integration of design and control
MECHANICAL DESIGN AND CONTROL OF THE PENDUBOT potx
... 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 ... System for Control Research and Education, "34th IEEE Conf on Decision and Control" , New Orleans, Dec., 1995, submitted [11] Block, D J., and Spong, M W., "Mechanical Design and Control of the Pendubot, ... 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...
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Design and control methodology of a lower extremity assistive device
... namely ALEX by Uni of Delaware, USA (left), Lokomat by Hocoma, Switzerland (Centre), and LOPES by Uni Of Twente, Netherlands (Right) Figure 2.2: An example of impedance control architecture ... with a range of motion not exceeding that of the user’s Develop a control method capable of assisting in gait rehabilitations and ADLs The control method should allow user autonomy, and provide ... Rexbonics in New Zealand, allows the paraplegic user to stand and walk without the use of crutches or other supports User commands the motion of the exoskeleton using a joystick, and REX executes...
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Investigations into design and control of power electronic systems for future microprocessor power supplies
... 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 ... 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 ... performance of three dierent control methods: (a) Analog control; (b)Conventional Digital Control and (c) Proposed Controller with duty ratio correction 74 4.6 Block schematic of the chip...
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DESIGN AND CONTROL OF AUTONOMOUS MOBILE ROBOTS WITH IMPROVED DYNAMIC STABILITY 1
... point and va (t) is the velocity of contact point The line following controller was divided into two part for ease of control: (1) velocity control law and (2) torque control law, as a result of ... controller design A virtual 3D simulator, an essential part of mechatronic design approach, is developed for improving mechanical structure and controller design and simulation Two tracking control ... Precession and lean angle of the wheel respectively tilt angle between the link l1 and za -axis of the flywheel Spin angles of the wheel and flywheel respectively Angle between link l1 and xb -axis of...
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DESIGN AND CONTROL OF AUTONOMOUS MOBILE ROBOTS WITH IMPROVED DYNAMIC STABILITY 2
... Total mass of the Gyrobot Radius of the Gyrobot wheel Radius of the flywheel Moment of inertia of the wheel about axes Moment of inertia of the flywheel about axes Friction coefficient in yaw and pitch ... to the tilt of the flywheel, and leaning the wheel makes it steer in the direction of the lean 4.2.8 Linear Model of Gyrobot In order to simply the design of Gyrobot controller, a PD controller ... simplify the phases of design of a mechatronics system Moreover, it can be used by students and researchers alike to have an in-depth understanding of any complex mechanism Integration of ADAMS with...
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Analysis, design and control of permanent magnet synchronous motors for wide speed operation
... accurate mathematical modelling of PMSMs provides a foundation for the design and control of PMSMs The accuracy of the model directly affects the outcome of the design and control A two-phase PMSM equivalent ... 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 ... flux-weakening using current control was first highlighted by Jahns He proposed a corrective method of control to the standard vector control architecture [13] A feedback of current controller error in...
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Design and control of a small size humanoid robot
... Mechanical Design and Hardware In the area of mechanical design, one of the important areas is to decide the number and locations of degrees of freedom for the biped Fred R Sias, Jr and Yuan F ... weight of almost the entire robot And flexing and twisting of the linkages would result in uncertainty and make the control of the robot extremely difficult CHAPTER 4: MECHANICAL DESIGN 32 One of ... extra degree of flexibility in achieving these taxing motions Fig 4.5 shows the design of the upper body of RO-PE-V Fig 4.5 Design of the upper body of RO-PE-V 4.1.4 Lower Limbs Design The lower...
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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 ... DESIGN AND CONTROL OF A SOCCERPLAYING HUMANOID ROBOT HO HOAN NGHIA (B.Eng, (Hons.), HCMC University of Technology) A THESIS SUBMITTED FOR THE DEGREE OF MASTER OF ENGINEERING DEPARTMENT OF ... Chapter 4: Mechanical Design Design philosophy and technical specifications of the robot can be found in the first part of this chapter The rest of the chapter is the detailed design of the robot, in...
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Design and control of a teleoperation system for humanoid walking
... details of the mechincal design of the master exoskeleton, the control architecture of the overall system, and the control methods Simulation result of direct mapping of human walking profile on ... principle of model-based method of biped walking control is straight-forward - by applying law of physics, a mathematical model of the biped robot is derived and to be utilized in the synthesis of control ... position and orientation; and the high level command of walking up or down a number of steps of the staircase As this experiment is focused more on the task of teleoperated driving of forklift,...
