design and control of an emg driven ipmc based artificial muscle finger
MECHANICAL DESIGN AND CONTROL OF THE PENDUBOT potx
... Coordinate Description of the Pendubot l1 is the length of link one, lc1 and lc2 are the distances to the center of mass of the respective links and q1 and q2 are the joint angles of the respective ... present the design and control of an underactuated two link robot called the Pendubot We first give details of the design of the Pendubot, discussing the components of the linkage and the interface ... Front and Side Perspective Drawings of the Pendubot direct drive control, we designed the Pendubot to hang off the side of a table coupling link one directly to the shaft of the motor The mount and...
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Báo cáo hóa học: " Research Article Design and Analysis of an Energy-Saving Distributed MAC Mechanism for Wireless Body Sensor Networks" doc
... article/zhang94performance.html [19] B Bougard, F Catthoor, D C Daly, A Chandrakasan, and W Dehaene, “Energy efficiency of the IEEE 802.15.4 standard in dense wireless microsensor networks: modeling and ... distributed queues, CRQ and DTQ) [17], which answer (i) “who” transmits in the data slot and “when”, (ii) “who” sends an access request sequence in the minislots (m) and “when” and (iii) “how” to ... here of fixed length (i.e., independent of the number of sensors in the BSN) and contains two new fields for specific energy-saving purposes, the modulation and coding scheme (MCS) and length of the...
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Báo cáo hóa học: " Research Article Design and Implementation of an Enhanced 802.11 MAC Architecture for Single-Hop " ppt
... 802.11 standard and not to entirely redesign the standard channel access mechanisms, we tried to find a flexible development platform providing an implementation of the legacy 802.11 standard Unfortunately, ... DSP and the serial receive and transmit ports of the HFA3824A baseband processor (ii) HFA3824A/HFA3524 control port interface: this block is used as an interface between the DSP and the control ... AOB -based solutions and for the standard 802.11 protocol We decide to implement the original IEEE 802.11 standard at Mbps and not the newer versions at higher speed (for instance 802.11b and...
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design and implementation of an inverse dynamics controller for uncertain nonholonomic robotic systems
... Proceedings of the 30th Conference on Decision and Control, IEEE, pp 1184–1189 England (1991) Campion, G., d’Andrea-Novel, B., Bastin, G.: Controllability and state feedback stabilization of nonholo-nomic ... Stability, Convergence and Robustness Prentice-Hall, Engle-wood Cliffs, NJ (1989) Campion, G., d’Andrea-Novel, B., Bastin, G.: Modeling and State Feedback Control of Nonholonomic Mechanical Systems In: ... and số tích cực vô hướng x f ( x) gi ( x, )uai ( x) (11) i 1 Mô hình động học phương trình động học gộp vào không gian trạng thái sau: Có x ( n m ) andf ( x), g i ( x, )and...
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Investigations into design and control of power electronic systems for future microprocessor power supplies
... performance of any such design will depend on the performance of the current sensing technique The output of current sensor should be linear in the operating range of VRMs and should have high bandwidth ... schematic of (a) Analog PWM controller and (b) Digital PWM controller microprocessor and the other generic advantages of digital control, it is a challenge to deliver the performance required of the ... requirements, the design of next generation VRMs need a thorough understanding of the performance and design trade-os The supply voltage of the microprocessor will drop to below V and the supply...
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DESIGN AND CONTROL OF AUTONOMOUS MOBILE ROBOTS WITH IMPROVED DYNAMIC STABILITY 1
... real-time manner and feedback to the on-board control system to effectuate the maneuver that is required by control tasks Potentiometer and Tilt Sensor The tilt angle of the flywheel and lean angle of ... wheel and flywheel respectively Angle between link l1 and xb -axis of the wheel Mass of the wheel, internal mechanism and flywheel respectively Total mass of the robot Radius of the wheel and the ... Coordinates of the center of mass of the robot w.r.t the inertia frame Precession and lean angle of the wheel respectively tilt angle between the link l1 and za -axis of the flywheel Spin angles of the...
