2 lqg ltr design for puma 560 robotic manipulator

... Graphics, vol 25 , no 3, pp 1160–1168, 20 06 [22 ] R A Brooks, “A robust layered control system for a mobile robot,” IEEE Journal of Robotics and Automation, vol 2, no 1, pp 14 23 , 1986 [23 ] R A Brooks, ... no 3, pp 23 7 25 0, 20 04 [9] R R Harrison, “A biologically inspired analog IC for visual collision detection,” IEEE Transactions on Circuits and Systems I, vol 52, no 11, pp 23 08 23 18, 20 05 [10] ... (5) 2 ⎤ ⎢ −|η1 | + | 2 | ⎥ ⎥ ⎢ ⎣ −η sgn(η ) ⎦ ⎡ Setting (2) and (5) equal, we obtain: ⎡ ⎤ ⎡ Unconstrained taxis (forward bias) sgn(s1 ) Forward-only taxis ⎤ ⎦ sgn+ (s1 )sgn(s2 ) η1 (6) 2 (recall...

Ngày tải lên: 21/06/2014, 20:20

... observations provides the occurrence of a real-world phenomenon (Table 2. 2)  12 OBJECT-ORIENTED DESIGN FOR TEMPORAL GIS Table 2. 2 Main characteristics of the-dominant view Nevertheless, the semantics ... 2 OBJECT-ORIENTED DESIGN FOR TEMPORAL GIS attention to the diversity of ways of perceiving the same knowledge domain, and consequently the proliferation of many models for handling ... change will be understood from this perspective (Ornstein, 1969) 14 OBJECT-ORIENTED DESIGN FOR TEMPORAL GIS Figure 2. 2 Example of a sequence of gradual topological changes between two entities Relative...

Ngày tải lên: 07/08/2014, 04:20

... of users use Internet Explorer for Windows and the Mac OS for Web browsing as of mid -20 06 24 Chapter Figure 2. 7 An example of a Web browser—MSN.com URL The Uniform Resource Locator, known popularly ... Therefore, when you design a user interface, you have to understand how the interface works in the operating system for which you’re designing it If you’re going to write a software interface for ... processor Chapter 7,“Designing a User Interface,” discusses SDIs and MDIs in more detail 20 Chapter Figure 2. 1 An example of a window Buttons A button, as shown in Figure 2. 2, is one way to issue...

Ngày tải lên: 09/08/2014, 12:21

... planner’s view” (Heiskanen, 20 02) © 20 06 by Taylor & Francis Group, LLC 27 22_ C0 02_ r 02. indd 41 12/ 1 /20 05 11:30:19 AM 42 Product Design for the Environment In general terms, therefore, the life cycle ... Secondary or recycled resources © 20 06 by Taylor & Francis Group, LLC 27 22_ C0 02_ r 02. indd 51 12/ 1 /20 05 11:30 :20 AM 52 Product Design for the Environment FIGURE 2. 5 Activity model: Flows of material ... complex system These activities © 20 06 by Taylor & Francis Group, LLC 27 22_ C0 02_ r 02. indd 49 12/ 1 /20 05 11:30 :20 AM 50 Product Design for the Environment can be the transformation, handling, generation,...

Ngày tải lên: 11/08/2014, 21:21

... happens is that Spreadsheet comes to the front, as shown in Figure 2- 2, a frustrating surprise for almost anybody 12 Figure 2- 2: Wrong! Microsoft Excel's program model includes the bizarre and ... a lot of things, and it is the designers' responsibility to make these choices for them so that they don't have to It is the height of arrogance for a software designer to inflict a choice like ... that they can make an educated decision.) It has been said that design is the art of making choices When you design a trash can for the corner, you have to make choices between conflicting requirements...

Ngày tải lên: 14/08/2014, 00:21

... 175–181 (20 03) 22 Coelho, P., Nunes, U.: Lie algebra application to mobile robot control: a tutorial Robotica21(5), 483–493 (20 03) 23 De La Cruz, C., Carelli, R.: Dynamic modeling and centralized formation ... Manuf .27 , 194 20 4 (20 11) 27 Shojaei, K., Mohammad Shahri, A., Tarakameh, A., Tabibian, B.: Adaptive trajectory tracking control of a differential drive wheeled mobile robot Robotica29, 391–4 02 (20 10) ... ˆ 111 cos    2 2 1 sin  1ˆ11   2 2 1 cos  sin      x  D 1  x    ˆ D   ˆ1    1 cos  sin   ˆ 1 sin     1 cos2   ˆ  ˆ 2 1 2    1     (60)...

