Mutual admittance of two collinear antennas
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Abstract:
An asymptotic theory for the admittance of two collinear antennas is developed. The antennas can be of unequal lengths, and the feedpoint locations are practically arbitrary. The only restrictions are that the radii must be equal and small; while the smallest feedpoint-end distance and the separation between the antenna ends must be fairly large [i.e., (2π/λ) (distance) > 1, roughly]. The expressions obtained for the self-admittance and mutual admittance are in closed form and contain only elementary or known functions. Where comparison is possible, the results agree with previous theories. A few curves showing the effect of varying different parameters are presented, while some general conclusions about the behavior of the mutual admittance are drawn.Keywords:
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This paper presents a systematic method of designing robot admittance for assembling generic polyhedral parts despite various uncertainties including the uncertainty in the grasping pose of the workpiece relative to the robot. First, the basic concept of how to design admittance is described. Then, the method of designing admittance for dealing with the uncertainties is provided. Lastly, the application of the admittance design method to an assembly task illustrates the effectiveness of the proposed method.
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A self-consistent theory of the admittance of a perfect ballistic, locally charge neutral wire is proposed. Compared to a non-interacting theory, screening effects drastically change the frequency behavior of the conductance. In the single-channel case the frequency dependence of the admittance is monotonic, while for two or more channels collective interchannel excitations lead to resonant structures in the admittance. The imaginary part of the admittance is typically positive, but can become negative near resonances.
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Admittance control has been used in recent years to reproduce a desired dynamic response on non-backdrivable manipulators. One of the topics of research has been to increase the apparent admittance by reducing the virtual mass. However, mass-reduced admittance controllers become unstable when the environment (e.g. the operator) the robot is interacting with has too high impedance. In this paper, a framework is proposed to guarantee passive interaction between robot and human operator, while attempting to increase admittance as much as possible. An additional adaptive feedforward component is proposed, if direct force control is possible, to increase the apparent admittance further. The proposed framework is tested in simulation and has shown to indeed reduce apparent admittance.
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The admittance characteristics of four kinds of Chinese wheelsets under high frequency excitation are analyzed. Results show that the highest admittance is in the axial ( i.e. , lateral) direction of wheelset spoke, and the main way to reduce the high frequency vibrations is to reduce the wheelset spoke lateral admittance. Reducing wheel vibrations can be accomplished by adjusting the wheelset stiffness distribution, making full use of the admittance phase, and modifying the wheel rail contact characteristics.
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This chapter contains sections titled:
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Admittance Diagrams
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Input Admittance Loci
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The Relay Admittance Characteristic
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Parallel Transmission Lines
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Typical Admittance Plane Characteristics
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Summary of Admittance Characteristics
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References
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Problems
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