impact force incurred by docking. Aiming at the stabilization control problems of an unstable system after capturing, a generalized model for a series-wound flexible capturing mechanism with multi-stage controllable damping was proposed. Furthermore, integrated dynamic equations for the entire system were established using Kane approach. The globally dispersive multi-stage damping forces were modeled as a particle swarm, and an objective fitness function was constructed. Based on the particle swarm optimization (PSO), an optimal stability control scheme was realized. The numerical simulation results of a spatial 12-DOF arrest mechanism showed that the proposed control method can significantly improve dynamic responses and guarantee the entire system to be asymptotically stable. Finally, the capturing test was conducted on the prototype of a planar capturing mechanism with two joints and four-stage damping. The effectiveness of the multi-stage damping stabilization control scheme was verified.

Generalized Modeling of Soft-Capture Manipulator with Novel Soft-Contact Joints

The space-borne manipulator has been playing an important part in docking tasks. Docking collision can easily lead to instability of both the manipulator and floating base. Aiming at the problem of soft capture, a novel soft-contact joint with dual working modes is developed, especially to buffer and unload the spatial collision momentum. Furthermore, considering a series-wound soft-capture manipulator with multi-joints, a generalized modeling method was established by using the Kane approach. Both the benefits of soft-contact joint and the effectiveness of dynamics equations are verified in MATLAB and Adams software by simulations of a two-joint manipulator with eight-DOF. The comparative simulation results showed the advantages of the proposed soft-contact joint in reducing instability from spatial impact.

Dynamic modelling of a railway wheelset based on Kane's method

This study applies Kane's method to generate the equations of motion for a railway wheelset moving on a tangent track at a constant speed. Since the wheel and rail close contact conditions are used to obtain two nonholonomic constraint equations, the lateral vibration of the wheelset can be proven as a nonholonomic system possessing two degrees of freedom. Moreover, using Kane's approach to derive the linearised equations, we can take advantage of bypassing the full nonlinear equations and getting two equations with dynamic decoupling. When the set of equations in this work is compared with those in the literature, we found that two gyroscopic effect terms exist and yaw gravitational stiffness disappears, so that the critical speeds calculated in this work are always lower than those in the literature for the same numerical cases. At last, the contact conditions along with the creepages between wheels and rails can be directly expressed in terms of generalised speeds by using Kane's method. It shows that Kane's method focuses on motions rather than on configurations.

Theoretical estimation of tunnel currents in hetero-junctions: The special case of nitride tunnel junctions

In tunnel junctions, an electron current is transformed into a hole current via a quantum tunnel effect through the semiconductor bandgap. We derive a complete theory for the current through tunnel junctions based on Kane's approach and extended to the general case of a nonconstant electric field and arbitrary potentials in heterostructures. The theory mixes an analytical approach based on Fermi's golden rule and the numeric calculation of wave functions in the heterostructure. The parallel component of the transport is included in the calculation and the symmetry of the conduction and valence band states are taken into account in the transition rates. The calculation is limited to the elastic case and leads to a simple and fast estimation of the tunnel current in any semiconductor junction. We applied our calculation to III-nitrides due to the importance of tunnel junctions in these materials, since they allow circumventing the problem of insufficient p-type doping in GaN and AlGaN. Our approach is also particularly relevant in III-nitride heterojunctions owing to the large band offsets and varying piezoelectric fields present in these materials. The resulting dependence of the inverse current-voltage characteristics on several parameters is studied, making it possible to optimize thickness, doping, and composition of a smaller gap semiconductor layer inserted in the junction. Among all parameters, we show the importance of the doping levels in the n and p regions, while a thin undoped interlayer with a smaller bandgap energy critically enhances the tunnel transparency.

Drain current modeling of proposed dual material elliptical Gate-All-Around heterojunction TFET for enhanced device performance

Abstract In this paper, analytical drain current modeling of proposed Dual Material (DM) Elliptical Gate-All-Around (GAA) Heterojunction TFET is developed considering depletion regions at both source/channel and drain/channel junctions. Initially, channel potential is derived and is used to calculate the electric field. Based on formulated expression of electric field, a compact drain current model is introduced applying Kane's approach. The device performance is then investigated by varying device parameters including gate material workfunctions, metal length ratios, channel length along with implementation of different gate dielectrics and heterojunction materials to explore its response to channel potential, electric field, drain current and ambipolar characteristics. All the analytical results are compared with Sentaurus simulated data to corroborate our derived model.