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DESIGN AND CONTROL OF AUTONOMOUS MOBILE ROBOTS WITH IMPROVED DYNAMIC STABILITY 2
... Verification: Effect of Changing Flywheel Tilt Angle As explained earlier, the angular velocity of the Gyrobot can be controlled by controlling the tilt angle of the flywheel and thus the lean angle of the ... radius of the instantaneous path can be express as r(t) = v0 Rγ ˙ = = κ ω α ˙ (5.2) where κ is the radius of curvature of the instantaneous motion and r(t) is the radius of trajectory Any change ... Matlab and ADAMS, a Simulink block is created in ADAMS This process is called Control Plant Creation and shown in Figure 4.17 Figure 4.17: Load and Export ADAMS Control Plant When the Control Plant...
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Analysis, design and control of permanent magnet synchronous motors for wide speed operation
... implemented for a smooth and accurate speed and torque control The advantages and disadvantages on the control performance were investigated through theoretical analysis and experimental work It ... analysis, design and control of PMSMs In this thesis, a design and control method for PMSMs is developed based on the analysis of PMSMs with different rotor structures The prototype PMSM was designed ... Jabbar and Dr Ashwin M Khambadkone for their help and advice Their invaluable and insightful guidance, support and encouragement inspired me in my work I am also thankful to Dr Sanjib Kumar Panda,...
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Fundamental design and study of an evaporative cooling system
... and humidity ratios of air streams were discussed Hsu and Lavan [27] analyzed three basic configurations of wet surface heat exchangers, which were unidirectional, counter flow and counter- and ... allows the enhancement of overall cooling performance and the extension of application to more districts, rendering the study of IECS more urgent and important Basically, the analysis of IECS is ... external surface is an advantage that attracts many investigations It greatly increases the heat and mass transfer area between secondary air and water film and changes the heat transfer coefficient...
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Design and control of a small size humanoid robot
... mechanical design and hardware, (2) walking control and (3) artificial intelligence CHAPTER 2: LITERATURE REVIEW 2.1 Mechanical Design and Hardware In the area of mechanical design, one of the ... on the thigh and shank links CHAPTER 4: MECHANICAL DESIGN 33 Ankle Joint There are two degrees of freedom required at the ankle joint, ankle pitch and ankle roll, and the design of this joint ... Review The study of humanoid is an interesting field of research which is highly complex and multi-disciplinary It had for a long time been only the dream and fantasy of man, and exists only in...
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Design and control of a soccer playing humanoid robot
... control The design of ROPE consists of two aspects: mechanical and control system design The mechanical system shapes the structure and appearance of the robot to that of human, and the control system ... faster and with confidence I also thank Alan and Tay Lian Sen, the FYP students, who made excellent contributions related to vision processing and mechanical design Thanks to my family and friends ... tasks can be dated back to the era of ancient Greek and Egyptian with their automata More recently, Leonardo da Vinci, a talented and famous Italian artist and engineer in the Renaissance, has...
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Design and control of a teleoperation system for humanoid walking
... hardware and software interface The humanoid robot weighs 6kg and stands 48cm tall It has a total of 20 Degree of Freedom (DOF) - DOF each leg and DOF each arm The user-developed programs are designed ... human operator and the control system The role of the human operator can be divided into action, sensing and decision making The control system can be anything ranging from some special mechanical ... movable parts of waist unit, along with degree of freedom and coordinates of waist unit 24 Thigh and Shank Unit Same mechanical structure design has been adapted for the thigh and shank One of the main...
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Design and development of an autonomous omni directional mobile robot
... command at the same time The higher level control serves as an intermediary platform from which navigation can be implemented and navigation commands, such as position/velocity commands can be ... it cannot carry a heavier payload and the chance of it tipping is greater as shown in Figure 3(a) and 3(b) Interolls plastic wheels are chosen as they are cheap and they can satisfy a load of ... computer aided design (Figure 4) was visualized and constructed This allowed a better understanding in the design and details of the various parts be it the screws, dimensions and materials The...