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Design and development of command and control system for autonomous underwater vehicles
... is the design and development of a generic control and software architecture for a single modular AUV while allowing natural extensions to multi-vehicle scenarios The proposed command and control ... A complete C2 system is described by its control architecture and the underlying software architecture 2.1 Command and Control Architecture Command and Control system architecture generally adopts ... which stands for Open Robot Control Software, aims to develop a generalpurpose, free software, and modular framework for robot and machine control This framework consist of three major types of modules/components:...
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Design and Controlof Workflow Processes
... advance scientific knowledge of Business Process Management by providing methods and techniques for the design and control of workflows Because of the extent of the BPM field of study, we will focus ... involved the implementation of workflow management systems, the analysis and redesign of business processes, and the building of information and decision support systems Parts of this monograph will ... regard BPM as the field of designing and controlling business processes We will briefly discuss the two dimensions – design and control – in this section The distinction of the two has also become...
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Integration of energy and environmental systems in wastewater treatment plants
... integrated energy and environmental management systems model It offers a holistic view of both approaches, maps linkages, and suggests an integrated process design capable of meeting high-performing ... level of the aeration tank(s) at a preset control point by varying the air flow rate to the aeration system Supervisory control and data acquisition system collects facility-wide data and allows control ... approach to process design that considers the interaction among various sections of the process flow and shares the benefits of each individual process design model The main objective of this model...
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Optimization of design and operating parameters on the year round performance of a multi-stage evacuated solar desalination system using transient mathematical analysis
... occurs in the month of March of 955.56 W/m2 at 13:00 and minimum in December of 705.56 W/m2 at 12:00 Whereas ambient temperature is maximum of 36.1oC at 13:00 in the month of May and minimum ambient ... distillate yield by considering the effect of various design and operating parameters on the performance and thermal characteristics of the system Description of the multi-stage evacuated solar desalination ... is refined latent heat of vaporization of water at the condenser surface of last stage (J/kg), h fgNs is latent heat of vaporization of water at the condenser surface of the last stage (J/kg),...
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Tài liệu ISSUES IN THE INTEGRATION OF RESEARCH AND OPERATIONAL SATELLITE SYSTEMS FOR CLIMATE RESEARCH pdf
... president of the National Academy of Engineering The Institute of Medicine was established in 1970 by the National Academy of Sciences to secure the services of eminent members of appropriate professions ... Challenges in the Integration of NASA/ESE and NOAA/NPOESS Programs • Division of responsibility in the integration of research and operational missions Climate research and monitoring raise issues ... develop and operate for the appropriate period of time in the future, the full range of observations that are needed to understand and predict the behavior of the global Earth environment NASA and...
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Tài liệu Báo cáo khoa học: 1. Signal Transduction 1.1 Integration of Metabolism and Survival pdf
... Division of Cellular and Molecular Biology, Department of Biology, University of Oslo, Oslo, Norway Androgens have critical roles in the development and maintenance of the male reproductive system and ... mice revealed that DBP, HLF, and TEF regulate primarily the transcription of genes involved in hepatic, renal, and intestinal detoxification and genes of the innate and adaptive immune system REV-ERBalpha, ... REV-ERBalpha governs the circadian expression of several enzymes and regulators of lipid metabolism Our genetic Rev-Erbalpha loss -of- function and gain -of- function studies suggest that circadian...
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Tài liệu Báo cáo khoa học: Oral Presentations Integration of Metabolism and Survival pdf
... Swiss Institute of Bioinformatics, CMU, Geneva, Switzerland,2Department of Structural Biology and Bioinformatics, Faculty of Medicine, University of Geneva, Geneva, Switzerland E-mail: andre.stutz@isb-sib.ch ... inhibition of c6 glioma cells in monolayer and spheroid cultures by the combination of carvedilol and imatinib M Erguven1, A Bilir2, S Tuna2 and N Akev1 Department of Biochemistry, Faculty of Pharmacy, ... for controlling of the hydrophobicity due to decreasing the aggregation of YADH OP-31 Prevention of thermal aggregation of yeast alcohol dehydrogenase by arginine and a-cyclodextrin A Barzegar and...
