Higher-order derivatives of rigid body dynamics with application to the dynamic balance of spatial linkages

Dynamic balance eliminates the fluctuating reaction forces and moments induced by high-speed robots that would otherwise cause undesired base vibrations, noise and accuracy loss. Many balancing procedures, such as the addition of counter-rotating inertia wheels, increase the complexity and motor torques. There exist, however, a small set of...

A screw based methodology for instantaneous dynamic balance

Fast-moving industrial robots exert large varying reaction forces and moments on their base frame, inducing vibrations, wear and accuracy degeneration. These shaking forces and moments can be eliminated by a specific design of the mass distribution of the robot links, resulting in a dynamically balanced mechanism. Obtaining the conditions for...

Fast Volumetric Imaging Using a Matrix Transesophageal Echocardiography Probe with Partitioned Transmit–Receive Array

We describe a 3-D multiline parallel beamforming scheme for real-time volumetric ultrasound imaging using a prototype matrix transesophageal echocardiography probe with diagonally diced elements and separated transmit and receive arrays. The elements in the smaller rectangular transmit array are directly wired to the ultrasound system. The...

Multiline 3D beamforming using micro-beamformed datasets for pediatric transesophageal echocardiography

Until now, no matrix transducer has been realized for 3D transesophageal echocardiography (TEE) in pediatric patients. In 3D TEE with a matrix transducer, the biggest challenges are to connect a large number of elements to a standard ultrasound system, and to achieve a high volume rate (>200 Hz). To address these issues, we have recently...