modeling and simulation of a spherical mobile robot

... chains of spherical( West and Asada 1992) or cylin- drical wheels (Hirose and Amano 1993), orthogonal wheels (Killough and Pin 1992), and ball wheels (West and Asada 1994). All of these mechanisms, ... bile manipulator platforms. Each platform was ∗ and Nomadic Technologies Inc., Mountain View, CA equipped with a PUMA 560 arm, and a base which consists of three “lateral” orthogo nal universal- ... tion, and work in hazar dous envi- ronments. The integration of a manipulator and a mobile robot base places special demands on the vehicle’s drive system. Fo r smooth accurate mo- tion and coordination

Ngày tải lên: 26/10/2014, 14:32

... the braking torque to the wheels Communication between MATLAB and ADAMS was established by ADAMS/Controls In order to evaluate the accuracy of the MATLAB/ADAMS hybrid vehicle model, simulation ... of Master of Applied Science in Mechanical Engineering Waterloo, Ontario, Canada, 2007 © Brian Su-Ming Fan 2007 I hereby declare that I am the sole author of this thesis This is a true copy of ... at General Dynamics Land Systems Canada, Mr Phong Vo and Mr Zeljko Knezevic, for their advice and encouragement in pursuing my academic degree throughout the course of my employment, and to allow

Ngày tải lên: 27/01/2016, 13:02

... (where all char gets converted) At a more sophisticated level, Ratnadhariya and Channiwala [5], suggested that separate thermodynamic modeling can be approached to different zones of a downdraft gasifier ... of magnitudes [6] Non-equilibrium approaches use char conversion as a surface phenomena describing by char reactivity and global reactions of char–gas and gas–gas reactions An effective global ... Conversion and Management 52 (2011) 1386–1396 Contents lists available at ScienceDirect Energy Conversion and Management journal homepage: www.elsevier.com/locate/enconman Modeling and simulation of a

Ngày tải lên: 02/08/2016, 09:35

... of a normal sample and a tumor sample What happens is that the training data remains balanced and each pair of test sample (one normal and one tumor) gets evaluated for prediction of the label ... reason Fig Cases for d-connectivity and d-separation Black (gray) circles mean that evidence is available (not available) regarding a particular node Sinha EURASIP Journal on Bioinformatics and ... stop at these breakpoints and let the user analyze the query of interest More help is available on Internet as well as via the M ATLAB help command Modeling and simulation 3.1 Data collection and

Ngày tải lên: 19/11/2022, 11:47

... Faculty of Mechanical Engineering and Mechatronics PHENIKAA UNIVERSITY FACULTY OF MECHANICAL ENGINEERING AND MECHATRONICS PROJECT OF MECHATRONICS SYSTEM DESIGN DESIGN AND SIMULATION OF ... improved thanks to modern machinery lines replacing manual labor The contents of the project help students consolidate and review the knowledge they have learned, as well as learn to calculate and simulate ... fluctuations of the Faculty of Mechanical Engineering and Mechatronics competitive commodity market Industrial robots are an integral part of creating such

Ngày tải lên: 07/03/2024, 14:05

... [209], and the extensive works of Farhat and coworkers (Piperno et al. [163], Farhat et al. [65], Lesoinne and Farhat [130], Farhat and Lesoinne [66], Piperno and Farhat [163], andFarhat et al.[67]). ... serves as a standard against which the radia- tive properties of actual surfaces may be compared. The Stefan–Boltzmann law, which is computed by integrating the Planck representation of the emissive ... distribution of a black-body over all wavelengths, 35 allows the calculation of the amount of radiation emitted in all directions and over all wavelengths simply from the knowledge of the temperature of

Ngày tải lên: 06/08/2014, 01:21

... mechanical forces and heat transfer induced by the fluid on the particles and vice versa. Because the coupling of the various particle and fluid fields can dramatically change over the course of a ... approximation). We remark that the validity of assuming a uniform temperature within a particle is dictated by the Biot number. A small Biot number indicates that such an approximation is reasonable. ... three-dimensional example is provided to illustrate the overall approach. 42 Remark. Although some portions of the presentation in this chapter may appear to be redundant with earlier parts of the monograph,

