Locomotion trajectory generation and dynamic control for bipedal walking robots
Locomotion trajectory generation and dynamic control for bipedal walking robots
... general method for joint trajectory generation to achieve optimized stable locomotion for bipedal robots is first proposed and referred to as Genetic Algorithm Optimized Fourier Series Formulation ... profile The entire bipedal walking control algorithm proposed in this thesis has shown to be general for different walking postures and for robots with different me...
high precision dynamic alignment and gap control for optical near field nanolithography
... High precision dynamic alignment and gap control for optical near- field nanolithography Xiaolei Wen School of Mechanical Engineering and Birck Nanotechnology Center, ... http://avspublications.org/jvstb/about/rights _and_ permissions 041601-4 Wen et al.: High precision dynamic alignment and gap control 041601-4 FIG Illustration of alignment using the...
Hamilton–Jacobi–Bellman equations and dynamic programming for power-optimization of radiative law multistage heat engine system
... 100 of heat engines are shown with the step of in Figures 7-9 Table lists optimization results of the key parameters of the multistage endoreversible heat engine system with the radiative heat ... Wi of each stage heat engine versus the stage i for Newtonian heat transfer law (fixed T1 f ) Table Optimization results of the key parameters of the multistag...
Báo cáo hóa học: "Research Article Comparative Study of Local SAD and Dynamic Programming for Stereo Processing Using Dedicated Hardware" ppt
... of SAD and the proposed version of dynamic programming stereo algorithm is given The hardware design of both systems is presented In Section the hardware/software platform used to prototype and ... methods, using techniques like SAD [6, 7] and rank transforms [16] Ambrosch and coauthors have recently implemented SAD- based stereo matching using FPGAs [17] They a...
ADVANCED PROCESS AND EQUIPMENT CONTROL FOR
... application of advanced process control and equipment control to reduce the process variation in lithography is investigated This thesis addresses these areas: 1) Real-time monitoring and control of ... device speed and performance (Edgar et al., 2000) CD control is required for obtaining adequate transistor, interconnect and consequently overall circuit performance...
Formation and reconfiguration control for multi robotic systems
... proposes an algorithm for tracking of the desired trajectory 1.4.1 Flocking, Swarming and Formation Control Achieving an specific formation and developing a control law that guarantees formation stability ... FORMATION AND RECONFIGURATION CONTROL FOR MULTI- ROBOTIC SYSTEMS Mohsen Zamani (B.Sc., Shiraz University of Technology) A THESIS SUBMITTED FOR THE DEGREE...
Báo cáo hóa học: " Research Article Video Enhancement and Dynamic Range Control of HDR Sequences for Automotive Applications" doc
... are 125 × 86 for Sequence and 160 × 120 for Sequence 2, and the frame rate is 24 frame/s for both sequences The input dynamic range of the cameras is 10 bits/pixel The output dynamic range we want ... designed for the control of HDR video sequences Moreover, we discuss the tuning of its parameters We show that once the camera is chosen, the parameters can b...
Báo cáo nghiên cứu khoa học: " DYNAMIC MODEL AND CONTROL FOR BIPED ROBOT" pps
... the next research such as Neuron network and fuzzy algorithm or other adaptive control models The main reason to develop these control model for the biped robot is that we simplified the problem, ... torque τ r to ensure the stability and accurate movements for the joints of the robot 2.2 Building RDC Control Choosing and defining Lyapunov function for the Biped Robot...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 3 docx
... for understanding motion behavior of other subjects Hu- 3. 2 A Framework for Capabilities 61 man language has special expressions for these capabilities of motion control, which often are performed ... recognition and tracking 2.2.4 .3 Coarse-to-fine 3- D Shape Models If multifocal vision allows tracking the silhouette of the entire object (e.g., a vehicle) and of...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 4 ppt
... 13.9 (-) - 7.5 5.58 6 .40 42 .6 28.1 (5.58) (10 .4) 10 3. 14 3.60 18.0 50 (3. 14) (3.29) 15 1.396 1.60 5.33 113 1.396 0.65 20 0.785 0.89 2.25 200 0.785 0.205 30 0. 349 0 .40 0.666 45 0 0. 349 0. 041 40 0.196 ... EMS–implementation for VaMoRs and VaMP, see Figure 14. 7), a PC-type processor forms the interface between the perception- and evaluation level (PEL), on one hand, a...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 5 potx
... task for better and more robust scene understanding 5. 1.2 Fields of View, Multi-focal Vision, and Scales In dealing with real-world tasks of surveillance and motion control very often coverage of ... Figure 5. 1 Structured knowledge base for three stages of visual dynamic scene understanding in expectation-based, multi-focal, saccadic (EMS) vision 5. 1 Visual Fea...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 6 ppt
... (Imin-st) image intensity values in the stripe The same statistic can be run for the summed intensities normal to the stripe direction (Iwmax-st and Iwmin-st) and for each mel (Icmax-st and Icmin-st); ... quadrants (mels) meet The computation of the average inten-4 -3 -2 -1 -4 Mask with mask element mel = 4×4 Mask in stripe Ri -3 at index k–1 Mask with mask elements...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 7 pptx
... AI and vision communities about 2-D, 2.5-D, and 3-D approaches to visual perception of image sequences [Marr, Nishihara 1 978 ; Ballard, Brown 1982; Marr 1982; Hanson, Riseman 19 87; Kanade 19 87] ... designation “4-D approach to dynamic vision [Dickmanns 19 87] 6.1 Introduction to the 4-D Approach for Spatiotemporal Perception Since the late 1 970 s, observer techniques as...
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