challenges and solutions table14 1 and fig 14 2

... Manufacturing, 21 ( 1) : 33– 42 Nemec, B., Zlajpah, L & Omrcen, D (20 07) Comparison of null-space and minimal nullspace control algorithms, Robotica, 20 07, 25 (5): 511 – 520 Nenchev, D N (19 89) Redundancy ... Bohumil Horak and Miroslav Kopriva 12 Modeling and Assessing of Omni-directional Robots with Three and Four Wheels 20 7 Hélder P Oliveira, Armando J Sousa, A Paulo Moreira and Paulo J Costa 13 HUNTER ... joint limits avoidance is defined as (Chaumette & Marchand, 20 01; Nemec & Zlajpah, 20 08)    (qmax − q )2 , |qmax − q| <     1 pl = ( 21 )  2    (q  , |q − q) − q| < min where is a positive...

Ngày tải lên: 10/08/2014, 23:21

... 3 82 CONTEMPORARY ROBOTICS - Challenges and Solutions  BN2 BN1 SN1 SN2 NZ1 NZ2 Z PZ1 PZ2 SP1 SP2 BP1 BP2 -1 -0 ,2 -0,6 0 ,2 0,6 Fj Fig 11 1 Output singleton – 13 members The output ... - Challenges and Solutions Fig 12 0 The evolution of k 51 for a DSMC procedure Fig 12 1 The evolution of error e 51 and error In Fig 12 0 is presented the evolution of k 51 for a DSMC procedure and ... 5 position error e 51 and the position error rate e1 are presented in Fig 12 1   Fig 12 2 represents the trajectory in the plane e1 ,e1 for conventional procedure and Fig 5 12 3 the same trajectory...

Ngày tải lên: 10/08/2014, 23:21

... "a" "c" � � � � � � � � "an" � � � � "and" "ca" � � � � � � � � "ant" "cat" Figure 6 .2 -1: Trie structure (translations not shown) For each node, its key (e.g and ) is not explicitly stored in the ... e operand = o p e r a n d s [ ] + o p e r a n d s [ ] ; break ; case SUBTRACT: v a l u e operand = o p e r a n d s [1] − o p e r a n d s [ ] ; break ; case MULTIPLY: v a l u e operand = o ... this problem, you will utilize a trie structure and to implement a simple one-way Englishto-French dictionary The trie structure, shown in Figure 6 .2 -1, consists of nodes, each of which contains...

Ngày tải lên: 25/04/2013, 08:07

... information, visit: http://tbcindia.nic.in/pdfs/RNTCP %20 Response %20 DR %20 TB %20 in %20 India %20 %20 Jan %20 2 0 12 %20 update.pdf (accessed April 17 , 2 0 12 ) PREPUBLICATION COPY: UNCORRECTED PROOFS Copyright ... Estimated 69,000 8 ,20 0 24 ,000 81, 000 13 0,000 12 0,000 440,000 Reported 10 ,735 2, 795 480 28 ,24 0 2, 549 2, 057 46,856 Ratio (%) 16 34 35 2 11 SOURCE: Keshavjee, 2 011 b Laboratory capacity to diagnose ... (%) 17 .4 14 .0 11 .8 According to Sharma and colleagues (2 011 a), the prevalence of MDR TB among 17 7 cases of newly diagnosed pulmonary TB patients in New Delhi in 20 08 -20 09 was lower—about 1. 1 percent...