Ngày tải lên: 12/10/2014, 08:30

... 16 2. 6 Summary……………… 22 Chapter Reduced size antenna design ………… 23 ii 3.1 Introduction 23 3 .2 Antenna design 27 3 .2. 1 Theoretical design 27 3 .2. 2 Full ... .8 2. 2.1 Impedance bandwidth 2. 2 .2 Radiation pattern 2. 2.3 Gain 10 2. 3 Compact design basics 10 2. 4 Circularly polarization design .14 2. 5 Finite-difference ... 27 3 .2. 2 Full wave simulation 28 3 .2. 2.1 FEKO 28 3 .2. 2 .2 HFSS 29 3.3 Experimental results and discussion 30 3.3.1 Design procedures…………………… ………………………….30 3.3.1.1...

Ngày tải lên: 30/09/2015, 13:41

... GMT+00:00 20 07, Uncontrolled Copy, (c) BSI b1 b0 be1 beff b0 be2 b2 Key: Le= 0,85 L1 for beff,1 Le= 0 ,25 (L1 + L2) for beff ,2 L1 L1 /4 beff,0 L1 /2 L2 L1 /4 L2 /4 beff,1 L2 /2 beff ,2 beff,1 L3 L2 /4 ... 23 2. 4.1 Design values………………………………………………………………………… 23 2. 4.1.1 Design values of actions……………………………………………………… 23 2. 4.1 .2 Design values of material or product properties……………………………… 23 2. 4.1.3 Design ... variables……………………………………………………………………………… 22 2. 3.1 Actions and environmental influences………………………………………………… 22 2. 3 .2 Material and product properties……………………………………………………… 22 2. 3.3 Classification of actions……………………………………………………………… 22 2. 4...

Ngày tải lên: 11/12/2016, 12:04

... and K of EN 1998 -22 0 BASIC REQUIREMENTS AND COMPLIANCE CRITERIA 23 2. 1 DESIGN SEISMIC ACTION 23 2. 2 BASIC REQUIREMENTS 24 2. 2.1 General 24 2. 2 .2 No-collapse (ultimate ... 24 2. 2.3 Minimisation of damage (serviceability limit state) 25 2. 3 COMPLIANCE CRITERIA 25 2. 3.1 General 25 2. 3 .2 Intended seismic behaviour .25 2. 3.3 Resistance ... requirements of 2. 2 .2( 3) and 2. 2 .2 (4) may be relaxed 2. 3.5.3(1) Expression for the length of plastic hinges 2. 3.6.3(5) Fractions of design displacements for non-critical structural elements 2. 3.7(1)...

Ngày tải lên: 11/12/2016, 12:44

... Directives 23 0 Syntactic Grammar 23 1 A .2. 1 Namespace, Type, and Simple Names A .2. 2 Types 23 1 A .2. 3 Variables 23 2 A .2. 4 Expressions 23 2 A .2. 5 Statements 23 3 A .2. 6 Namespaces 23 5 A .2. 7 Classes 23 5 A .2. 8 ... 10 .2. 6 Extracting Attributes Using Reflection 22 1 10.3 Where to Go from Here 22 3 A C# 2. 0 Grammar 22 7 A.1 Lexical Grammar 22 7 A.1.1 Line Terminators 22 8 A.1 .2 White Space 22 8 A.1.3 Comments 22 8 ... Structs 23 7 A .2. 9 Arrays 23 7 A .2. 10 Interfaces 23 7 A .2. 11 Enums 23 8 A .2. 12 Delegates 23 8 A .2. 13 Attributes 23 8 Generics 23 8 23 1 Predefined XML Tags for Documentation Comments References Index 24 5 24 3...

Ngày tải lên: 20/08/2012, 11:57

... Robust Transceiver Design for AF MIMO Relay Systems 11 2. 1 2. 2 2. 3 2. 4 2. 5 2. 6 2. 7 Introduction System Model Problem Formulation ... 2. 1 Amplify-and-forward MIMO relay diagram 12 2 .2 Convergence performance of the iterative algorithm with α = 0, β = 0 .2 and σe = 0.0 02 30 2. 3 The ... Combining (2. 28) and (2. 29), we have Tr(AB) ≤ Tr(A)λmax (B) (2. 30) Substituting A = FRx FH and B = Ψrd , we have an upper bound for K K = Tr(FRx FH Ψrd )Σrd + Rn2 Tr(FRx FH )λmax (Ψrd )Σrd + Rn2 Φ (2. 31)...

