application of kinematic modeling methods to wheeled mobile robots

... extended to two risk factors, while the portfolio consists of vanilla options on stocks. 3.1 One Risk Factor To facilitate a better understanding of the behaviour of generalized Pareto distribution ... the analysis of the DAX stocks. Given the lack of extreme events in the time period considered (October 4, 1988 to October 1, 2003), when fitting the tail to the generalized Pareto distribution ... main drivers of risk in the portfolio. This tool is employed to measure the sensitivity of the overall portfolio to individual risk factors, thus allowing us to have a clear view of the risk...

Ngày tải lên: 27/04/2013, 11:17

... are encouraged to refer to Gibsons [1] and Harary [2] for more detailed descriptions of the theory. 2.1 Definitions A graph consists of a set of vertices (points) together with a set of edges or ... 2 to the sum of the product i ì L i . Hence, i iL i = 2e. (2.7) Let v k denote the number of vertices of degree k, namely,v 2 denotes the number of vertices of degree two, v 3 the number of ... number of independent loops of a planar connected graph and ˜ L represent the total number of loops. Then ˜ L = L + 1 . (2.1) Euler’s equation, which relates to the number of vertices, the number of...

Ngày tải lên: 17/12/2013, 13:15

... the nature of connection among various links of a kinematic chain is called the structural analysis or topological analysis. To facilitate the analysis, several methods of repre- sentation of the kinematic ... enumeration of kinematic structures of mechanisms. In the following, we briefly describe the adjacency and incidence matrix representations of kinematic chains. 3.5.1 Adjacency Matrix The links of a kinematic ... are perpendicular to each other with an offset distance. Both mechanisms are capable of converting the rotational motion of link 2 into the reciprocating and oscillatory motions of link 4. These...

Ngày tải lên: 17/12/2013, 13:15

... Symbol Number of vertices v Number of links n Number of edges e Number of joints j Number of vertices of degree iv i Number of links having i joints n i Degree of vertex id i Number of joints on ... Degrees of Freedom The degrees of freedom of a mechanism is perhaps the first concern in the study of kinematics and dynamics of mechanisms. The degrees of freedom of a mechanism refers to the ... number of links, number of joints, and type of joints. It is also possible to establish an equation that relates the number of independent loops to the number of links and number of joints in a kinematic...

Ngày tải lên: 17/12/2013, 13:15

... number of gear pairs is equal to the number of independent loops; the number of turning pairs is equal to the number of links diminished by one; and the number of degrees of freedom is equal to the ... combinatorial analysis, it can be shown â 2001 by CRC Press LLC FIGURE 7.14 Unlabeled graphs of 6-link EGTs. 7.8 Kinematics of Epicyclic Gear Trains Numerous methods for kinematic analysis of EGTs ... shaft to another. An enormous number of gear trains are used in machinery such as automobile transmissions, machine tool gear boxes, robot manipulators, and so on. Perhaps, the earliest known application...

Ngày tải lên: 17/12/2013, 13:15

... housing. The torque converter has three purposes. First of all, it serves as a fluid coupling to provide a smooth transmission of torque from the engine to the wheels. It also allows a vehicle to stop ... circumference of the turbine blades and reenters the impeller through the stator blades. The purpose of the stator blades is to redirect the fluid flow from the turbine to the impeller, providing a torque ... (attached to the piston), and link 6 is the piston. We observe that the piston and the crankshaft of the second mechanism shown in Figure 8.1 belong to a four-bar loop. A change in the location of the...

Ngày tải lên: 26/12/2013, 00:16

... manipulators for which the number of limbs is equal to the number of degrees of freedom of the manipulator, and the total number of joint degrees of freedom in each limb is equal to the value of C k . The ... Japan.) kinematic structures of parallel manipulators according to their nature of motion and degrees of freedom. 9.2.3 Enumeration of Planar Parallel Manipulators For planar manipulators, λ = 3. Furthermore, ... parallel manipulator typically consists of a moving plat- form that is connected to a fixed base by several limbs. The number of limbs is preferably equal to the number of degrees of freedom of the moving...

