Underactuated single wheeled mobile robot mimicking a human ridden unicycle 2

... as an assembled set as shown in Fig 4.4 The selection 134 Table 4.1: Data of Wheel Planetary Gearhead (Maxon Gear Planetary Gearhead GP 42 C, Order Number: 20 3 125 ) No Quantity Gear Ratio Maximum ... Calculate the maximum gear ratio p Rmax = 8000 rpm = 4 12. 16 19.41 rpm p Select a planetary gearhead having gear ratio closest to Rmax Selection falls on planetary gearhead 166946 with the...

Ngày tải lên: 09/09/2015, 11:29

... Fig 1. 18 Figure 1. 18: Conceptual Design of ALP Cycle The unicycle robot was initially named Pendulum-Balanced Autonomous Unicycle (PBAU), but its name was later changed to Automatic Lateral-Pendulum ... [30] and Xu, Mamun and Daud of National University of Singapore in 2 011 [79] In addition, reaction wheel has been explored by Majima, Kasai and Kadohara of University of Tsukuba in...

Ngày tải lên: 09/09/2015, 11:28

... a certain location by manoeuvring to follow a particular path During the course of manoeuvre, it is important to always maintain the longitudinal stability and lateral stability, so that ALP Cycle ... permutation of the longitudinal configurations and lateral configurations There are in total two types of balanced configurations and ten types of unbalanced configurations The balanced configura...

Ngày tải lên: 09/09/2015, 11:29

... the approach taken in [5] and [6] Based on this nonlinear model, we design a path tracking control law based on feedback linearization Feedback linearization designs have the potential of reaching ... systems) A straightforward analysis will show that the system can always be rendered unstable: Just vary the reference input such that transitions are always taken before the transition...

Ngày tải lên: 27/06/2014, 18:20

... (1984) Information richness: a new approach to managerial behaviour and organization design Research in Organizational Behavior 6:191 23 3 Davidow W, Malone M (19 92) The virtual corporation HarperBusiness, ... mobile ICT at work may favour those with a better education Mobile devices are not easily usable for people with manual disabilities, because screens are small and not ea...

Ngày tải lên: 07/08/2014, 21:20

... obtained after including the unknown obstacle in the data base and starting again the planning [15] In fact the main penalization due to unknown obstacles is the decreasing of the linear speed of ... to the actual characteristics of the robot This means that the rough and manual tuning of the parameters of the fuzzy controller is replaced by a fine local automatic tuning and...

Ngày tải lên: 23/10/2013, 15:15

... Brandt, and S Glasauer 2008 Human-robot interaction in handing-over tasks In Proceedings of IEEE RO-MAN 2008 doi:10.1109/ROMAN.2008 4600651 C Y Lin 2004 ROUGE: A package for automatic evaluation ... PARADISE Natural Language Engineering, 6(3–4):363–377 M A Walker 2000 An application of reinforcement learning to dialogue strategy selection in a spoken dialogue system fo...

Ngày tải lên: 17/03/2014, 01:20

... has a CORBA object to store information that it shares with the dialogue system The OAA-wrapper has access to this object and OAA agents in the dialogue system can communicate with the navigation ... Dialogue System OAA Facilitator 4— off-board on-board Map Server Topological Map Geometrical Map • • CORBA w Object CORBA Connection I command state Navigation System Navigation 4-10 Module...

Ngày tải lên: 17/03/2014, 22:20

... the approach taken in [5] and [6] Based on this nonlinear model, we design a path tracking control law based on feedback linearization Feedback linearization designs have the potential of reaching ... systems) A straightforward analysis will show that the system can always be rendered unstable: Just vary the reference input such that transitions are always taken before the transition...

Ngày tải lên: 22/03/2014, 11:20

... http://www.retrovirology.com/content/7 /1/ 58 Page of 10 A 10 000 10 000 NL-vifS NL-G 116 EvifS 10 0 10 0 .1 1000 p24 ng/mL 10 0 p24 ng/mL 10 00 p24 ng/mL 10 00 10 000 NL-4/5SG 116 E6/7S vifS 10 0 .1 0. 01 10 0 .1 0. 01 100 0. 01 Days ... importance of the 11 6th amino acid residue of the CA in TRIM5α-mediated restriction With respect to viral sensitivity...

Ngày tải lên: 13/08/2014, 01:20

... instantaneous center of rotation (ICR) cannot lie Vector Algebra Approach to WMR Kinematics page Forward Rate Kinematics (Actuated Inverse Solution) w w Consider again Figure Given the linear ... motion in the plane Figure 6: Pure Rotation and Instantaneous Center of Rotation All planar motions can be described as a pure rotation about an instantaneous center of rotation Top:...

Ngày tải lên: 26/10/2014, 14:31

... A dynamically-controlled, holonomic mobile robot is particularly desirable in a mobile manipulation system for many reasons A holonomic robot makes for easier gross motion planning and navigation ... and to the work of all the individuals stable platform for mobile manipulation there, especially Anthony del Balso, Rich Legrand, We have also described a new ap...

Ngày tải lên: 26/10/2014, 14:32

... Understand Behavioral layer target area speech Motion and Audio and Vision Speech Animation localization gestures task task task Mobile platform Speakers Camera/s Microphone/s Animated head and arms ... Example of social robot architecture for execution and robot behavioral layer 2.2 Review of mobile Robots The prevalence of automation and mobile robotic platform...

Ngày tải lên: 04/10/2015, 10:26