modeling simulation and control of a power assist robot for manipulating objects based on operator s weight perception
development and control of a holonomic mobile robot for mobile manipulatoion tasks
... system and constraint equations for a total of 19 equations The second method will yield 12 equations for the unconstrained subsystems and constraint equations for a total of 21 equations These ... A dynamically-controlled, holonomic mobile robot is particularly desirable in a mobile manipulation system for many reasons A holonomic robot makes for easier gross motion planning and navigation ... dynamic equations of motion for a parallel system with nonholonomic constraints such as a PCV are formed in one of two ways: the unconstrained dynamics of the whole system can be derived and...
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Modeling, simulation and control of periodic reactor systems
... increase of conversion 10 Process Control Effect Catalytic detoxication of noxious industrial gases from CO and organic substances (Boreskov et al., 1982b) Synthesis of ammonia on iron catalyst ... to variables such as reactor length, switching time and mass transfer rate are also analyzed for the cyclic-steady-state condition The results obtained through scaling and sensitivity analysis ... emissions are considered The focus of this research is to develop suitable operational and control strategies for autothermal reactors that combust fugitive methane emissions A two dimensional...
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Dynamic simulation and control of a distillation column
... Design Data and Assumptions 17 Table 3.2 Design Parameters for Dynamic Simulation 19 Table 3.3 Data for and Results from Short-cut Distillation 21 Table 3.4: Possible Pairings of Controlled and ... simulation is a sound steady-state simulation, as this forms a basis for any control study (Alsop and Ferrer, 2004) Skogestad (1988, 1997) gave insight into column behavior using fundamentals and short-cut ... consistent gap between industry and academia on column modeling and control such as usage of unrealistic linear models, assumption of minimum phase dynamics, assumption of constant time delay, missing...
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Modeling and control of a heat gun
... process of the hot air in the heat gun FLUENT is a computational fluid dynamics (CFD) software which is used for simulation, visualization, and analysis of fluid flow, heat and mass transfer, and ... the American National Standard Institute, has no strict standards on the uniformity of the exit air temperature and velocity In addition, manufacturers of air heating products are only focused on ... Introduction with good uniformity of ±1 m /s In this thesis, the structural design, system analysis and control design for this heat gun to achieve the goals are discussed Based on the design of the heat...
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process modeling simulation and control for chemical engineers - 2nd ed
... familiar with both 2.1.3 Principles of Formulation A BASIS The bases for mathematical models are the fundamental physical and chemical laws, such as the laws of conservation of mass, energy, and ... robustness of the control system (its tolerance to changes in process parameters) decreases: a small change will make the system unstable Thus there is always a trade-off between robustness and ... edition Space Structural Analysis Statics and Strength of Materials Strength of Materials, 2d edition Structural Analysis Theoretical Mechanics Available at Your College Bookstore - PROCESS MODELING, ...
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Modeling, simulation and optimization of bipedal walking
... choosing a set of basis functions or features for a global representation Usually this has to be done by hand An advantage of local models is that the choice of basis functions or features is not ... they can serve the same role as demonstration data With this, we have a clear idea of the specific properties of each task being considered, and a measure of algorithm performance against reasonable ... update of the value function is at most cubic in the state dimensionality Continuous states and actions are easy to handle Perhaps many problems, such as the examples in this paper, have local simplifying...
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Modelling, simulation, and control of polymorphic crystallization
... Variations in model parameters for robustness study: Case is the nominal model, Case has slow nucleation and fast growth rate parameters for β-form crystals, and Case has fast nucleation and slow ... Density of the solvent S, U Matrices of scores for X and Y Si Supersaturation of the i-form crystals Sm Candidate stencil σj Standard deviation of the measurement noise in the j th variable σseed,i ... supersaturated and so the production of a supersaturated solution is a prerequisite for crystallization Supersaturation is typically created by cooling, evaporation, and/ or addition of antisolvent,...
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Design and control of a small size humanoid robot
... is a form of walking behaviour that was discovered by Tad McGeer [6] It was shown that a passive walker could walk down a slope based on just gravity and no actuation was needed This was also ... the actions to be carried out CHAPTER 3: SENSORS, ACTUATORS, AND COMPUTER SYSTEMS 3.1 14 Sensors For a robot to be fully autonomous, it is necessary that it carries some form of sensors that ... this vision system Light rays Fig 3.1 Schematics of omni-directional vision system CHAPTER 3: SENSORS, ACTUATORS, AND COMPUTER SYSTEMS 15 The main advantage of using the omni-directional vision...
