how to use blackberry 9720

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Each station has a temperature-controlled serum containment and circulation system for tests that are conducted in a fluid environment. The thermal plate can heat or cool the serum to achieve setpoints between approximately 10°C and 45°C. The stations in a multi-station VIVO™ frame operate independently.

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However, the VivoControl UI supports one-step copying of programs and setups between stations so that the same test protocol can be executed for multiple samples. AMTIs extensive biomechanical simulation experience coupled how to use blackberry 9720
modern advances in control technology has culminated in the new VIVO™ control system.

It is the most sophisticated robotic control system available today for joint motion simulation.

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The control system provides two kinematic modes. Joint Coordinate System mode - implements the Grood and Suntay Joint Coordinate System (JCS). The Grood and Suntay joint coordinate system has been adopted by the International Society for Biomechanics, ASTM and ISO. In G S mode, control inputs and data how to use blackberry 9720puts are resolved along joint-referenced axes that coincide how to use blackberry 9720
clinically-meaningful directions – medial lateral, posterior anterior and distraction compression translations, and flexion extension, abduction adduction, and internal external rotations.

The mapping function between actuator positions and Grood and Suntay coordinates is computed from a reference pose setup – the user identifies the Grood and Suntay coordinates of a defined joint pose, how to use blackberry 9720 produces that pose on the test sample installed in the machine, and selects command on the UI. There is also a pre-defined default mapping, which may be selected at any time. Once the kinematic mapping is defined, the control system updates the relationship between the physical actuator positions and Grood and Suntay coordinates 2000 times per second.

This operation assures that the Grood and Suntay axes maintain their joint-referenced definitions for all machine poses how to use blackberry 9720
in the physical workspace of the VIVO™. In G S mode the flexion extension axis has a range of motion of 110°. Using VIVO™s setup features, this physical range of motion can be associated to any 110° window of the virtual G S flexion coordinate, subject to limits of ±180° on the coordinate value. In G S mode, every axis may operate in position-command or force-command mode. The command mode is independently selected for each axis and any combination is possible. Cartesian Coordinate System mode - for compatibility how to use blackberry 9720
traditional machines.

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In Cartesian Coordinates mode, input and how to use blackberry 9720put translations and linear forces are resolved along an orthogonal X-Y-Z coordinate system that is fixed how to use blackberry 9720
respect to the frame of the machine. Input and how to use blackberry 9720put rotations are resolved along rotational axes that coincide how to use blackberry 9720
the physical actuator axes of the flexion and ab adduction actuators, and a virtual Z-rotation actuator.

In Cartesian Coordinates mode the flexion arm has up to 200° range of travel.

In Cartesian Coordinates mode the four axes of the lower stage can operate in force - or position-command mode. The flexion and ab adduction axes operate in position mode only. Command waveforms are generated by independent 1024-point waveform buffers for each axis. The waveform is interpreted as a position (translation or rotation) or force (linear force or moment) command according to the current axis command mode. Switching an axis between position and force command mode is as simple as ticking a box in the setup configuration dialogue. The speed of the waveform is controlled by setting the buffer period, which may be between 0. 5 and 100 seconds (2 to 0. 01 Hz). VIVO™ introduces an entirely new version of AMTIs iterative learning control (ILC) algorithm. This newly-developed, patent-pending system is implemented partly on the VIVO™ realtime controller and partly in the VivoControl host software.

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It advances the state of the art in stability, speed of convergence, residual error and ease of tuning compared how to use blackberry 9720
earlier versions of ILC. The ILC system collects error data over an entire period of the programmed waveform.

The error is transformed into an equivalent frequency-domain representation, and various processing steps are applied, including truncation of frequencies how to use blackberry 9720side the range of interest, and inverse phase and magnitude compensation for the axis transfer functions.

The result is converted back to the time domain and applied as an increment to the axis positions recorded on the previous cycle. Because of the batch-wise processing and cyclic operation of the waveform, this approach produces a feed-forward compensation that, in theory, is capable of driving the error to exactly zero over time. While non-repetitive disturbances in any real system will prevent true zero error, in practical applications the new system usually reduces error to well below 1% of command.

The learned compensation is automatically saved and can be used as the starting point after a test interruption.

This capability is useful when a test is stopped temporarily for weighing, serum change, containment bag replacement, etc. The new system includes a pre-run phase we call haptic mapping.

Before starting a new test, a few cycles of the waveform are run at greatly reduced frequency, usually 1 10 to 1 20 of the desired full-speed. This reduced speed allows the basic P+I control system to operate how to use blackberry 9720
relatively low error, in effect measuring the pose-dependent compliance of the joint.

Processing to account for the estimated axis dynamics at full speed generates a first-pass compensation. While this approach will not usually cancel the error completely, it can reduce errors during the initial cycles of a test by 50% or more, offering more rapid convergence and reduced chance of specimen damage during the early cycles of a test. The ILC system can be disabled for low-speed or non-repetitive testing.

In these cases, VIVO™s P+I axis controllers provide the performance of a standard servo-hydraulic control system. The implanted joint is a composite of natural biological structure and synthetic engineered structure. An accurate simulation of the kinematics, kinetics and durability of the joint structure requires accurate re-creation of the joint contact forces experienced in-vivo. Since soft-tissue forces can contribute very significantly to the joint contact force, a realistic simulation environment must include a way to simulate the effects of soft tissue forces.