Evidence of the Generalization and Construct Representation Inferences for theGRE®revised General Test Sentence Equivalence Item Type

The report is the first systematic evaluation of the sentence equivalence item type introduced by the GRE® revised General Test. We adopt a validity framework to guide our investigation based on Kane's approach to validation whereby a hierarchy of inferences that should be documented to support score meaning and interpretation is evaluated. We present evidence relevant to the generalization inference as well as evidence of construct representation. We analyzed the pool of sentence equivalence items in three studies. The first and second studies focused on the generalization inference and sought to document the construction principles behind the sentence equivalence items, specifically the nature of the vocabulary tested. The third study focused on construct representation and evaluated the contribution of the stem, the keys, and the distractors to item difficulty. We concluded that the vocabulary tested by the sentence equivalence items is appropriate given the purpose of the GRE, namely, to assist in the selection of graduate students. The difficulty of the items was shown to be, in part, a function of the familiarity of the vocabulary as well as the context in which the vocabulary is tested, which we argue is positive validity evidence.

Validity in Action: Lessons From Studies of Data Use

Studies of data use illuminate ways in which education professionals have used test scores and other evidence relevant to students' learning—in action in their own contexts of work—to make decisions about their practice. These studies raise instructive challenges for a validity theory that focuses on intended interpretations and uses of test scores as Kane's (this issue) does. This commentary explores implications of data use studies for elaborating Kane's approach to validation to accommodate the ways test scores are used with other sources of evidence to address users' questions.

Validity considerations in the assessment of professionalism

During the last decade, interest in assessing professionalism in medical education has increased exponentially and has led to the development of many new assessment tools. Efforts to validate the scores produced by tools designed to assess professionalism have lagged well behind the development of these tools. This paper provides a structured framework for collecting evidence to support the validity of assessments of professionalism. The paper begins with a short history of the concept of validity in the context of psychological assessment. It then describes Michael Kane's approach to validity as a structured argument. The majority of the paper then focuses on how Kane's framework can be applied to assessments of professionalism. Examples are provided from the literature, and recommendations for future investigation are made in areas where the literature is deficient.

Kane's approach to modeling mobile manipulators

The paper presents a detailed methodology for dynamic modeling of wheeled nonholonomic mobile manipulators using Kane's dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The resulting model is obtained in closed form, it is computationally efficient and provides physical insight as to what forces really influence the system dynamics. Using this methodology, nonholonomic constraints can be directly incorporated within the model without introducing multipliers. The model constructed in the paper includes constraints for no slipping, no skidding and no tipover. The kinematic description of these constraints provides only necessary conditions and description is completed with dynamic expressions which is also sufficient for motion stability. The dynamic model and the constraint relations provide a framework for developing control strategies for mobile manipulators.

Mobile manipulator modeling with Kane's approach

A wheeled mobile manipulator system is modeled using Kane's dynamic equations. Kane's equations are constructed with minimum effort, are control oriented and provide both physical insight and fast simulations. The powerful tools of Kane's approach for incorporating nonholonomic motion constraints and bringing noncontributing forces into evidence are exploited. Both nonholonomic constraints associated with slipping and skidding as well as conditions for avoiding tipping over are included. The resulting equations, along with the set of constraint equations provide a safe and complete framework for developing control strategies for mobile manipulator systems.

Relative kinematics exploited in Kane's approach to describe multibody systems in relative motion

Different from the usual use of Kane's approach a description of mechanical systems in relative motion is presented in the paper. Kane's equations require determination of the absolute motion of the system with regard to an inertial reference frame. If one wants to apply these equations to a system moving relative to a noninertial reference frame, one still needs to determine the absolute motion of the system by summing up to the motion of the moving reference frame and the system's motion relative to this frame. Results of the paper permit a direct formulation of the equations of motion without the need to determine the absolute motion. This is achieved by adaptation of Kane's equations to relative motion, which is general and may be applied to any mechanical system in relative motion. We obtained our results for purposes of railway vehicle dynamics. Hence some material concerning automatic generation of the equations of motion for the systems of a railway vehicle type is included as an example of the application of our approach.

Advanced agricultural robots: kinematics and dynamics of multiple mobile manipulators handling non-rigid material

The equations of motion for a system of multiple mobile manipulators that handle a deformable object during an agricultural task are developed. The model is based on Kane's approach. The imposed kinematic constraints are included and incorporated into the dynamics. Sufficient conditions for avoiding tipping over of the mechanisms are also provided. The deformable nature of the object can easily accommodate a variety of agricultural products and the analysis allows for the inclusion of specific handling limitations in order for the objects not to be damaged during manipulation.

Modeling of multiple mobile manipulators handling a common deformable object

The dynamic equations of motion for a system of multiple mobile manipulators carrying a common deformable object are developed. The derived centralized model is based on Kane's approach to dynamics. The imposed kinematic nonholonomic constraints are included and incorporated into the dynamics. It is pointed out, however, that these kinematic constraints are only necessary, and they only become sufficient to impose nonholonomic motion when accompanied by the dynamic counterparts. Sufficient conditions for avoiding tipping over by the mechanisms are also provided. The whole set of constraint equations is analyzed and useful properties for the set of admissible solutions for the ground reaction forces are obtained. The deformable object under manipulation is modeled and the simplest approximating grid structure is indicated. © 1998 John Wiley & Sons, Inc.