Ngày tải lên: 05/03/2014, 11:20

... Biographies 13 7 13 7 13 9 13 9 13 9 14 1 14 1 14 1 14 2 14 2 14 3 References 14 5 Index 15 9 List of Figures 2 .1 2. 2 2. 3 2. 4 2. 5 2. 6 4 .1 4 .2 4.3 4.4 4.5 4.6 5 .1 5 .2 5.3 5.4 5.5 5.6 5.7 5.8 5.9 5 .10 5 .11 Frame-structure ... Reconstruction Attack Example for leaf ordering I and II xi 11 3 11 3 11 4 11 5 11 6 11 8 11 9 12 0 12 1 12 2 12 3 12 4 12 5 This page intentionally left blank List of Tables 4 .1 4 .2 Number of basic operations for AES ... encryption 72 73 74 79 79 80 82 83 86 89 89 89 91 92 93 94 95 97 98 98 10 0 10 1 10 2 10 4 10 5 11 0 11 0 11 1 11 2 List of Figures 5. 41 5. 42 5.43 5.44 5.45 5.46 5.47 5.48 5.49 5.50 5. 51 5. 52 5.53 Angiogram:...

Ngày tải lên: 03/06/2014, 01:41

... 5 .13 47.64 1. 42 2.75e-4 5. 32 2. 32 778 .25 29 .00 Without cathode confinement 0.58 7.50 57 .13 2. 49 4.80e-5 7. 62 1. 89 575 .19 9.34 With cathode confinement 0.60 8.34 62. 25 3 . 12 3.03e-5 8.40 1. 88 617 .28 ... S"j 11 S'j 11 S"j 11  S'j 12 S"j 21 e i2  j  E0 ( 12 ) Similarly, at the up interface in layer j, the downstream optical electric field is  E   t   E0  j j S"j 21 S"j 11 e i2 j E j (13 ) ... Al-O-C 74.6 28 6 .2 5 31 Al2O3 74.95 Al-S 76 S 2p (eV) 5 32. 3 16 2. 4 COOH 28 9.5 C-C 28 5 .1 C-S 28 5.7 16 4 .1, 16 5.3 Table Summary of the XPS Binding Energies of Different Bonding States Fig 11 The proposed...

Ngày tải lên: 19/06/2014, 11:20

... The values of S 12 and S 22 are: S 12  b1 Er  a2 Er (19 ) S 22  b2 Er   2 a2 Ei 12 Current Trends and Challenges in RFID S 11 corresponds to the input reflection coefficient, S 21 is the input ... source and the load terminations are Z0, as shown in Fig The S-parameters equations are: b1  s 11 a1  s 12 a2 b2  s 21 a1  s 22 a2 (16 ) where a1  Ei / Z0 a2  Ei / Z0 b1  Er / Z0 (17 ) b1  Er ... reflection The values of S 11 and S 21 are: S 11  b1 Er   1 a1 Ei (18 ) S 21 E b   r2 a1 Ei Similarly, S 12 and S 22 can be obtained by measuring the incident, the reflected and the transmitted signals...

Ngày tải lên: 19/06/2014, 19:20

... Simulation,θLO(t), -4 10 Simulation,Δθ(t) -2 10 SNR [dB] 12 14 16 18 20 Fig SER performance of FM0-BPSK signal as a function of phase noise and range correlation effect (Jang & Yoon, 20 08b) (LNA) of ... Microwave and Wireless Components letters, Vol .18 , No 12 , Dec 20 08, pp 827 - 829 , ISSN 15 31- 1309 Karthasu, U & Fischer, M (20 03) Fully integrated passive UHF RFID transponder IC with 16 .7-uW minimum ... Applications and the Internet Workshops, pp 23 -27 , ISBN 0-7695 -2 510 -5, Jan 20 06 12 Radio Frequency Identification Fundamentals and Applications, Design Methods and Solutions Nikitin, P V & Rao, K V S (20 08)...

Ngày tải lên: 21/06/2014, 14:20

... ha -1) No addition (control) 713 24 .5 Maize stover retention 748 25 .5 FYM 14 59 26 .0 No organic material + inorganic fertilizers 695 24 .0 Maize stover retention + inorganic fertilizers 9 42 25.0 ... Cepeda and Cristina A Fente Chapter 13 Chapter 14 Aluminium in Acid Soils: Chemistry, Toxicity and Impact on Maize Plants Dragana Krstic, Ivica Djalovic, Dragoslav Nikezic and Dragana Bjelic 2 31 Genetic ... fertilizers 15 14 26 .0 Maize stover retention + FYM + inorganic fertilizers 16 13 28 .0 Table Long-term effects on soil organic carbon pools of different soil feeding strategies (after Kapkiyai et al., 19 99)...

