application of kinematic modeling methods to wheeled mobile robots
An application of alternative risk measures to trading porfolios
Ngày tải lên :
27/04/2013, 11:17
... extended to two risk factors, while the portfolio consists of vanilla options
on stocks.
3.1 One Risk Factor
To facilitate a better understanding of the behaviour of generalized Pareto distribution ... the analysis of the DAX stocks. Given the
lack of extreme events in the time period considered (October 4, 1988 to October 1, 2003), when fitting
the tail to the generalized Pareto distribution ... main drivers of risk in the portfolio. This tool is employed to measure the sensitivity of
the overall portfolio to individual risk factors, thus allowing us to have a clear view of the risk...
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Tài liệu Enumeration of Kinematic Structures According to Function P2 doc
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17/12/2013, 13:15
... are
encouraged to refer to Gibsons [1] and Harary [2] for more detailed descriptions of
the theory.
2.1 Definitions
A graph consists of a set of vertices (points) together with a set of edges or ... 2 to the sum of the
product i ì L
i
. Hence,
i
iL
i
= 2e. (2.7)
Let v
k
denote the number of vertices of degree k, namely,v
2
denotes the number
of vertices of degree two, v
3
the number of ... number of independent loops of a planar connected graph and
˜
L
represent the total number of loops. Then
˜
L = L + 1 . (2.1)
Euler’s equation, which relates to the number of vertices, the number of...
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Tài liệu Enumeration of Kinematic Structures According to Function P3 pptx
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... the
nature of connection among various links of a kinematic chain is called the structural
analysis or topological analysis. To facilitate the analysis, several methods of repre-
sentation of the kinematic ... enumeration of kinematic
structures of mechanisms. In the following, we briefly describe the adjacency and
incidence matrix representations of kinematic chains.
3.5.1 Adjacency Matrix
The links of a kinematic ... are perpendicular to each other with an offset
distance. Both mechanisms are capable of converting the rotational motion of link 2
into the reciprocating and oscillatory motions of link 4. These...
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Tài liệu Enumeration of Kinematic Structures According to Function P4 ppt
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... Symbol
Number of vertices
v
Number of links
n
Number of edges
e
Number of joints
j
Number of vertices of degree
iv
i
Number of links having
i
joints
n
i
Degree of vertex
id
i
Number of joints on ... Degrees of Freedom
The degrees of freedom of a mechanism is perhaps the first concern in the study of
kinematics and dynamics of mechanisms. The degrees of freedom of a mechanism
refers to the ... number of links, number of joints, and type of joints. It is also
possible to establish an equation that relates the number of independent loops to the
number of links and number of joints in a kinematic...
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Tài liệu Enumeration of Kinematic Structures According to Function P7 doc
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... number of gear pairs is equal to the number of independent
loops; the number of turning pairs is equal to the number of links diminished by one;
and the number of degrees of freedom is equal to the ... combinatorial analysis, it can be shown
â 2001 by CRC Press LLC
FIGURE 7.14
Unlabeled graphs of 6-link EGTs.
7.8 Kinematics of Epicyclic Gear Trains
Numerous methods for kinematic analysis of EGTs ... shaft to
another. An enormous number of gear trains are used in machinery such as automobile
transmissions, machine tool gear boxes, robot manipulators, and so on. Perhaps, the
earliest known application...
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Tài liệu Enumeration of Kinematic Structures According to Function P8 pdf
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26/12/2013, 00:16
... housing.
The torque converter has three purposes. First of all, it serves as a fluid coupling to
provide a smooth transmission of torque from the engine to the wheels. It also allows
a vehicle to stop ... circumference of the turbine blades and reenters the impeller
through the stator blades. The purpose of the stator blades is to redirect the fluid flow
from the turbine to the impeller, providing a torque ... (attached to the piston), and link 6 is the piston.
We observe that the piston and the crankshaft of the second mechanism shown
in Figure 8.1 belong to a four-bar loop. A change in the location of the...
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Tài liệu Enumeration of Kinematic Structures According to Function P9 doc
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... manipulators for which the number of limbs
is equal to the number of degrees of freedom of the manipulator, and the total number
of joint degrees of freedom in each limb is equal to the value of C
k
.
The ... Japan.)
kinematic structures of parallel manipulators according to their nature of motion and
degrees of freedom.
9.2.3 Enumeration of Planar Parallel Manipulators
For planar manipulators, λ = 3. Furthermore, ... parallel manipulator typically consists of a moving plat-
form that is connected to a fixed base by several limbs. The number of limbs is
preferably equal to the number of degrees of freedom of the moving...
