... present the designandcontrolof an underactuated two link robot called the Pendubot We first give details of the designof the Pendubot, discussing the components of the linkage and the interface ... System for Control Research and Education, "34th IEEE Conf on Decision and Control" , New Orleans, Dec., 1995, submitted [11] Block, D J., and Spong, M W., "Mechanical DesignandControlof the Pendubot, ... Coordinate Description of the Pendubot l1 is the length of link one, lc1 and lc2 are the distances to the center of mass of the respective links and q1 and q2 are the joint angles of the respective...
... namely ALEX by Uni of Delaware, USA (left), Lokomat by Hocoma, Switzerland (Centre), and LOPES by Uni Of Twente, Netherlands (Right) Figure 2.2: An example of impedance control architecture ... with a range of motion not exceeding that of the user’s Develop a control method capable of assisting in gait rehabilitations and ADLs The control method should allow user autonomy, and provide ... Rexbonics in New Zealand, allows the paraplegic user to stand and walk without the use of crutches or other supports User commands the motion of the exoskeleton using a joystick, and REX executes...
... requirements, the designof next generation VRMs need a thorough understanding of the performance anddesign trade-os The supply voltage of the microprocessor will drop to below V and the supply ... schematic of (a) Analog PWM controller and (b) Digital PWM controller microprocessor and the other generic advantages of digital control, it is a challenge to deliver the performance required of the ... performance of three dierent control methods: (a) Analog control; (b)Conventional Digital Controland (c) Proposed Controller with duty ratio correction 74 4.6 Block schematic of the chip...
... point and va (t) is the velocity of contact point The line following controller was divided into two part for ease of control: (1) velocity control law and (2) torque control law, as a result of ... controller design A virtual 3D simulator, an essential part of mechatronic design approach, is developed for improving mechanical structure and controller designand simulation Two tracking control ... Precession and lean angle of the wheel respectively tilt angle between the link l1 and za -axis of the flywheel Spin angles of the wheel and flywheel respectively Angle between link l1 and xb -axis of...
... Total mass of the Gyrobot Radius of the Gyrobot wheel Radius of the flywheel Moment of inertia of the wheel about axes Moment of inertia of the flywheel about axes Friction coefficient in yaw and pitch ... to the tilt of the flywheel, and leaning the wheel makes it steer in the direction of the lean 4.2.8 Linear Model of Gyrobot In order to simply the designof Gyrobot controller, a PD controller ... simplify the phases ofdesignof a mechatronics system Moreover, it can be used by students and researchers alike to have an in-depth understanding of any complex mechanism Integrationof ADAMS with...
... accurate mathematical modelling of PMSMs provides a foundation for the designandcontrolof PMSMs The accuracy of the model directly affects the outcome of the designandcontrol A two-phase PMSM equivalent ... analysis, designandcontrolof PMSMs In this thesis, a designandcontrol method for PMSMs is developed based on the analysis of PMSMs with different rotor structures The prototype PMSM was designed ... flux-weakening using current control was first highlighted by Jahns He proposed a corrective method ofcontrol to the standard vector control architecture [13] A feedback of current controller error in...
... Mechanical Designand Hardware In the area of mechanical design, one of the important areas is to decide the number and locations of degrees of freedom for the biped Fred R Sias, Jr and Yuan F ... weight of almost the entire robot And flexing and twisting of the linkages would result in uncertainty and make the controlof the robot extremely difficult CHAPTER 4: MECHANICAL DESIGN 32 One of ... extra degree of flexibility in achieving these taxing motions Fig 4.5 shows the designof the upper body of RO-PE-V Fig 4.5 Designof the upper body of RO-PE-V 4.1.4 Lower Limbs Design The lower...
... control The designof ROPE consists of two aspects: mechanical andcontrol system design The mechanical system shapes the structure and appearance of the robot to that of human, and the control system ... DESIGNANDCONTROLOF A SOCCERPLAYING HUMANOID ROBOT HO HOAN NGHIA (B.Eng, (Hons.), HCMC University of Technology) A THESIS SUBMITTED FOR THE DEGREE OF MASTER OF ENGINEERING DEPARTMENT OF ... Chapter 4: Mechanical DesignDesign philosophy and technical specifications of the robot can be found in the first part of this chapter The rest of the chapter is the detailed designof the robot, in...
... details of the mechincal designof the master exoskeleton, the control architecture of the overall system, and the control methods Simulation result of direct mapping of human walking profile on ... principle of model-based method of biped walking control is straight-forward - by applying law of physics, a mathematical model of the biped robot is derived and to be utilized in the synthesis ofcontrol ... position and orientation; and the high level command of walking up or down a number of steps of the staircase As this experiment is focused more on the task of teleoperated driving of forklift,...
... is the designand development of a generic controland software architecture for a single modular AUV while allowing natural extensions to multi-vehicle scenarios The proposed command andcontrol ... A complete C2 system is described by its control architecture and the underlying software architecture 2.1 Command andControl Architecture Command andControl system architecture generally adopts ... which stands for Open Robot Control Software, aims to develop a generalpurpose, free software, and modular framework for robot and machine control This framework consist of three major types of modules/components:...