Ngày tải lên: 26/12/2013, 00:16

... accomplished by a com- puter program using a nested-do loops algorithm to vary the value of each x i and check for the validity of the solutions. A more rigorous procedure for solving one linear ... first discuss a method for solving one equation in n unknowns. Then, we extend the method to solving a system of m equations in n unknowns. A.1 Solving One Equation in n Unknowns Consider the following ... coefficients. The c i s are nonnegative integers and k is a positive integer. We wish to solve for x i , for i = 1, 2, ,n subject to a constraint that all x i s must be nonnegative integers. In addition,...

Ngày tải lên: 26/12/2013, 00:16

Ngày tải lên: 26/12/2013, 00:16

... Independent Loops: Four to Eight Vertices. â 2001 by CRC Press LLC Appendix C Atlas of Graphs of Kinematic Chains This appendix provides an atlas of graphs of kinematic chains having up to three independent ... to three independent loops and eight links. Table C.1 Graphs Having One Independent Loop: Three to Eight Vertices. â 2001 by CRC Press LLC Table C.4 Graphs Having Three Independent Loops: Seven...

Ngày tải lên: 26/12/2013, 00:16

... One-dof Eight-Bar Linkages: Part 3. â 2001 by CRC Press LLC Appendix D Atlas of Planar Bar Linkages This appendix provides an atlas of planar linkages classified according to the number of degrees ... CRC Press LLC Table D.2 Planar One-dof Six-Bar Linkages. Table D.3 Planar One-dof Eight-Bar Linkages: Part 1. â 2001 by CRC Press LLC Table D.10 Planar Two-dof Nine-Bar Linkages: Part 2. â 2001 ... D.13 Planar Two-dof Nine-Bar Linkages: Part 5. â 2001 by CRC Press LLC Table D.11 Planar Two-dof Nine-Bar Linkages: Part 3. â 2001 by CRC Press LLC Table D.14 Planar Two-dof Nine-Bar Linkages:...

Ngày tải lên: 26/12/2013, 00:16

... One-dof Four-Link Chains. â 2001 by CRC Press LLC Table E.2 Spatial One-dof Five-Link Chains. â 2001 by CRC Press LLC Table E.3 Spatial One-dof Six-Link Chains. Table E.4 Spatial One-dof Seven-Link...

Ngày tải lên: 26/12/2013, 00:16

... Appendix F Atlas of Epicyclic Gear Trains This appendix provides an atlas of epicyclic gear trains classified according to the number of degrees of freedom, the number of independent loops, ... F.10 Three-dof Epicyclic Gear Trains. â 2001 by CRC Press LLC Table F.2 One-dof Epicyclic Gear Trains: Three Independent Loops — Part 1. â 2001 by CRC Press LLC Table F.4 One-dof Epicyclic ... F.9 Two-dof Epicyclic Gear Trains: Three Independent Loops. â 2001 by CRC Press LLC Table F.6 One-dof Epicyclic Gear Trains: Four Independent Loops — Part 2. â 2001 by CRC Press LLC Table F.1 One-dof...

Ngày tải lên: 26/12/2013, 00:16

... G.14 Transmission mechanism consisting of type-4200 and type-6206 gear trains: version 1. â 2001 by CRC Press LLC FIGURE G.15 Transmission mechanism consisting of type-4200 and type-6206 gear trains: ... 2001 by CRC Press LLC Appendix G Atlas of Epicyclic Gear Transmission Mechanisms This appendix provides the schematic diagrams and clutching sequences of some commonly used epicyclic transmission ... G.10 Transmission mechanism consisting of two type-4200 gear trains: version 1. â 2001 by CRC Press LLC FIGURE G.11 Transmission mechanism consisting of two type-4200 gear trains: version 2. â...

Ngày tải lên: 26/12/2013, 00:16

... Generator): to issue controlling pulses according with sample pulses to fire thyristor valves. - Pulse Amplifier: to amplify both sample pusles and controlling pulses to fire desired thyristor ... applied to determine the time of issueing pulse in the positive half-cycles of voltage signal applied to thyristor valves. According to this principle [4,5], there are two voltage signals fed to ... always change in spite of using Automatic Reactive Power Regulator. To regulate voltage and cosφ in an expected range, it is necessary to change the parameters of regulators as the loads change....

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