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Tài liệu Báo cáo khoa học: Abstract Integration of Metabolism and Survival PP-1 The metabolic switch in liver methionine metabolism pptx
... nitrite/nitrate and VEGF-A levels of lung cancer patients and control group were 93.7 ± 48.9 and 63.7 ± 32.2 lM (P = 0.018), and 620 ± 491 pg/ml and 255 ± 157 pg/ml (P = 0.001), respectively Cut-off value of ... phosphorylation of JAK3, and STAT-3 and -5 The cells were stimulated with 10 U/ml of IL-2 and 100 lM of piceatannol for different periods of time IL-2 induced phosphorylation of JAK3, STAT3 and STAT5 in ... levels of Bcl-2 and Bax genes may be one of the mechanisms of acquired resistance in MCF-7 cells PP-16 Differential expression of isoforms of spleen tyrosine kinase in tissues: effects of the...
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Tài liệu BREWERY AND WINERY ASTEWATER TREATMENT: SOME FOCAL POINTS OF DESIGN AND OPERATION pptx
... Unicer SA and Varnam and Sutherland, 1994) BREWERY AND WINERY A mass balance is depicted in Figure 2, which represents water and energy inputs, and also the outputs respecting residues and sub-products, ... wastewater and reported a 95 % sCOD elimination, and a nitrogen and phosphorous removal of 50 % and 88 %, respectively These results could be generalized and the simplified automation and the possibility ... University of Minho and two industrial companies, Unicer SA and ACPB (Adega Cooperativa de Ponte da Barca) is presented in order to address some practical problems of wastewater systems design and operation...
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Báo cáo Y học: Functional integration of mitochondrial and hydrogenosomal ADP/ATP carriers in the Escherichia coli membrane reveals different biochemical characteristics for plants, mammals and anaerobic chytrids pdf
... of different plant mitochondria were about 1–2 lM for both ADP and ATP Ó FEBS 2002 Functional integration of AACs in E coli (Eur J Biochem 269) 3179 Table Km and Vmax values for ATP and ADP of ... expressed plant and mammalian AAC proteins (Fig 1) The undefined TB medium and the addition of pyruvate and malate stimulated the bacterial metabolism and led to the generation of a high proton ... (concentrations see lane 4) in the presence of CCCP (100 lM) apparent Km value of 38 lM (AAC1) and 40 lM (AAC2) for ADP and an apparent Km value of 105 lM (AAC1) and 140 lM (AAC2) for ATP (Table 2) In...
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PLANNING THE PROJECT MANAGEMENT WAY: EFFICIENT PLANNING BY EFFECTIVE INTEGRATION OF CAUSAL AND RESOURCE REASONING IN REALPLAN pdf
... SHUF4-GP-TOT SHUF6-GP-TOT SHUF8-GP-TOT SHUF10-GP-TOT 1000.0 with varying number of blocks and robots Performance of Graphplan in Shuffle Problem Đ ÞɨÙÍTr'IÈ ÊỊÇ Ê I §ÇĨF¨ÊͤÙɨʼÍ&'IÉâB¼Ú¾Ëpx¨È¾Í©É@§ÍS§Ýâ§ỊÉâ§Ỵ©©©¤Ỵ1¾ÍØϨÊÍټɨʼÍÌ ... SHUF8-PS-TOT SHUF10-PS-TOT 100.0 1000.0 in the Shuffle problem with varying number of blocks and robots Performance of Graphplan v/s Planning+Scheduling ¸ ¸ fh h us os
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ms om m X ... ÊÇ ÏÕỉÉ Ì ËỴÇ ÍÚ ìÞgÞ 10.0 1.0 5.0 # robots 3.0 7.0 12.0 Numerical Value 14.0 16.0 Length of plan Number of steps in plan 18.0 in the Blocks World domain A Look into Plans by Graphplan à ޼ʹ¼Ég̹Üx§Ç¼Ý©©é...
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- a deterministic theory of estimation and control
- managing the lifetime of objects and controlling resources
- phần 3 integration of agricultural and energy system models for biofuel assessment
- design and control of an emg driven ipmc based artificial muscle finger
- the center of support and control
- schaum apos s outline of theory and problems of feedback and control systems pdf
- 3integrated design and control considerations
- catalytic cracking for integration of refinery and steam crackers
- modeling design and control implementation
- numerical integration of switch and limiter outputs event prediction and display problems
- the integration of developmental and clinical traditions
- the role of attachment and controlling strategies and frankly disorganized behavior
- design and control methodology of series parallel torque and speed coupling hybrid drive train
- design and control principles of plug in hybrid electric vehicles
- some other aspects of regulation and control
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