... advance scientific knowledge of Business Process Management by providing methods and techniques for the designandcontrolof workflows Because of the extent of the BPM field of study, we will focus ... involved the implementation of workflow management systems, the analysis and redesign of business processes, and the building of information and decision support systems Parts of this monograph will ... regard BPM as the field of designing and controlling business processes We will briefly discuss the two dimensions – designandcontrol – in this section The distinction of the two has also become...
... integrated energy and environmental management systems model It offers a holistic view of both approaches, maps linkages, and suggests an integrated process design capable of meeting high-performing ... level of the aeration tank(s) at a preset control point by varying the air flow rate to the aeration system Supervisory controland data acquisition system collects facility-wide data and allows control ... approach to process design that considers the interaction among various sections of the process flow and shares the benefits of each individual process design model The main objective of this model...
... occurs in the month of March of 955.56 W/m2 at 13:00 and minimum in December of 705.56 W/m2 at 12:00 Whereas ambient temperature is maximum of 36.1oC at 13:00 in the month of May and minimum ambient ... distillate yield by considering the effect of various designand operating parameters on the performance and thermal characteristics of the system Description of the multi-stage evacuated solar desalination ... is refined latent heat of vaporization of water at the condenser surface of last stage (J/kg), h fgNs is latent heat of vaporization of water at the condenser surface of the last stage (J/kg),...
... president of the National Academy of Engineering The Institute of Medicine was established in 1970 by the National Academy of Sciences to secure the services of eminent members of appropriate professions ... Challenges in the Integrationof NASA/ESE and NOAA/NPOESS Programs • Division of responsibility in the integrationof research and operational missions Climate research and monitoring raise issues ... develop and operate for the appropriate period of time in the future, the full range of observations that are needed to understand and predict the behavior of the global Earth environment NASA and...
... Division of Cellular and Molecular Biology, Department of Biology, University of Oslo, Oslo, Norway Androgens have critical roles in the development and maintenance of the male reproductive system and ... mice revealed that DBP, HLF, and TEF regulate primarily the transcription of genes involved in hepatic, renal, and intestinal detoxification and genes of the innate and adaptive immune system REV-ERBalpha, ... REV-ERBalpha governs the circadian expression of several enzymes and regulators of lipid metabolism Our genetic Rev-Erbalpha loss -of- function and gain -of- function studies suggest that circadian...
... Swiss Institute of Bioinformatics, CMU, Geneva, Switzerland,2Department of Structural Biology and Bioinformatics, Faculty of Medicine, University of Geneva, Geneva, Switzerland E-mail: andre.stutz@isb-sib.ch ... inhibition of c6 glioma cells in monolayer and spheroid cultures by the combination of carvedilol and imatinib M Erguven1, A Bilir2, S Tuna2 and N Akev1 Department of Biochemistry, Faculty of Pharmacy, ... for controlling of the hydrophobicity due to decreasing the aggregation of YADH OP-31 Prevention of thermal aggregation of yeast alcohol dehydrogenase by arginine and a-cyclodextrin A Barzegar and...
... nitrite/nitrate and VEGF-A levels of lung cancer patients andcontrol group were 93.7 ± 48.9 and 63.7 ± 32.2 lM (P = 0.018), and 620 ± 491 pg/ml and 255 ± 157 pg/ml (P = 0.001), respectively Cut-off value of ... phosphorylation of JAK3, and STAT-3 and -5 The cells were stimulated with 10 U/ml of IL-2 and 100 lM of piceatannol for different periods of time IL-2 induced phosphorylation of JAK3, STAT3 and STAT5 in ... levels of Bcl-2 and Bax genes may be one of the mechanisms of acquired resistance in MCF-7 cells PP-16 Differential expression of isoforms of spleen tyrosine kinase in tissues: effects of the...
... Unicer SA and Varnam and Sutherland, 1994) BREWERY AND WINERY A mass balance is depicted in Figure 2, which represents water and energy inputs, and also the outputs respecting residues and sub-products, ... wastewater and reported a 95 % sCOD elimination, and a nitrogen and phosphorous removal of 50 % and 88 %, respectively These results could be generalized and the simplified automation and the possibility ... University of Minho and two industrial companies, Unicer SA and ACPB (Adega Cooperativa de Ponte da Barca) is presented in order to address some practical problems of wastewater systems designand operation...
... of different plant mitochondria were about 1–2 lM for both ADP and ATP Ó FEBS 2002 Functional integrationof AACs in E coli (Eur J Biochem 269) 3179 Table Km and Vmax values for ATP and ADP of ... expressed plant and mammalian AAC proteins (Fig 1) The undefined TB medium and the addition of pyruvate and malate stimulated the bacterial metabolism and led to the generation of a high proton ... (concentrations see lane 4) in the presence of CCCP (100 lM) apparent Km value of 38 lM (AAC1) and 40 lM (AAC2) for ADP and an apparent Km value of 105 lM (AAC1) and 140 lM (AAC2) for ATP (Table 2) In...