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Tài liệu Enumeration of Kinematic Structures According to Function P10 ppt
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... accomplished by a com-
puter program using a nested-do loops algorithm to vary the value of each x
i
and
check for the validity of the solutions. A more rigorous procedure for solving one
linear ... first discuss a method for solving one equation in n unknowns. Then, we extend
the method to solving a system of m equations in n unknowns.
A.1 Solving One Equation in n Unknowns
Consider the following ... coefficients. The c
i
s are nonnegative
integers and k is a positive integer. We wish to solve for x
i
, for i = 1, 2, ,n
subject to a constraint that all x
i
s must be nonnegative integers. In addition,...
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Tài liệu Enumeration of Kinematic Structures According to Function P12 pptx
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... Independent Loops: Four to Eight Vertices.
â 2001 by CRC Press LLC
Appendix C
Atlas of Graphs of Kinematic Chains
This appendix provides an atlas of graphs of kinematic chains having up to three
independent ... to three
independent loops and eight links.
Table C.1
Graphs Having One Independent Loop: Three to Eight Vertices.
â 2001 by CRC Press LLC
Table C.4
Graphs Having Three Independent Loops: Seven...
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Tài liệu Enumeration of Kinematic Structures According to Function P13 pdf
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... One-dof Eight-Bar Linkages: Part 3.
â 2001 by CRC Press LLC
Appendix D
Atlas of Planar Bar Linkages
This appendix provides an atlas of planar linkages classified according to the number
of degrees ... CRC Press LLC
Table D.2
Planar One-dof Six-Bar Linkages.
Table D.3
Planar One-dof Eight-Bar Linkages: Part 1.
â 2001 by CRC Press LLC
Table D.10
Planar Two-dof Nine-Bar Linkages: Part 2.
â 2001 ... D.13
Planar Two-dof Nine-Bar Linkages: Part 5.
â 2001 by CRC Press LLC
Table D.11
Planar Two-dof Nine-Bar Linkages: Part 3.
â 2001 by CRC Press LLC
Table D.14
Planar Two-dof Nine-Bar Linkages:...
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Tài liệu Enumeration of Kinematic Structures According to Function P14 pptx
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... One-dof Four-Link Chains.
â 2001 by CRC Press LLC
Table E.2
Spatial One-dof Five-Link Chains.
â 2001 by CRC Press LLC
Table E.3
Spatial One-dof Six-Link Chains.
Table E.4
Spatial One-dof Seven-Link...
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Tài liệu Enumeration of Kinematic Structures According to Function P15 pptx
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... Appendix F
Atlas of Epicyclic Gear Trains
This appendix provides an atlas of epicyclic gear trains classified according to the
number of degrees of freedom, the number of independent loops, ... F.10
Three-dof Epicyclic Gear Trains.
â 2001 by CRC Press LLC
Table F.2
One-dof Epicyclic Gear Trains: Three Independent Loops — Part 1.
â 2001 by CRC Press LLC
Table F.4
One-dof Epicyclic ... F.9
Two-dof Epicyclic Gear Trains: Three Independent Loops.
â 2001 by CRC Press LLC
Table F.6
One-dof Epicyclic Gear Trains: Four Independent Loops — Part 2.
â 2001 by CRC Press LLC
Table F.1
One-dof...
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Tài liệu Enumeration of Kinematic Structures According to Function P16 pdf
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... G.14
Transmission mechanism consisting of type-4200 and type-6206 gear
trains: version 1.
â 2001 by CRC Press LLC
FIGURE G.15
Transmission mechanism consisting of type-4200 and type-6206 gear
trains: ... 2001 by CRC Press LLC
Appendix G
Atlas of Epicyclic Gear Transmission
Mechanisms
This appendix provides the schematic diagrams and clutching sequences of some
commonly used epicyclic transmission ... G.10
Transmission mechanism consisting of two type-4200 gear trains: version 1.
â 2001 by CRC Press LLC
FIGURE G.11
Transmission mechanism consisting of two type-4200 gear trains: version 2.
â...
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Báo cáo "Application of power electronic components to control parameters and switching of compensation devices on power networks " doc
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05/03/2014, 14:20
...
Generator): to issue controlling pulses according with sample pulses to fire thyristor valves.
- Pulse Amplifier: to amplify both sample pusles and controlling pulses to fire desired thyristor ... applied to determine the time of issueing
pulse in the positive half-cycles of voltage signal applied to thyristor valves.
According to this principle [4,5], there are two voltage signals fed to ... always change in
spite of using Automatic Reactive Power Regulator. To regulate voltage and cosφ in an expected
range, it is necessary to change the parameters of regulators as the loads change....
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