Ngày tải lên: 22/06/2014, 03:20

... 1. 15, 2. 91, 7.54, 16 . 01, 20 .33, 21 . 16, 14 . 91, 6.65, 4.07, 2. 29, 1. 83, 0.48, 0. 52 and 0 .10 among 15 ,097 accessions in RWC, and 0, 0 .24 , 1. 26 , 4.56, 10 .43, 23 .38, 27 .40, 13 .73, 9.53, 3.54, 2. 82, 1. 50, ... 0 .11

Ngày tải lên: 22/06/2014, 03:20

... 68 628 5 719 2 613 83 79.0 74347 5 719 28 2568 95.0 80066 5 719 3 0 12 74 10 7.0 85785 5 719 319 929 13 0.0 915 04 5 719 339958 14 8.0 9 722 3 5 719 3584 01 164.0 10 29 42 5 719 37 514 1 18 1.0 10 86 61 5 719 39 617 3 20 9.0 11 4380 ... 10 nnegative npositive nvariables TLP (seconds) 5 719 22 738 1. 0 5 719 5 719 43 417 2. 0 11 438 5 719 64030 5.0 17 157 5 719 838 01 7.0 22 876 5 719 10 4 718 11 .0 28 595 5 719 12 4775 15 .0 34 314 5 719 14 3744 21 . 0 ... 40033 5 719 16 4 518 30.0 457 52 5 719 18 3948 35.0 514 71 5 719 20 4905 48.0 5 719 0 5 719 22 36 61 55.0 NegRatio 11 12 13 14 15 16 17 18 19 20 nnegative npositive nvariables TLP (seconds) 629 09 5 719 24 3500...

Ngày tải lên: 22/06/2014, 23:20

... Unknown Objects 10 11 12 13 14 15 16 17 18 Overall Melba Toast Amicelli Mozart Latella Aerosol Can Fabric Softener C-3PO Cat Penguin 31 100% 80% 60% 10 0% 80% 0% 0% 20 % 10 0% 71. 11% Table Grasping ... TrA M1 = AND [OR ( TrIN M1 , TrM  M1 ), OR ( TrM1  M , TrM1 OUT )], Z Z1 IN Z4 TrA M1 = AND {OR [AND ( TrE R 3 Z1 , TrE CV Z , TrE R2  M1 ), AND ( TrE M 22  Z , TrE CV Z1 , R Z Z2 M Z2 Z3 ... LOSs are the following: M1 : LOS1 and LOS2; M2 : LOS1, LOS2 and LOS 12; M3 : LOS1, LOS2 and LOS 21 A modeling approach for mode handling of flexible manufacturing systems 41 The machining functions...

Ngày tải lên: 27/06/2014, 15:20

... .23 5 10 .2 .1 8 02 .11 n .23 8 10 .2. 2 8 02 .11 p .23 9 10 .2. 3 8 02 .11 s .23 9 10 .2. 4 8 02 .11 t 24 0 10 .2. 5 8 02 .11 u .24 0 10 .3 Wi-Fi and Cellular Networks ... 20 7 8.9 Inter-ESS Roaming 20 8 8 .10 Future Enhancements . 21 0 8 .10 .1 8 02 .11 k . 21 0 8 .10 .2 8 02 .11 r 21 1 8 .11 Conclusion 21 2 Chapter ... 14 7 7 .1 Introduction 14 7 7 .2 Key Establishment in 8 02 .11 14 8 7 .2 .1 What’s Wrong? .14 8 7.3 Anonymity in 8 02 .11 14 9 7.4 Authentication in 8 02 .11 ...

