Abstract: This report discusses a method of cooperative step climbing for a wheelchair and a wheeled robot that has dual manipulators. In moving over a step, the wheelchair and the robot are linked together and the tilt of the vehicle climbing the step is controlled by the difference in speeds between the two vehicles. During this process, some of the manipulator joints are controlled passively and the upper-arm link is pressed against the front of the robot body to control the amount of passive rotation about the shoulder joint, and thus supports the motion of the wheelchair. Similarly, when the robot climbs a step, the upper-arm link is pressed against the rear of the wheelchair. We connected a teleoperation system for the robot through an intranet, and the experimental results show that this method is effective.

• Publication Date: 11-Aug-2012
• DOI: 10.15224/978-981-07-3161-8-110
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Abstract: A numerical analysis was carried out to study the laminar natural convection in a three-dimensional enclosure. Main efforts were focused on the Rayleigh number (Ra), position of hot and cold sources on the flow structure and heat transfer characteristics are investigated in detail. Results reveal that by increasing in Ra from 103 to 106 the average Nusselt will be increase and the rate of heat transfer from hot and cold sources will be increase, also the maximum component of velocity will increase, The increase in the velocity component along the acceleration of gravity is higher than other component of velocity. According to the results by increasing the distance between heat sources rate of heat transfer between heat sources (average Nusselt) significantly decreased, also average temperature and maximum component of velocity in all direction will be increase.

• Publication Date: 11-Aug-2012
• DOI: 10.15224/978-981-07-3161-8-114
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