2 8 alternative modeling parameters and acceptance criteria 227

... your position in space, and 3) no light sources emit only parallel light rays “But wait,” you say, “a candle is a point source and so is an LED.” Actually no Candles and LEDs are small area sources, ... hold up one hand or a piece of paper and stare at it, turning it over and around to see how the light plays across it Look at the shadows and where they are, what color they are, and what sort ... to really understand these light types is to go out and study them No book, no video, and no plug into your brain will take the place of observing, experiencing, and understanding for yourself...

Ngày tải lên: 09/08/2014, 11:21

... i=1 (Zi − Zi+d )2 N © 20 05 by CRC Press DITM: “tf17 32_ c0 02 — 20 04/10 /22 — 16:36 — page 17 — #5 (2. 9) 18 DIGITAL TERRAIN MODELING: PRINCIPLES AND METHODOLOGY R(d) A B d Figure 2. 3 Two auto-correlation ... convex and concave points Peak Course line Ridge lines Figure 2. 6 Terrain feature points and lines © 20 05 by CRC Press DITM: “tf17 32_ c0 02 — 20 04/10 /22 — 16:36 — page 23 — #11 24 DIGITAL TERRAIN MODELING: ... surface, and if the value of © 20 05 by CRC Press DITM: “tf17 32_ c0 02 — 20 04/10 /22 — 16:36 — page 14 — #2 TERRAIN DESCRIPTORS AND SAMPLING STRATEGIES 15 a is smaller than 2, it indicates a flat landscape...

Ngày tải lên: 11/08/2014, 17:20

... Difference (m) Uppland 40 √ 40 80 1.04 1. 18 1. 38 0.76 0.93 1. 18 0 . 28 0 .25 0 .20 0.66 0.70 0 .80 0. 38 0. 48 0. 58 Sohnstetten 20 √ 20 40 √ 20 0.74 0. 98 1. 38 1.77 0.56 0 .87 1.45 2. 40 0. 18 0.11 −0.07 −0.63 ... 0.10 0 .23 0. 38 2 √ 2 20 × 20 40 √ × 40 0.56 0 .87 1.44 2. 40 0.40 0.55 0.77 1. 08 0.16 0. 32 0.67 1. 32 2 √ 2 10 × 10 20 Uppland No F-S Data 0 .21 0 . 28 0.36 0.14 0.15 0.16 0.07 0.13 0 .20 1 √ 2 √ Sohnstetten ... H1 2( n − 1) = (2n − 1)σ H1 2( n − 1) (8. 19) Combining Equation (8. 19) with Equation (8. 16), the following expression can be obtained: 2 (8 .20 ) σ H2 = 2n − or σ H2 =√ σ 2n − =√ 2n − ×σ (8 .21 )...

Ngày tải lên: 11/08/2014, 17:20

... LISTEN AND READ / P.65, 66 I.New words (to) decorate : trang trí UNIT : P49:Lesson LISTEN AND READ / P.65, 66 New words a sticky rice cake : bánh trưng UNIT : P 49 : Lesson 1: LISTEN AND READ ... LISTEN AND READ / P.65, 66 I New words parade (n) : diễu hành UNIT : P 49 : Lesson : LISTEN AND READ / P.65, 66 I New words (to) live apart : sống cách xa UNIT : P 49 : Lesson 1: LISTEN AND READ ... o N S You You win lose a e f h i j k l n o p q r s d m c g b t v w x y Saturday, March 14 th , 20 09 Dam Thanh Mai a.Christmas b Easter c Lunar New Year d Birthday e Wedding f Mid-Fall Festival...

Ngày tải lên: 13/09/2013, 19:10

... directory an address book Hello, This is 84 7 329 Hoa Can I speak to Hoa, please? This is Nga Nga Listen and answer True or false ? T1 Nga is calling Hoa F2 Nga invites Hoa to the English club this ... agreed to the time *Answer, please ! What you say when you hear the phone? - (Hello, This is) 87 4 329 If you are caller What will you say? - Hello, Can I speak to … , please? This is … What will ... going there by bike F4 They will meet at half past five half past six 1, telephone directory (n) 2, arrange (v) 3, introduce (v) 4, agree (v) Answer the questions a Nga made the call b Nga introduced...