Ngày tải lên: 06/08/2014, 01:21

... nominal parameter values that fall roughly in the middle ofmaterialdataranges to illustrate the basic approach. The parameters selected for the simulations were as follows: 52 • a (normalized) domain ... between the various solid particulate and continuum fluid fields. The approach is straightforward and can be easily incorporated into any standard computational fluid mechanics code based on finite ... the characteristics of the particulates, such as their reflectivity and volume fractions, are ascertained by the scattering of the rays. In this chapter, a ray- tracing algorithm is developed and

Ngày tải lên: 06/08/2014, 01:21

... eliminate a trial and error approach to determining the characteristics of the types of particles that would be needed to achieve acertain level of scattering, in Zohdi [218] an automated computational ... relative refractive index ratio, length scales larger than a critical value force more of the rays to be scattered backward. Table 9.1 indicates the estimated values for the length scale and ... Experimentally speaking, thermal behavior can be a key indicator of the dynamical character of particulate flows. For example, in Chung et al. [45] and Shin et al. [177], techniques for measuring

Ngày tải lên: 06/08/2014, 01:21

... Shah [174], van der Wal and Becker [197], Chyu and Shah [46], and Libby [134], [135], Libby et al. [136], Libby and Aikawa [137], Richardson et al. [169], Loree et al. [141], and Davies et al. ... where particle interaction and aggregation is important is the formation of certain types of kidney stones, which start as an agglomeration “seed” of particulate materials, for exam- ple, combinations ... [13]. Notably, Bale-Glickman et al. [12], [13] have 69 Ground-based radar and optical and infrared sensors routinely track several thousand objects daily. 70 Plaques with high risk of rupture are

Ngày tải lên: 06/08/2014, 01:21

... protoplanetary nebula. Icarus, Vol. 106, 102–134. [49] Dai, G., Kaazempur-Mofrad, M. R., Natarajan, S., Zhang, Y., Vaughn, S., Blackman, B. R., Kamm, R. D., Garcia-Cardena, G., and Gimbrone, M. A. , ... dynamics of avalanches of granular materials from initiation to runout Part II Experiments Acta Mechanica, Vol 109 , 127–165 [98] Hutter, K and Rajagopal, K R 1994 On flows of granular ... Mean-field inelastic behavior of random arrays of identical spheres Mechanics of Materials, Vol 16, 25–33 [108 ] Jenkins, J T and La Ragione, L 1999 Particle spin in anisotropic granular

Ngày tải lên: 06/08/2014, 01:21

... than I can be. His patience and encouragement make him a great advisor I will always appreciate. I also deeply appreciate Prof. Wong Yoke San and Prof Kelvin Foong Weng Chiong who provide valuable ... Costa and R. Balaniuk, "LEM-an approach for real time physically based soft tissue simulation, " Piscataway, NJ, USA, 2001, pp. 2337-43. 133 Referneces [80] R. Balaniuk and K. Salisbury, "Soft-tissue ... virtual models of the oral anatomy and integrate a haptic device as a training platform The trainee holds the stylus of the haptic device to manipulate a set of. .. Organization of the

Ngày tải lên: 09/09/2015, 10:07

... demonstrate good applicability of this reality based variational approach. A surgical simulation system based on the variational approach was also developed with haptic guidance. Both the reaction ... posterior tracheal wall and the anterior esophageal wall. The voice prosthesis can be made of two layers, one layer is made of plastic and the other layer is made of biodegradable materials, as shown ... Terzopoulos, D.? ?and? ?K. Waters, Physically‐based facial modelling, analysis,  and? ?animation. The journal? ?of? ?visualization? ?and? ?computer animation, 1990.  1(2): p. 73‐80.  Gibson, S.F. 3D chainmail:? ?a? ?fast algorithm for deforming volumetric objects. 

