Design and development of command and control system for autonomous underwater vehicles

... systems 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 ... develop a command and control system that can be deployed in modular AUVs and in the future, allows natural extension and simple modification for multi-AUV sce...

Ngày tải lên: 04/10/2015, 10:26

... DEVELOPMENT OF LIQUID CRYSTAL- BASED SYSTEM FOR BIOMOLECULE AND NANOMATERIAL CHARACTERIZATION DENY HARTONO (BEng, Institut Teknologi Bandung, Indonesia) A THESIS SUBMITTED FOR THE DEGREE OF ... types of LCs based on the shape of LC molecules: (A) calamitic and (B) discotic Source: Liquid Crystal Technology Group, Oxford University Based on the driving fo...

Ngày tải lên: 14/09/2015, 08:41

... sensor information At run time, the product of this vector field driven design a control law—is used to implement various robotic behaviors Preliminaries 2.1 Problem Formulation Consider an autonomous ... Chiel, and L S Sterling, “A biological perspective on autonomous agent design, ” Robotics and Autonomous Systems, vol 6, no 1-2, pp 169–186, 1990 [11] M W Tilden, “Adaptiv...

Ngày tải lên: 21/06/2014, 20:20

... was added and placed on a carbon coated grid The excess water was absorbed using a filter paper and uranyl acetate stain was added The grid was then washed with water to remove excess uranyl acetate ... atazanavir, by a human brain endothelial cell line Pharm Res 2008, 25:2262-2271 30 Kaur A, Jain S, Tiwary AK: Mannan-coated gelatine nanoparticles for sustained and targeted delivery...

Ngày tải lên: 10/08/2014, 05:21

... complexity in ink effluent The high organic contents and high strength colour ink effluent are the characteristics for the ink- jet ink effluent in majority of the cases 2.2 Biodegradability of Ink Effluents ... 2.1 Inkjet Ink Effluents 2.1.1 Inkjet Technologies 2.1.2 Drop-on-demand Inkjet Printing 2.1.3 Components of Inkjet Ink 10 2.2 Biodegradability of Ink Ef...

Ngày tải lên: 04/10/2015, 15:52

... DEVELOPMENT OF MICRO TOTAL ANALYSIS SYSTEM FOR DETECTION OF WATER PATHOGENS Yong Chee Kien (B.Eng (Hons.), NUS) A THESIS SUBMITTED FOR THE DEGREE OF MASTER OF ENGINEERING DIVISION OF ENVIRONMENTAL ... System 151 viii NUS DESE Summary SUMMARY The objective of this project is to develop a micro total analysis system for water pathogen detection Th...

Ngày tải lên: 04/10/2015, 15:57

... 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...

Ngày tải lên: 04/10/2015, 10:25

... Delegated Monitors, Large and Small: The Development of Germany’s Banking System, 1800-1914 Timothy W Guinnane Abstract Banks play a greater role in the German financial system than in the ... misleading; a few large states comprised most of the area and population In 1871 an enlarged Prussia counted for 60 percent of the population and 64 percent of...

Ngày tải lên: 22/03/2014, 20:21

... 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 l...

Ngày tải lên: 31/03/2014, 23:20

... been These two parts, taken as a unit, account for the whole of the linguistic history, in the sense de fined above, of the origin and early development of the Chinese writing system Except for the ... emergence of what appear to be localized non-standard varieties of pre-Han Chinese writing- as seen, for example, in the characters of the 14 The...

Ngày tải lên: 03/04/2014, 13:25

... particular, I would like to thank Albertus Hendrawan, Huang Weiwei, Tan Boon Hwa, Syeda Mariam Ahmed, Mohan Gunasekaran, Peng Chang, Chen Nutan, Feng Xiaobing, Chao Shuzhe, Chanaka Dilhan Senanayake, ... intuitive assistance of an assistive device In this work, we present a development and control methodology of a lower extremity assistive device for home rehabilitat...

Ngày tải lên: 09/09/2015, 11:13

... platform mesh on drug elution Hypothesis: With the addition of TCP, the rate of release of drug will be increased over a period of time due to the lowering of hydrophobicity of the platform mesh ... elution profile, antimicrobial efficacy and cytotoxicity of the various concentrations of GS incorporated The influence of TCP incorporation and surface area to volum...

Ngày tải lên: 11/09/2015, 09:59

... 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 w...

Ngày tải lên: 11/09/2015, 10:06

... ANALYSIS, DESIGN AND IMPLEMENTATION OF HIGH PERFORMANCE CONTROL SCHEMES FOR THREE PHASE PWM AC- DC VOLTAGE SOURCE CONVERTER XINHUI WU (B.Eng(Hons.), SJTU, Shanghai, China) A THESIS SUBMITTED FOR ... advantage of providing high dynamic performance Hence, this thesis is aimed at developing active control solutions to achieve high performance for...

Ngày tải lên: 11/09/2015, 16:02

... mR ˜  F1 ˜ ˜ F = F2  ˜ F3 ˜ B = 0 u1 ˜ 12 0 , u = uβa B (1. 10) (1. 11) (1. 12) (1. 13) 2 ˜ M 11 = Ixf + Ixw + Ixw Cβ + mR2 Cβ + Ixf Cββa (1. 14) ˜ M13 = 2Ixw Cβ + mR2 Cβ (1. 15) ˙ ˙˙ ˜ F1 = (Ixw ... simplification and assumption, the dynamics becomes( [16 ] and [18 ]): ˙ βa = uβa ˜ q ¨ ˜ q ˜ ˜˜ ˙ M (˜)q = F (˜, q ) + B u ˜ 13 (1. 9) with   α q = β  ˜ γ ˜  ˜ M 11 M13 ˜  M =...

Ngày tải lên: 14/09/2015, 08:37