Ngày tải lên: 17/09/2013, 13:10

... PA2 (ADC2)- 38 PA3 (ADC3)-37 PA4 (ADC4)-36 PA5 (ADC5)-35 PA6 (ADC6)-34 PA7 (ADC7)-33 AREF- 32 AGND-31 AVCC-30 PC7 (TOSC2) -29 PC6 (TOSC1) - 28 PC5 -27 PC4 -26 PC3 -25 PC2 -24 PC1 -23 PC0 -22 PD7 (OC2) -21 ... PC6 PC5 - 28 RS 2- PD0 PC4 -27 E 3-PD1 PC3 -26 O2 Circuit Breaker ATmega8 4-PD2 PC2 -25 AUX Fuel 5-PD3 PC1 -24 Engine Power 6-PD4 PC0 (ADC0) -23 7-VCC GND -22 8- GND AREF -21 Vcc 9-PB6 Vcc AVCC -20 10-PB7 ... Vcc LM 324 + 47 47 47 47 47 47 47 47 R G R G R G R G R G R G R G R G 2N2907 2N 222 2 Vcc ATMEL AVR OPERATING PARAMETERS AND INTERFACING 121 122 ATMEL AVR MICROCONTROLLER PRIMER: PROGRAMMING AND INTERFACING...

Ngày tải lên: 29/09/2013, 20:20

... children b) Don’t be foolish and greedy c) Be happy with what you have d) It’s difficult to find gold HOMEWORK : Do Ex 1, 2, ( page 27 28 workbook ) Prepare : read ( page 41– 42 )  ... rich! We’re rich!” His wife ran to him and they both looked at the egg in amazement The wife wanted more, so her husband decided to cut open all the chickens and find more gold eggs Unfortunately, ... chickens laid many eggs which the farmer used to sell to buy food and clothing for his family One day, he went to collect the eggs and discovered one of the chickens laid a gold egg He shouted excitedly...

Ngày tải lên: 11/10/2013, 06:11

... Q 32 Q 22 Q 21 Q11 − Q 22 Q 21 Q11 −1 −1 −1 −1 −1 −1 −1 Λ 51 = −3Q 22 Q 32 Q 22 Q 32 Q 22 Q 21 Q11 + 3Q 22 Q 32 Q 22 Q 21 Q11 −1 −1 −1 −1 −1 −1 −1 + Q 22 Q 32 Q 22 Q 32 Q 22 Q 32 Q 22 Q 21 Q11 − Q 22 Q 21 Q11 ... 21 = − Q 22 Q 21 Q11 = − Q 22 Q 21 Λ11 = − Λ 22 Q 21 Λ11 −1 −1 −1 −1 −1 Λ 31 = Q 22 Q 32 Q 22 Q 21 Q11 − Q 22 Q 21 Q11 −1 −1 −1 −1 −1 −1 –1 −1 −1 Λ 41 = − Q 22 Q 32 Q 22 Q 32 Q 22 Q 21 Q11 + 2Q 22 Q 32 ... 22 = Λ 33 = Λ 44 = Λ 55 = Q 22 −1 −1 Λ 32 = Λ 43 = Λ 54 = − Q 22 Q 32 Q 22 −1 −1 −1 −1 −1 Λ 42 = Λ 53 = Q 22 Q 32 Q 22 Q 32 Q 22 − Q 22 Q 32 Q 22 −1 −1 −1 −1 −1 −1 −1 −1 −1 Λ 52 = − Q 22 Q 32 Q 22 ...

Ngày tải lên: 18/10/2013, 09:15

... terminated 21 .2. 7 Design Example The design conditions are summarized in Table 21 .2 and Figures 21 .22 and 21 .23 Figure 21 .24 shows the robot designed by the above-mentioned procedure, and Tables 21 .3 ... Tables 21 .3 through 21 .5, summarize its main design parameters Furthermore, Figures 21 .22 , 21 .23 , 21 .25 and Table 21 .6 show the various performances of the designed robot Figure 21 .26 illustrates ... 20 01 9:51 PM TABLE 21 .3 Arm Parameters of Designed Robot Arm Length (mm) Diameter (mm) Thickness (mm) B0 B1 B2 B3 B4 B5 B6 Total 320 .0 320 .0 400.0 28 0.0 120 .0 120 .0 40.0 1600.0 130.0 120 .0 120 .0...