Ngày tải lên: 20/11/2012, 11:31

... (forward, swap, future, option) Nơi NHTW can thiệp vào tỷ giá 9 /29 /20 10 25 ĐẶC ĐIỂM CỦA FOREX - Là thị trường toàn cầu, diễn 24 /24 h Trung tâm Forex Interbank với thành viên chủ yếu NHTM, dealer NHTW ... 9 /29 /20 10 28 14 CÁC NGHIỆP VỤ KINH DOANH NGOẠI HỐI FOREX PRIMARY OPERATION (Nghiệp vụ sơ cấp) SPOT DERIVATIVE OPERATIONS (Nghiệp vụ phái sinh) FORWARD SWAP OTC – OTC – OTC – OTC - OTC 9 /29 /20 10 ... phần tham gia giao dịch 9 /29 /20 10 24 12 CHỨC NĂNG CỦA FOREX Phục vụ TMQT Phục vụ luân chuyển vốn quốc tế Nơi hình thành tỷ giá Nơi kinh doanh phòng ngừa rủi ro tỷ giá (forward, swap, future, option)...

Ngày tải lên: 05/12/2012, 00:03

... 195 195 20 0 20 1 20 2 20 2 20 3 20 3 20 3 20 5 21 1 21 1 21 2 21 5 21 6 21 8 22 3 22 3 22 4 CONTENTS 10.3 xi Design for X for Transactional Processes 10.3.1 Design for Product Service (DFPS) Design for Processability ... Fraction of 2k Design 26 3 26 3 26 6 26 9 27 0 27 1 27 2 27 3 27 4 27 5 27 6 27 7 27 8 27 9 28 0 28 0 28 3 28 4 10.4 10.5 10.6 28 9 29 0 29 1 29 7 29 9 300 301 3 02 303 304 xii CONTENTS 12. 10 Other Factorial Designs 12. 10.1 ... Control 2. 8 Six Sigma Goes Upstream Design For Six Sigma 2. 9 Summary 19 19 19 20 20 21 22 24 25 26 28 29 29 29 30 30 30 31 Introduction to Service Design for Six Sigma (DFSS) 3.1 Introduction 3 .2 Why...

Ngày tải lên: 07/02/2013, 09:40

... Rules 21 3 21 4 21 5 21 5 21 5 21 6 21 7 21 7 21 8 21 8 21 8 21 9 21 9 21 9 21 9 22 0 Case Study: Interface Navigation Features 22 0 Summary 22 2 Review Questions 22 3 CHAPTER Usability Selecting Techniques for Your ... Scenarios Determining How to Measure Usability 22 5 22 6 22 6 22 7 22 8 22 9 22 9 23 0 23 1 Contents xiii Preparing Test Materials 23 2 Conducting the Usability Test 23 3 Conducting a Pilot Test Honing Your Observation ... Process 23 3 23 4 23 6 23 8 23 9 23 9 24 1 24 1 24 3 24 5 24 6 24 7 Case Study: Implementing the Paper Prototype Test 24 8 Summary 25 1 Review Questions 25 2 APPENDIX A Answers to Review Questions 25 3 APPENDIX...

Ngày tải lên: 04/06/2013, 22:49

... 22 3 The Application’s User Interface 22 4 The Menu page 22 4 The Category Maintenance page 22 4 The Product Maintenance page 22 7 Designing the Application 22 9 ... 27 0 Designing the Application 27 1 Building the Database 27 2 Designing the database 27 2 Creating the database 27 4 Adding test data 27 4 SQL ... code-behind file for the Content Detail page 325 Chapter 10: Building a Web Forum 329 Designing the Forum Application . 329 The User Interface for the Forum Application...

Ngày tải lên: 06/08/2013, 18:15

... Directory forests and Exchange 20 00 organizations 10 Module 2: Analyzing Active Directory for Exchange 20 00 Multiple Forest Design Considerations When you are designing an Exchange 20 00 organization for ... data: 0x1 28 Module 2: Analyzing Active Directory for Exchange 20 00 # Designing Active Directory Groups for an Exchange 20 00 Organization Topic Objective To outline the topics related to designing ... Exchange 20 00 works with DSAccess !" Design Active Directory Groups for an Exchange 20 00 organization 2 Module 2: Analyzing Active Directory for Exchange 20 00 # Reviewing Active Directory Basics...

Ngày tải lên: 22/10/2013, 16:15