The dynamic response is an important consideration when designing and controlling manipulators. T... more The dynamic response is an important consideration when designing and controlling manipulators. This dynamic response can be better understood with the explicit equations of motion. This paper presents the derivation of the explicit equations of motion for a parallel manipulator using Kane’s Method. These equations illustrate the high degree of coupling existing in this type of manipulator. A simulation program is developed with the equations of motion and used for the inverse dynamic analysis of the system. The results of the tests indicate that the most important coupling effect is caused by gravity.
Abstract—Conventional neurological practice is generally not successful in restoring independent ... more Abstract—Conventional neurological practice is generally not successful in restoring independent upper extremity function to people with disabling tremors. The authors have been investigat- ing an orthotic approach, the application of energy-dissipating loads to affected limbs, to allow voluntary intent to be expressed while attenuating tremor. CEDO 1 is a prototype Controlled-En- ergy-DissipationOrthosis, which permits the 3 degrees of free- dom
Interested readers are encouraged to engage in an exchange of information through this Section. L... more Interested readers are encouraged to engage in an exchange of information through this Section. Letters should relate specifically to material published in the Journal of Rehabilitation Research and Development. We request that the following information be supplied: full name of the author of the article, title of the article, Volume and Issue number, the page number on which the article appeared. In addition, we request that the letter contain the full name and academic degree of the letter writer, along with the facility that the writer represents. We hope to open up an ongoing dialogue between professionals as a means of exchanging information and sharing diverse opinions among disciplines.
Proceedings of the 2010 IEEE International Symposium on Sustainable Systems and Technology, 2010
Transitioning to an infrastructure that integrates a more substantial portion of renewable energy... more Transitioning to an infrastructure that integrates a more substantial portion of renewable energy sources into the larger energy portfolio is not effortless or without sacrifice; it has economic, technical as well as social challenges related to the decisions, choices and consequences in trying to establish new energy systems. Those decisions, choices and consequences are highly dependent on the social, economical and environmental context in which they are made. It is of paramount importance to look for a means of involving more sectors in the policy discussions that are taking place in facing the challenges of an increased use of renewable energy. All energy stakeholders should be engaged in discussions about a new energy future. This paper presents lessons learned from experiences with energy stakeholder engagement in Puerto Rico. Both theoretical and practical issues are presented, in the context of a fossil-fuel dependent society which has the added challenge of being geographically isolated from the main sources of fuel. The paper also presents alternatives for broader participation of energy stakeholders in the energy decision-making process as well as education and outreach challenges.
For years universities have recognized that areas such as environmental protection and sustainabi... more For years universities have recognized that areas such as environmental protection and sustainability are important, creating related courses and academic programs. What many universities have not yet done is to consciously examine how they fulfill their academic mission and what effect do their operations have on the environment. Conducting university operations in an environmentally sound manner can be a powerful teaching tool. Setting the example and teaching by doing can be more powerful that the best lecture. An Environmental Management System is a set of policies, plans, review mechanisms, and procedures used to proactively manage the environmental aspects of an organization. The creation and implementation of an EMS requires the completion of the following steps - defining an environmental policy; planning what aspects will be managed; implementing the system with roles, responsibilities, documentation; checking if the aspects are being managed correctly; and having upper man...
Patients with severe action tremor have uncontrollable, relatively rapid oscillatory motion super... more Patients with severe action tremor have uncontrollable, relatively rapid oscillatory motion super-imposed on otherwise useable slower voluntary motor activity. Because a mechanical damper produces an opposing force proportional to velocity, applying damping loads to tremorous limbs should attenuate the (high-velocity) tremor component of movement while permitting the slower purposeful portion to proceed relatively unopposed. In this study, the effect of upper extremity damping in three degrees of freedom was examined in 10 patients with cerebellar action tremor due to multiple sclerosis or traumatic brain injury. Variable amounts of damping were applied by prototype energy-dissipating orthoses which generated resistive viscous loads by means of computer-controlled magnetic particle brakes. All patients experienced statistically and functionally significant tremor reduction with the application of damping.
An HK40 steam-reforming tube that ruptured after 35,000 h of operation was analyzed to identify t... more An HK40 steam-reforming tube that ruptured after 35,000 h of operation was analyzed to identify the causes of failure. Analysis of the fracture surface and cross sections indicated extensive and localized corrosion associated with the primary crack site. The fracture surface showed three distinct types of propagation morphology at the inner, middle, and outer portions of the pipe. Severe localized corrosion at interdendritic grain boundaries was detected at the inner pipe, while at the middle, cracks propagated transgranularly along primary carbides. Elemental mapping and line profiles showed a correlation between rupture behavior and the elemental segregation of chromium, manganese, carbon, and silicon at the inner and middle regions. Sulfur, encountered as a contaminant in natural gas, was also detected at these regions. Based on the characteristics exhibited by the fracture surface, failure was attributed to oxidation and fracture enhanced by the elemental redistribution of chromium, carbon, manganese, nickel, and silicon.