Ngày tải lên: 25/10/2013, 13:15

... chamfers) © 20 02 by CRC Press LLC 85 96Ch23Frame Page 6 32 Friday, November 9, 20 01 6 :26 PM FIGURE 23 .25 Insert task FIGURE 23 .26 Impedance gains selection Determining a medium stiffness (Figure 23 .26 ) ... system including control, © 20 02 by CRC Press LLC 85 96Ch23Frame Page 6 28 Friday, November 9, 20 01 6 :26 PM FIGURE 23 .23 Compliance frame and position modification programming, and monitoring functions ... 19 92 © 20 02 by CRC Press LLC 85 96Ch23Frame Page 635 Friday, November 9, 20 01 6 :26 PM 26 Zhang, H and Paul, R., Hybrid control of robot manipulator, Proc IEEE Int Conf Robotics, 6 02 607, 1 985 27 ...

Ngày tải lên: 29/10/2013, 20:15

... ∂w 12 ij = ∑ p∈P ∂E p = ∂w 12 ij ∑∑ p∈P =− r ∑ p∈P ∂Ep ∂s2pi s2pi ∂w 12 ij p ∂E p ∂s3pr ∂o2 j ∂s2pi ∂s3pr ∂o2pi ∂s2pi ∂w 12 ij ∑∑δ p 3r w23ri f2′i (s2pi )u1pj p∈P =− r ∑δ p p 2i j (24 .23 ) w23ri f2′i ... s3i (t )) ∆w23ij (t ) = − η δ i (t ) = ∑δ r © 20 02 by CRC Press LLC (24 .25 ) ∂E = ηδ 3i (t )o2 j (t ) ∂w23ij (24 .26 ) (t )w23ri (t ) f ′ i ( s2 i (t )) (24 .27 ) 3r 85 96Ch24Frame Page 6 48 Tuesday, ... November 6, 20 01 9:43 PM ∆w 12 ij (t ) = − η ∂E = ηδ i (t )u1 j (t ) ∂w 12 ij (24 . 28 ) w23ij (t + 1) = w23ij (t ) + ∆w23ij (t ) (24 .29 ) w 12 ij (t + 1) = w 12 ij (t ) + ∆w 12 ij (t ) (24 .30) where...

Ngày tải lên: 29/10/2013, 20:15

... (26 .23 ) Similarly, we get y= Finally, Equation (26 .10) yields © 20 02 by CRC Press LLC 85 96Ch26Frame Page 720 Friday, November 9, 20 01 6 :25 PM r (θ R − θ L ) l φ = (26 .24 ) From Equations (26 .22 ... Equation (26 .8) from Equation (26 .7): l φ = r(θ R − θ L ) © 20 02 by CRC Press LLC (26 .10) 85 96Ch26Frame Page 716 Friday, November 9, 20 01 6 :25 PM We can now integrate this equation over time and ... missions, are described in the text to follow © 20 02 by CRC Press LLC 85 96Ch26Frame Page 710 Friday, November 9, 20 01 6 :25 PM FIGURE 26 .2 The Stanford Cart 26 .2. 2 Stanford Cart The cart was developed...

Ngày tải lên: 09/11/2013, 05:15

... 6HUYHUV %5,6%$1'#± 489

Ngày tải lên: 10/12/2013, 16:15

... import and export a variety of document types, including Lotus 1 -2- 3 (WKS, WK1, WK3, and WK4 files) and Microsoft Excel 3.0, 4.0, 5.0, 7.0/95, and 97 Figure 8. 5: The Spreadsheets application 8. 1 .2 ... Figure 8. 6 StarDesktop resembles Windows Explorer and the GNOME File Manager It lets you point, click, drag, and drop to open and manage document files and folders Figure 8. 6: StarDesktop Figure 8. 7 ... drawing and charting functions  version control  clipart images, photos, textures, templates, and fonts The downloadable version is about 24 MB in size, about a hour download at 28 .8 Kbps 8. 1.3.1...

Ngày tải lên: 14/12/2013, 13:15

... 21 Actuators and Computer-Aided Design of Robots 21 .1 Robot Driving Systems 21 .2 Computer-Aided Design References 22 Control of Robots 22 .1 Introduction 22 .2 Hierarchical Control of Robots 22 .3 ... 27 .6 Conclusion References 28 Present State and Future Trends in Mechanical Systems Design for Robot Application 28 .1 Introduction 28 .2 Industrial Robots 28 .3 Service Robots References © 20 02 ... Approach 24 .5 Neuro-Fuzzy Approach in Robotics 24 .6 Genetic Approach in Robotics 24 .7 Conclusion References 25 Teleoperation and Telerobotics 25 .1 Introduction 25 .2 Hand Controllers © 20 02 by CRC...