Ngày tải lên: 06/07/2014, 15:38

... cell + M1 LOS LOS + M2 LOS 12 tu rnin g Op M3 LOS 21 milling + Op M1 M2 TrA M2 Tr Tr IN MCA  M2 + M2 Tr M1M Op M2,m T rE M1  Z2 TrE Z 2 Z 3T rE Z Z T rE Z4 M CV R2 R1 CV M2 R1 CV Fig The ... Unknown Objects 10 11 12 13 14 15 16 17 18 Overall Melba Toast Amicelli Mozart Latella Aerosol Can Fabric Softener C-3PO Cat Penguin 31 100% 80% 60% 10 0% 80% 0% 0% 20 % 10 0% 71. 11% Table Grasping ... TrA M1 = AND [OR ( TrIN M1 , TrM  M1 ), OR ( TrM1  M , TrM1 OUT )], Z Z1 IN Z4 TrA M1 = AND {OR [AND ( TrE R 3 Z1 , TrE CV Z , TrE R2  M1 ), AND ( TrE M 22  Z , TrE CV Z1 , R Z Z2 M Z2 Z3...

Ngày tải lên: 10/08/2014, 23:21

... 10 33 .1 113 3.3 12 33.6 13 33.9 14 34.7 15 35 .1 1635.4 17 35.8 18 36 .2 19 36.6 20 42. 2 21 4 2. 6 22 43 .1 23 43.7 Pixel Estimated 17 5 380 576 777 979 11 81 1390 15 95 17 99 20 04 2 21 0 2 415 26 21 28 25 3 028 32 31 3443 3644 ... 4046 427 . 727 8 20 00 5 31. 0 810 629 .30 81 729 . 5 12 8 829 .7479 15 00 929 .5853 10 32. 5400 11 33 .2 616 12 33.3085 10 00 13 33.73 61 143 4. 618 1 15 35.0504 16 36.0883 17 36.33 42 500 18 36.3487 19 36.6953 20 41. 924 2 21 4 2 .17 60 ... 44.306569 22 .15 328 5 11 0.766 423 34.867 725 17 .4338 62 87 .16 9 3 12 29 .5 020 75 14 .7 510 37 73.75 518 7 26 .095890 13 .047945 65 .23 9 726 23 .7 026 24 11 .8 513 12 59 .25 6560 21 . 928 934 10 .964467 54. 822 335 20 .585586 10 .29 2793...

Ngày tải lên: 10/08/2014, 23:21

... [a.u.] px, py [a.u.] 7(03-09) 622 , 16 0 576, 575 -0. 014 , -0.0 01 0.003, 0.0 01 12 (1) 725 , 22 9 29 40, 29 30 0.0 41, -3.034 0.005, 0.003 20 ( 01- 20 ) 718 , 24 0 29 33, 29 24 0.0 41, -2. 974 0.006, 0.003 No of pictures ... coordinates 10 11 12 13 14 15 16 17 18 19 20 Fig 10 Images for the camera calibration Table shows the exemplary results using 7, 12 , and 20 images as input for calculating the intrinsic and extrinsic ... [rad] θz [rad] tx [mm] ty [mm] tz [mm] 7(03-09) 0. 01 0. 01 -13 4.3 -35.0 12 0.3 12 ( ) 0.04 0. 02 -15 4.6 -49 .2 617 .0 20 ( 01- 20 ) 0.05 0. 02 -15 3.0 - 51. 4 615 .4 Table Compare the exemplary results of the...

Ngày tải lên: 10/08/2014, 23:21

... 16 14 F ir s t c y c le 12 R/Ro 10 0 10 12 14 16 18 20 22 P re ssu re , M P a Fig 11 Electrical resistance (in relative units) of an element (with flexible electrodes) of PHSCNC containing 10 ... pressure T = 29 3 K 18 16 14 F ir s t c y c le 12 R/Ro 10 0 12 15 18 21 24   Fig 12 Electrical resistance (in relative units) of an element (with flexible electrodes) of PHSCNC containing 10 mass ... 11 2 CONTEMPORARY ROBOTICS - Challenges and Solutions 70 60 1min 2min 3min 4min 5min 10 min 15 min 20 min 35min 40min R,R0, % 50 40 30 20 10 -10 0.0 0 .2 0.4 0.6 0.8 1. 0 P, bar Fig The piezoresistance...