Ngày tải lên: 09/09/2015, 11:30

... research. It’s a pleasure to thank my colleagues, Ms Rupika Swarnamala, Ms Wang Shasha, Dr Anastasia Maria Santoso, Ms Zhang Sufen, Dr Sai Sudha Ramesh, Dr Liu Xuemei, Dr Nguyen Dat, Dr. Lado ... Postbuckling of double-walled carbon nanotubes with temperature dependent properties and initial defects under combined axial and radial mechanical loads. International Journal of Solids and Structures, ... structural material. Journal of Nuclear Materials, 398, 244-5. EVANS, A. G. & ADLER, W. F. 1978. Kinking as a mode of structural degradation in carbon fiber composites. Acta Metallurgica, 26,

Ngày tải lên: 09/09/2015, 18:54

... MODELING AND SIMULATION OF CELL ADHESION AND DETACHMENT SUN LU NATIONAL UNIVERSITY OF SINGAPORE 2011 MODELING AND SIMULATION OF CELL ADHESION AND DETACHMENT SUN LU (B. Eng., FDU China) ... (1992). Long-Range Attraction and Molecular-Rearrangements in Receptor-Ligand Interactions. [82] A. Ashkin, Biophys. J. 61, 569 (1992). Forces of a single-beam gradient laser trap on a dielectric ... the transmembrane part, and the extracellular part The transmembrane... membrane-bound nucleus and organelles, which are absent in prokaryotic cells A cell cannot survive if it is totally

Ngày tải lên: 10/09/2015, 15:48

... Hideaki Takayanagi, Tatsushi Akazaki and Junsaku Nitta, Phys. Rev. Lett. 75, 3533 (1995). [107] Shuai-Hua Ji, Tong Zhang, Ying-Shuang Fu, Xi Chen, Xu-Cun Ma, Jia Li, Wen-Hui Duan, Jin-Feng Jia and ... CNT-based transistors, A. Nurbawono, A. Zhang, Y. Cai, et al., submitted to ACS Nano - under review. 2. Manipulating absorption and diffusion of hydrogen atom on graphene by mechanical strain, ... and Yafei Zhang, Nanotechnology 17, 2192 (2006). [94] Dorte Norgaard Madsen, Kristian Molhave, Ramona Mateiu, Anne Marie Rasmussen, Michael Brorson, Claus J. H. Jacobsen, and Peter Boggild, Nano

Ngày tải lên: 10/09/2015, 15:48

... timber usage and fashion changes.  Sovereign risk: regulatory changes, taxation changes, uncertain harvest rights. 4 Key Parameters in Forestry Models  Establishment:- land, land preparation, ... influenced by- harvest age, species type, timber price. 1 Chapter 10: Case Study in Financial Modeling and Simulation of a Forestry Investment Investment in forestry as an example of capital budgeting ... unsuitable species, collateral damage at harvest. 10 Predicting Cash Flows 3 Particular long-term data for native species is difficult to estimate. 14 Solving the Model Define and predict...

Ngày tải lên: 23/03/2014, 04:20

... shared resources are also captured in the architectural modeling. To realize trace-driven cosimulation of application and architecture models, Sesame has an intermediate mapping layer. This layer ... structure: applica- tion model layer, architecture model layer, and the mapping layer which is an interface between application and architecture models. 2. THE SESAME APPROACH The Sesame modeling and simulation ... input to an a rchitecture simulator, their traces are analyzed statically. In addition, a tra ditional hard- ware/software cosimulation stage is required in order to generate the traces. Archer...

Ngày tải lên: 22/06/2014, 19:20

... enzy- matic degradation of PVA was applied to enzymatic degradation of polylactic acid ( PLA ), and the degradability of PVA and PLA was compared [17] . Dependence of degradation rate on time was ... http://anziamj. austms.org.au/ojs/index/php/ANZIAMJ/ article/view/1069 (accessed 23 March 2011). 12 Watanabe , M. and Kawai , F. ( 2009 ) Modeling and simulation of biodegradation of xenobiotic ... proposed a new metabolism of PVA by oxidation of a hydroxyl group and aldolase reaction of a monoketone structure, which results in a cleavage of carbon – carbon chain between a methyne group adjacent...

Ngày tải lên: 25/10/2013, 08:20

... major parameters of the device. Only the ratio of parasitic capacitance and sensing capacitance can be measured, and the estimated value is calculated assuming a total sensing capacitance of 60fF. ... of 60fF. Parasitic capacitance and mismatch of sensing capacitance is measured in a way as shown in Figure 5.4. The capac- itance ratios are derived from the ratios of driving signals and buffer ... C f1 and C f2 are reset to zero charge, and hold capacitors C h ’s are floating. During the Integrate 1 phase, the difference of charges on C i1 and C i2 are inte- grated to C f1 and C f2 , and...

Ngày tải lên: 27/10/2013, 23:15