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DESIGN AND DEVELOPMENT OF AN OMNIDIRECTIONAL MOBILE BASE FOR a SOCIAL ROBOT
... understand the phenomenon of Social Robots and the field of HRI, we can refer to mankind’s history for artificial beings development, robots medieval by today’s standards but still capable of complex ... today are an example of a non-holonomic vehicle Cars are designed to travel in degrees of freedom namely the X and Y axis of the horizontal plane and Ɵ which represents the change of orientation ... kinematics and inverse kinematics In forward kinematics, the length of each link and the angle of each joint is given and we have to calculate the position of any point in the work volume of the...
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Design and development of an on machine profile measurement system for an ELID grinding machine
... picture of the turn table from (a) front and (b) rear side 3.4 DESIGN AND DEVELOPMENT OF AN ON-MACHINE PROFILE MEASUREMENT SYSTEM One of the most important targets of this study was to design and ... deepest and heartfelt thankfulness and appreciation to his supervisor, Professor Dr Mustafizur Rahman and former supervisor Dr Lim Han Seok, for their invaluable guidance, continuous support and ... pitch and grating incidence angle and can reach the order of submicron The experimental setup is inexpensive and very easy to manage with simple instruments, remote sensing, good accuracy, and...
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Design and implementation of an object storage system
... object level OSD is designed to integrates the strengths of NAS and SAN technologies without inheriting their weaknesses The strength and weakness of DAS, NAS, SAN and OSD can be summarized in ... central file server and poor performance of TCP SAN can achieve great performance through direct access, low latency fabric and aggregation techniques, such as Redundant Array of Independent Disks ... (SAN) JBOD, connect to SAN and make up a high performance storage pool 1.1.4 SAN File System In order to address the performance and scalability limitations of NAS, especially NAS head, some SAN...
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Fundamental design and study of an evaporative cooling system
... and humidity ratios of air streams were discussed Hsu and Lavan [27] analyzed three basic configurations of wet surface heat exchangers, which were unidirectional, counter flow and counter- and ... allows the enhancement of overall cooling performance and the extension of application to more districts, rendering the study of IECS more urgent and important Basically, the analysis of IECS is ... external surface is an advantage that attracts many investigations It greatly increases the heat and mass transfer area between secondary air and water film and changes the heat transfer coefficient...
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Dynamic Model and Control of DFIG Wind Energy Systems Based on Power Transfer Matrix
... MODEL AND CONTROL OF DFIG WIND ENERGY SYSTEMS Fig Reference commands for wind and the stator reactive power Fig RMS values of the stator voltage and currents Fig Tracking performance of real and ... the stator, the stator and rotor variable, and rotor, and magnetization inductances, respectively The comand represent the voltage, current, plex quantities and flux vectors, and is the slip frequency ... torque is input to the model and , based on (18), can be expressed in terms of instantaneous real and from (5) in (18) and reactive power Substituting for in (17), we deduce and then replacing (19)...
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Báo cáo y học: " Development and evaluation of an immunochromatographic strip test based on the recombinant UL51 protein for detecting antibody against duck enteritis virus" ppsx
... nitrocellulose membrane, and absorption pad were glued together on a plastic backing plate At the test band (T) and control band (C), the purified recombinant UL51 protein of DEV and the rabbit IgG ... developed an ICS test for the field detection of DEV serum antibody, and compared the new assay with standard diagnostic tests, ELISA and NT Results Preparation and purification of the recombinant ... Veterinary Medicine of Sichuan Agricultural University, Ya an, Sichuan, 625014, China 2Key Laboratory of Animal Diseases and Human Health of Sichuan Province, Ya an, Sichuan, 625014, China 3Epizootic...
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Design and Implementation of a Three-Phase Induction Motor Control Scheme
... of the rotor combined with two-phase currents to generate a means of instantaneously controlling the torque and flux Field-orientated controllers require control of both magnitude and phase of ... outputs of an induction motor, we can use this motor controller to control an induction machine • TMS320F243 DSP controller This is manufactured by the Texas Instruments Company and is one of the ... Wildi also presents the two types of induction motors: “the squirrel cage induction motor” and the “wound motor” An explanation of the advantages and disadvantages of each is given Essential concepts...
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