Ngày tải lên: 10/08/2014, 23:21

... 12 0 .15 1 440.9 12 0.8 31 345.7 12 0. 425 4 02 .1 12 0.456 397.0 12 0. 715 360.5 12 0.6 41 3 71. 5 12 1. 164 3 01. 0 12 0 .27 2 423 .7 12 0. 515 389.0 12 1. 454 26 6.3 Table Experimental tests with motor Fig 14 ... Table and Fig 10 shown the results for the three wheeled robot with experience T(Nm) u(V) (rad/s) 3.70 62 0 .13 24 8.6 81 0 .2 319 13 .4305 0 .27 89 18 .34 92 0 .29 72 10 21 . 823 4 0.36 62 12 26 .22 69 0.39 71 Table ... i0 ((rad/s)/A) 2 910 .1 415 .7 945.0 870.3 503.6 579.6 25 8.4 15 53.8 755 .2 18 3 .1 u / i0 (Ω) 79 .2 14 .4 28 .2 26.3 16 .7 18 .7 10 .3 44.0 23 .2 8 .2 220 CONTEMPORARY ROBOTICS - Challenges and Solutions 5.3...

Ngày tải lên: 10/08/2014, 23:21

... 24 34 17 0 625 627 664 6 32 649 625 3A 24 35 17 5 25 6 25 6 25 6 25 6 25 7 25 6 3B 24 35 17 5 26 2 26 2 26 2 26 2 26 4 26 2 3C 24 35 17 5 3 12 313 313 313 319 3 12 4A 41 69 345 745 745 745 745 786 745 4B 41 69 345 ... 9B 50 92 460 786 786 789 786 796 786 7 92 9C 50 92 460 7 92 7 92 7 92 7 92 798 9D 50 92 460 8 42 8 51 869 8 51 873 8 51 10A 50 97 485 913 913 913 913 915 913 9 21 10B 50 97 485 9 21 9 21 9 21 9 21 925 10 C 50 ... 66 330 613 613 613 613 636 613 663 7C 40 66 330 663 664 673 664 673 8A 30 63 315 7 01 7 01 7 01 7 01 709 7 01 8B 30 63 315 710 710 716 710 716 710 8 32 8C 30 63 315 8 32 843 848 848 907 9A 50 92 460 783...

Ngày tải lên: 10/08/2014, 23:21

... & s (1) , s f (1) [m / s ] &f & s (1) , s f (1) [m / s ] Actual Referent Referent -1 -1 -2 Actual 0 .2 0.4 0.6 0.8 1. 2 1. 4 s (1) , s f (1) [m] f 1. 6 1. 8 -2 0 .2 0.4 0.6 0.8 1. 2 1. 4 s (1) , s f (1) [m] ... -0. 02 -0.04 1. 76 1. 8 1. 78 1. 86 1. 84 1. 82 1. 88 1. 9 1. 92 time [s] Feet cycloids lf rf 0 .15 Case “AD” position [m] 0 .2 Heel - solid line Toe - dash line 0 .1 0.05 -0.05 0 .2 0.4 0.6 0.8 1. 2 time [s] 1. 4 ... Performances 29 5 Ground reaction forces Case “NA” Force [N] 15 00 10 00 lf 500 0 0 .2 rf 0.4 0.6 0.8 1. 2 1. 4 1. 6 1. 8 1. 6 1. 8 1. 6 1. 8 Time [s] Ground reaction forces 15 00 500 0 0 .2 0.4 0.6 0.8 1. 2 1. 4 Time...

Ngày tải lên: 10/08/2014, 23:21