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Samuel Garcia
Samuel Garcia

AFT Impulse 4.0 (Portable)


(f) Apply 25,000 cycles of pressure impulse at the rate of no more than 15 impulses per minute varying from zero to three PSIG to zero inside the tank top from a regulated source of air, inert gas, or water.




AFT Impulse 4.0 (Portable)


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Airbreathing jet engines are gas turbines optimized to produce thrust from the exhaust gases, or from ducted fans connected to the gas turbines.[37] Jet engines that produce thrust from the direct impulse of exhaust gases are often called turbojets, whereas those that generate thrust with the addition of a ducted fan are often called turbofans or (rarely) fan-jets.


Each participant was outfitted with four wireless IMUs (MTw Awinda, Xsens, Enschede, The Netherlands) mounted on the foot, distal shank, distal thigh, and proximal thigh to record the acceleration and angular velocity of each segment during walking trials (Figure 1). The signals from each of the four IMUs were used to train and test a machine learning model for vGRF estimation. To capture the reference vGRF from the participants while walking, a Bertec split-belt force plate-instrumented treadmill (Bertec Corporation, Columbus, OH, USA) was used. The data from the IMUs and the reference vGRF from the treadmill were synchronized by two synchronization impulse signals generated at the beginning and end of the trial, respectively. The data from both IMUs and treadmill were sampled at 100 Hz.


The ultra-wideband impedance sensor (UWBZ sensor, or Z-sensor) is implemented in differential and single-ended configurations. The differential UWBZ sensor employs a sub-nanosecond impulse to determine the balance of an impedance bridge. The bridge is configured as a differential sample-and-hold circuit that has a reference impedance side and an unknown impedance side. The unknown impedance side includes a short transmission line whose impedance is a function of the near proximity of objects. The single-ended UWBZ sensor eliminates the reference side of the bridge and is formed of a sample and hold circuit having a transmission line whose impedance is a function of the near proximity of objects. The sensing range of the transmission line is bounded by the two-way travel time of the impulse, thereby eliminating spurious Doppler modes from large distant objects that would occur in a microwave CW impedance bridge. Thus, the UWBZ sensor is a range-gated proximity sensor. The Z-sensor senses the near proximity of various materials such as metal, plastic, wood, petroleum products, and living tissue. It is much like a capacitance sensor, yet it is impervious to moisture. One broad application area is the general replacement of magnetic sensors, particularly where nonferrous materials need to be sensed. Another broad application area is sensing full/empty levels in tanks, vats and silos, e.g., a full/empty switch in water or petroleum tanks.


The ultra-wideband impedance sensor (UWBZ sensor, or Z-sensor) is implemented in differential and single-ended configurations. The differential UWBZ sensor employs a sub-nanosecond impulse to determine the balance of an impedance bridge. The bridge is configured as a differential sample-and-hold circuit that has a reference impedance side and an unknown impedance side. The unknown impedance side includes a short transmission line whose impedance is a function of the near proximity of objects. The single-ended UWBZ sensor eliminates the reference side of the bridge and is formed of a sample and hold circuit having a transmission line whose impedance is a function of the near proximity of objects. The sensing range of the transmission line is bounded by the two-way travel time of the impulse, thereby eliminating spurious Doppler modes from large distant objects that would occur in a microwave CW impedance bridge. Thus, the UWBZ sensor is a range-gated proximity sensor. The Z-sensor senses the near proximity of various materials such as metal, plastic, wood, petroleum products, and living tissue. It is much like a capacitance sensor, yet it is impervious to moisture. One broad application area is the general replacement of magnetic sensors, particularly where nonferrous materials need to be sensed. Another broad application area is sensing full/empty levels in tanks, vats and silos, e.g., a full/empty switch in water or petroleum tanks. 2 figs.


A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.


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