Ngày tải lên: 17/12/2013, 13:15

... to reduce costs and to improve © 20 02 by CRC Press LLC 23 0 45 86 5 3054 28 66 1000 21 0 410 1405 1005 123 4 24 10 FIGURE 28 . 12 Articulated robot and its workspace Note the gas spring that acts as a ... axes’ own weight and relatively long reach can be counterbalanced by weights or springs Figure 28 . 12 displays a typical robot design © 20 02 by CRC Press LLC FIGURE 28 .8 Floor and overhead installations ... order-independent preassembly and order-specific final-assembly (see Figure 28 . 18) © 20 02 by CRC Press LLC FIGURE 28 .17 instruments Typical frame design (top left and right) and frame-components (bottom)...

Ngày tải lên: 17/12/2013, 13:15

... its use 28 .3.3 .2 Systems Design Planning and design of service robot systems involves systematic design of mechatronic products (Schraft and Hägele, 18 Kim and Koshla,94 and Schraft et al .20 ) followed ... structure and the step-wise increase in docking accuracy is depicted in Figure 28 .31 28 .3.3.6 Docking Sensors From their initial approach location (see Figure 28 .25 ), the docking sensors detect and ... Vol 2, Gordon & Breach, Amsterdam, 20 00 With permission.) FIGURE 28 . 28 Car-type specific data stored in the transponder (From Leondes, C.T., Mechatronic Systems Techniques and Applications, Vol 2, ...

Ngày tải lên: 17/12/2013, 13:15

... FIGURE 28 . 32 Working principle of the docking sensor (From Leondes, C.T., Mechatronic Systems Techniques and Applications, Vol 2, Gordon & Breach, Amsterdam, 20 00 With permission.) FIGURE 28 .33 ... 22 Warnecke, H-J., Schraft, R.D., Hägele, M., Barth, O., and Schmierer, G., Manipulator Design in Handbook of Industrial Robotics, Nof, S Y., Ed., John Wiley & Sons, New York, 42, 1999 © 20 02 ... Autonomous Syst., 18, 101, 1996 Iberall, T., Jackson, L., Labbe, L., and Zampano, R., Knowledge-based prehension: capturing human dexterity, Int Conf Robotic Res., 82 , 1 988 UN/ECE, International...

Ngày tải lên: 17/12/2013, 13:15

... Studies Stirling FK9 4LA Tel: 01 786 46 622 0 Web: www.stir.ac.uk University of Ulster at Jordanstown Shore Road Newtownabbey Co Antrim BT37 0QB Tel: 0 28 9036 88 53 Web: www.ulst.ac.uk West Herts ... Headingley Leeds LS6 3QS Tel: 0113 28 3 26 00 Web: www.lmu.ac.uk/lbs London School of Public Relations David Game House 69 Notting Hill Gate London W11 3JS Tel: 020 722 1 3399 Web: www.pr-school-london.com ... Retailing and Marketing Aytoun Building Manchester M1 3GH Tel: 0161 24 7 6050/6063 Web: www.manbus.mmu.ac.uk/retmark Qualifications and Curriculum Authority 83 Piccadilly London W1J 8QA Tel: 020 7509...

Ngày tải lên: 23/12/2013, 00:15

... Tuesday, November 6, 20 01 10 :22 PM t1 t2 (a) Conflict: if t1 fires, t2 is not enabled and visa versa t1 t2 (b) Concurrency: t 1and t2 can be fired independently FIGURE 1 .8 Examples of modeling capabilities ... technological innovations, and enormous progress in computer and information technology (Jaikumar, 1993; Mehrabi © 20 02 by CRC Press LLC 85 96Ch01Frame Page Tuesday, November 6, 20 01 10 :22 PM Reconfigurable ... 85 96Ch01Frame Page Tuesday, November 6, 20 01 10 :22 PM Manufacturing Systems and Their Design Principles 1.1 1 .2 1.3 1.4 M G Mehrabi 1.5 University of Michigan Product Design and Design...

Ngày tải lên: 23/01/2014, 06:20