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Geometrically Exact Finite Element Formulation for Tendon-Driven Continuum Robots

Acta Mechanica Solida Sinica 2022年第4期35卷 552-570页

作者： Xin Li Wenkai Yu mehdi baghaee Changyong Cao Dunyu Chen Ju Liu Hongyan Yuan Department of Mechanics and Aerospace Engineering Southern University of Science and TechnologyShenzhen518055China Laboratory for Soft Machines&Electronics Department of Mechanical and Aerospace EngineeringCase Western Reserve UniversityClevelandOH44106USA

Tendon-driven continuum robots achieve continuous deformations through the contraction of tendons embedded inside the robotic *** some continuum robots,the constant curvature assumption-based kinematic modeling can be accurate and *** for other cases,such as soft robots or robot-environment interactions,the constant curvature assumption can be *** model the complex deformation of continuum robots,the geometrically exact beam theory(may also be called the Cosserat rod theory)has been used to develop computational mechanics *** from previous computational models that used finite difference schemes for the spatial discretization,here we develop a three-dimensional geometrically exact beam theory-based finite element model for tendon-driven continuum *** numerical examples are presented to show the accuracy,efficiency,and applicability of our new computational model for tendon-driven continuum robots.

关键词： Continuum robots Cosserat rod model Geometrically exact beam Finite element method

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The Effect of Sulfur-Containing Humic Acid on Yield and Nutrient Uptake in Olive Fruit

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Open Journal of Ecology 2017年第4期7卷 279-288页

作者： Atoosa Danyaei Sara Hassanpour Mohammad Ali baghaee Maryam Dabbagh Mehrdad Babarabie Dr. Shariaty Faculty Technical & Vocational University Tehran Iran Dr.Shariaty Faculty Technical & Vocational University Tehran Iran Agronomy Shahed University and Company’s Technical Manager of Khorram Bahar Atis Tehran Iran Olericulture Department of Horticulture Gorgan University of Agricultural Sciences and Natural Resources Gorgan Iran Young Researchers and Elite Club Gorgan Branch Islamic Azad University Gorgan Iran

The combined application of organic and mineral fertilizers can be a proper way of nutrition management to increase the yield and quality and to mitigate environmental impacts of chemicals and the pertaining costs. The impact of different rates of sulfur-containing humic acid was studied on yield and nutrient uptake of the fruits of olive “Zard” three-year-old trees in a trial based on a Randomized Complete Block Design with three replications in Shariati College of Tehran, Iran. The studied treatment was sulfur-containing humic acid at four rates of 0, 20, 25 and 30 kg⋅ha−1, which was applied at two stages. The highest fresh weight, dry weight, chlorophyll b, carotenoid, N and Cu contents were related to humic acid rate of 20 kg⋅ha−1. The highest fruit length, chlorophyll a and total chlorophyll were observed in control. The highest K, Fe and Mn contents were obtained from plants treated with 30 kg⋅ha−1 humic acid. Plants treated with 25 kg⋅ha−1 exhibited the highest P and Zn contents. All in all, the application of sulfur-containing humic acid at different rates had favorable impacts on quantitative and qualitative traits of olive fruits.

关键词： Humic Acid Olive Sulfur Yield

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