The dynamic response is an important consideration when designing and controlling manipulators. T... more The dynamic response is an important consideration when designing and controlling manipulators. This dynamic response can be better understood with the explicit equations of motion. This paper presents the derivation of the explicit equations of motion for a parallel manipulator using Kane’s Method. These equations illustrate the high degree of coupling existing in this type of manipulator. A simulation program is developed with the equations of motion and used for the inverse dynamic analysis of the system. The results of the tests indicate that the most important coupling effect is caused by gravity.
Abstract—Conventional neurological practice is generally not successful in restoring independent ... more Abstract—Conventional neurological practice is generally not successful in restoring independent upper extremity function to people with disabling tremors. The authors have been investigat- ing an orthotic approach, the application of energy-dissipating loads to affected limbs, to allow voluntary intent to be expressed while attenuating tremor. CEDO 1 is a prototype Controlled-En- ergy-DissipationOrthosis, which permits the 3 degrees of free- dom
Interested readers are encouraged to engage in an exchange of information through this Section. L... more Interested readers are encouraged to engage in an exchange of information through this Section. Letters should relate specifically to material published in the Journal of Rehabilitation Research and Development. We request that the following information be supplied: full name of the author of the article, title of the article, Volume and Issue number, the page number on which the article appeared. In addition, we request that the letter contain the full name and academic degree of the letter writer, along with the facility that the writer represents. We hope to open up an ongoing dialogue between professionals as a means of exchanging information and sharing diverse opinions among disciplines.
Proceedings of the 2010 IEEE International Symposium on Sustainable Systems and Technology, 2010
Transitioning to an infrastructure that integrates a more substantial portion of renewable energy... more Transitioning to an infrastructure that integrates a more substantial portion of renewable energy sources into the larger energy portfolio is not effortless or without sacrifice; it has economic, technical as well as social challenges related to the decisions, choices and consequences in trying to establish new energy systems. Those decisions, choices and consequences are highly dependent on the social, economical and environmental context in which they are made. It is of paramount importance to look for a means of involving more sectors in the policy discussions that are taking place in facing the challenges of an increased use of renewable energy. All energy stakeholders should be engaged in discussions about a new energy future. This paper presents lessons learned from experiences with energy stakeholder engagement in Puerto Rico. Both theoretical and practical issues are presented, in the context of a fossil-fuel dependent society which has the added challenge of being geographically isolated from the main sources of fuel. The paper also presents alternatives for broader participation of energy stakeholders in the energy decision-making process as well as education and outreach challenges.
For years universities have recognized that areas such as environmental protection and sustainabi... more For years universities have recognized that areas such as environmental protection and sustainability are important, creating related courses and academic programs. What many universities have not yet done is to consciously examine how they fulfill their academic mission and what effect do their operations have on the environment. Conducting university operations in an environmentally sound manner can be a powerful teaching tool. Setting the example and teaching by doing can be more powerful that the best lecture. An Environmental Management System is a set of policies, plans, review mechanisms, and procedures used to proactively manage the environmental aspects of an organization. The creation and implementation of an EMS requires the completion of the following steps - defining an environmental policy; planning what aspects will be managed; implementing the system with roles, responsibilities, documentation; checking if the aspects are being managed correctly; and having upper man...
Patients with severe action tremor have uncontrollable, relatively rapid oscillatory motion super... more Patients with severe action tremor have uncontrollable, relatively rapid oscillatory motion super-imposed on otherwise useable slower voluntary motor activity. Because a mechanical damper produces an opposing force proportional to velocity, applying damping loads to tremorous limbs should attenuate the (high-velocity) tremor component of movement while permitting the slower purposeful portion to proceed relatively unopposed. In this study, the effect of upper extremity damping in three degrees of freedom was examined in 10 patients with cerebellar action tremor due to multiple sclerosis or traumatic brain injury. Variable amounts of damping were applied by prototype energy-dissipating orthoses which generated resistive viscous loads by means of computer-controlled magnetic particle brakes. All patients experienced statistically and functionally significant tremor reduction with the application of damping.
An HK40 steam-reforming tube that ruptured after 35,000 h of operation was analyzed to identify t... more An HK40 steam-reforming tube that ruptured after 35,000 h of operation was analyzed to identify the causes of failure. Analysis of the fracture surface and cross sections indicated extensive and localized corrosion associated with the primary crack site. The fracture surface showed three distinct types of propagation morphology at the inner, middle, and outer portions of the pipe. Severe localized corrosion at interdendritic grain boundaries was detected at the inner pipe, while at the middle, cracks propagated transgranularly along primary carbides. Elemental mapping and line profiles showed a correlation between rupture behavior and the elemental segregation of chromium, manganese, carbon, and silicon at the inner and middle regions. Sulfur, encountered as a contaminant in natural gas, was also detected at these regions. Based on the characteristics exhibited by the fracture surface, failure was attributed to oxidation and fracture enhanced by the elemental redistribution of chromium, carbon, manganese, nickel, and silicon.
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Papers by Ivan Baiges