Design and control of a teleoperation system for humanoid walking

... user a full information for the 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 ... researchers adopt for bipedal walking Section 2.2 is an overview of teleoperation and classifications of the control methods of teleoperation system 2.1 Bipedal Walking Control Achieve stable walking ... fire disaster area, or radiation in the nuclear plant, etc Taking advantage of the advancement in bipedal walking control, several humanoid robots, namely the Honda Asimo (Hirai, 1998) and Sony...

Investigations into design and control of power electronic systems for future microprocessor power supplies

... INVESTIGATIONS INTO DESIGN AND CONTROL OF POWER ELECTRONIC SYSTEMS FOR FUTURE MICROPROCESSOR POWER SUPPLIES Ravinder Pal Singh (B.Tech(Hons), IIT Kharagpur, India) A THESIS SUBMITTED FOR ... 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 ... (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 next generation...

Hyperscsi design and development of a new protocol for storage networking

... connection and data reliability mechanism A UDP datagram has a header and a payload The application data is carried as payload and the header carries the necessary information for protocol operation A ... volume of and the increasingly critical role played by data storage, there is a strong demand to put data storage on network Therefore, how to share data, improve data reliability, and back up and ... parameter to determine the total data transfer rate and packet loss ratio RBUDP separates the signaling control and data communication channel to achieve higher data transfer rate The analytical...

Design and control of a small size humanoid robot

... 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 important areas is ... normal gearbox remains the common selection by small size humanoid robots as they are usually integrated with motors as a compact package by the manufacturer and are much cheaper However, backlash ... the actuators require The advantage of planning in Cartesian space is that path planning is on parameters with resultant of motions of many actuators, instead of going down to plan the paths of...

Design and control of a soccer playing humanoid robot

... creating a small-sized humanoid robot, which is capable of walking stably and performing some basic soccer playing skills such as approaching a ball and kicking it toward a goal, defending a goal, avoiding ... repetitive and hazardous 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 ... introduction of several impressive commercial robots such as ASIMO, Qrio, HOAP, HRP, and H7 However, it is still far away from the final goal that aims at making humanoid robot a companion of human in factory,...

Báo cáo hóa học: " Design and Realization of a New Signal Security System for Multimedia Data Transmission" ppt

... This data- processing rate is fast enough for realtime data protection in multimedia data transmission applications The proposed signal security system is suitable for both software and hardware ... updating period of the parameters of µ and x(0) could be based on the basic unit of video frame or audio frame in representing the multimedia data A New Signal Security System for Multimedia Data ... the silicon area normalized to a 0.35 µm NArea = DRPA = Area (Technology/0.35)2 Data − rate NArea Mbps/mm2 (20) (21) A New Signal Security System for Multimedia Data Transmission ctrl vo 1301...

Báo cáo y học: " Comparative efficacy of the Cognitive Behavioral Analysis System of Psychotherapy versus Supportive Psychotherapy for early onset chronic depression: design and rationale of a multisite randomized controlled trial" ppt

... Behavioral Analysis System of Psychotherapy versus Supportive Psychotherapy for early onset chronic depression: design and rationale of a multisite randomized controlled trial BMC Psychiatry 2011 11:134 ... K: The efficacy of imipramine and psychotherapy in early- onset chronic depression: a reanalysis of the National Institute of Mental health Treatment of Depression Collaborative Research Program ... Psychotherapy/ IPT, and Cognitive Behavioral Therapy) performed relatively poorly in early- onset chronic Major Depression as shown by a reanalysis [14] of the data of the NIMH-Collaborative study In a pilot...

The Design and Implementation of a Log-Structured File System

... purpose The separate data area of these database systems means that they not need the segment cleaning mechanisms of the Sprite LFS to reclaim log space The space occupied by the log in a database system ... log as the most up to date ‘‘truth’’ about the state of the data on disk The main difference is that database systems not use the log as the ﬁnal repository for data: a separate data area is reserved ... has the disadvantage of increasing the amount of data lost during a crash For this paper we will assume that crashes are infrequent and that it is acceptable to lose a few seconds or minutes of...

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Design and Implementation of a Three-Phase Induction Motor Control Scheme

... processes and variables are modelled mathematically Furthermore, the MATLAB program can convert a MATLAB design into a C-code design in a relatively straightforward manner Hence, this stage of the ... 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 the AC quantities and are, ... the induction motor s many advantages are clearly explained Wildi also presents the two types of induction motors: “the squirrel cage induction motor and the “wound motor An explanation of the...

The Design and Implementation of a Sequence Database System * docx

... supports relational data as well as sequencedata, using a novel design paradigm of enhancedabstractdata types (BADTs ) The systemimplementation basedon this paradigmallows sequence relational queriesto ... PIVceeding of the ACM SIGMOD Conference on Management of Data, May 1994 [CS92] RakeshChandmand Arie Segev.ManagingTemporalFinancial Data in anExtensible Database. In Proceedings of the International Conference ... that drill down and up the dimensions) There are also severalopen researchissuesin the design of systemsbasedon the E-ADT paradigm, and in extensions of the paradigm to handle optimizations that...

báo cáo hóa học:" Research Article Design and Implementation of a Testbed for IEEE 802.15.4 (Zigbee) Performance Measurements" doc

... for that particular packet All of these packets are picked up by BaseStation.java listening on the USB port and it saves each consecutive packet in a ﬁle for future analysis A new ﬁle is created ... created for each trial A second Java program (Analyze.java) was developed to analyze the saved ﬁles containing the received packets Since the transmitted data is known, this program can easily calculate ... channel, the transmitter node always transmits the same data packet The ﬁrst octets are AM BER = header information and the dummy data payload is decimal number 85 which was chosen simply because...

Báo cáo hóa học: "Design and implementation of a real time and train less eye state recognition system" docx

... and implementation of a real time and train less eye state recognition system Mohammad Dehnavi*1 and Mohammad Eshghi1 ECE Department, Shahid Beheshti University, Tehran, Iran *Corresponding author: ... light, and the color of eyebrow and eyelash highly affect the accuracy of the proposed algorithm in [10] Algorithms in [11, 15, 16] have a training phase and also their hardware implementation ... Authors of [6, 7] use the fact that the iris and pupil are darker than skin and white part of the eye Authors of [11] proposed an algorithm based on the cascade AdaBoost classifier In [12], a...

Báo cáo hóa học: " Design and Characterization of a 5.2 GHz/2.4 GHz ΣΔ Fractional-N Frequency Synthesizer for Low-Phase Noise Performance" potx

... simulations on the divider can be performed The crystal oscillator is normally a commercially available part and data on its phase noise performance is often available from the manufacturer The ΣΔ ... measured and simulated phase noise for the 3.2-3.3 GHz band The square dots are the simulated data synthesizer phase noise performance The model can serve as a design guide for synthesizer designers ... University of Central Florida under a Motorola Research Grant on SAW device package electrical characterization and oscillator design From 1991 to 1995, he was a Staﬀ and Lead Oscillator Design Engineer...

development and control of a holonomic mobile robot for mobile manipulatoion tasks

... 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 approach for a mod- Jim Slater and ... Bastin, and B d’Andr a- Novel e (1993, May) Structural properties and classiﬁcation of kinematic and dynamic models of wheeled mobile robots In Proc IEEE International Conference on Robotics and Automation,...

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