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Design and control of a soccer playing humanoid robot
... (inputs) Force sensors analog voltages Camera asynchronous serial signal Legs 12 PWM signals Actuators Arms PWM signals (outputs) Head PWM signals Low level Basic Stamp asynchronous serial signal ... There are a few types of force sensors available commercially, among which are resistive force sensors and load-cells Resistive force sensors make a change in resistance once a load is applied Load-cells ... ROPE can also be used as a test-bed for research on bipedal walking control The design of ROPE consists of two aspects: mechanical and control system design The mechanical system shapes the structure...
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Design and control of a teleoperation system for humanoid walking
... processes include localization, image processing, sensor data acquisition and fusion, and local control of the actuators The task of localization and image processing is somewhat related closely, ... contrast to the state of sensor technology, the process of sensor data fusion is still elementary Sensor data fusion is the combination of redundant sensor information into a useful and accurate ... partial-autonomous system should take into account of the strengths, capabilities and limitations of the humans and robots Humans in general are good at perceptions and understanding, task decomposition,...
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Dynamics and control of a flapping wing aircraft
... previous work in that camber and leading edge suction effects, as well as post stall behaviour, were also accounted for The analysis was based on the assumptions that the Dynamics and Control of a ... progresses from conceptual designs to selection analysis tools and from there engineering analysis is performed Drawings are then generated and various prototypes are created and successfully tested ... individual airfoil and hence it can have its own angle of attack and chord It has also shown consistent results when computations are done on certain species of birds by Shyy et al (2000) Lastly,...
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Báo cáo khoa học: " Development and Use of a Gold-Standard DataSet for Subjectivity Classifications" pdf
... processing applications, such as information extraction and information retrieval, where the evidential status of information is important In generation and machine translation, it is desirable ... judges D, J and M Each pairwise comparison of judges also shows a strong pattern of symmetric disagreement The results of this analysis are presented in Table 3 Also as in step 3, the two-category ... tags In step 4, judge B was excluded from the interactive discussion for logistical reasons Discussion is apparently important, because, although B 's Kappa values for the first study are on par...
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báo cáo hóa học:" Development and validation of a psychosocial screening instrument for cancer" potx
... complementary fashion, as a second step, if the single item distress thermometer suggests elevated distress A second advantage of PSCAN is that the standard instructions can include a statement about ... discriminating among patients Means for the two samples were quite similar Reliability As Table reveals the internal consistencies for these four subscales are high and satisfy traditional cutoffs ... ENRICHD Social Support Instrument 17 HADS Hospital anxiety and Distress Scale PSCAN Psychosocial Screen for Cancer 18 HRQoL Health-Related Quality of Life 19 SNSA Social Network and Support Assessment...
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Báo cáo hóa học: " Research Article Implementation and Validation of a New Combined Model for Outdoor to Indoor Radio Coverage Predictions" pptx
... ministic approach for fast simulations of indoor radio wave propagation,” IEEE Transactions on Antennas and Propagation, vol 55, no 3, pp 938–948, 2007 EURASIP Journal on Wireless Communications and ... effects such as the losses through windows are well taken into account, offering a RMSE between simulation and measurements of less than dB indoors for a simulation time of less than minutes; (iv) ... rays propagate and additional loss is added when rays reflect or diffract from walls; (ii) ray Tracing traces the rays backwards, that is, it searches all the possible paths arriving at each receiving...
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Báo cáo hóa học: " Research Article Existence of Solutions and Convergence of a Multistep Iterative Algorithm for a System of Variational Inclusions with (H,η)-Accretive Operators" pot
... spaces They proved some existence and uniqueness theorems of solutions for the system of nonlinear variational inequalities As generalizations of the above systems of variational inequalities, ... contains the system of variational inclusions with H-monotone operators in [35], the system of variational inclusions with (H,η)-monotone operators in [36] as special cases If p = and for each ... process variational inclusions with (H,η)-accretive operators in Banach spaces,” to appear in Journal of Inequalities and Applications [11] S Adly, “Perturbed algorithms and sensitivity analysis for...
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Báo cáo toán học: "Further applications of a power series method for pattern avoidance" ppt
... has length at least 2k then p is 4-avoidable (b) If p has length at least 3k then p is 3-avoidable (c) If p has length at least 4k then p is 2-avoidable A power series approach Rather than simply ... classical results of Thue [19, 20] established that the pattern xx is 3-avoidable and the pattern xxx is 2-avoidable Schmidt [17] (see also [14]) proved that any binary pattern of length at least ... a is a single letter and w ′ is a word of length k − containing a word in S as a factor; or (b) w = xy, where x is a word of length k − j that avoids S and y ∈ S is a word of length j There are...
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Development and application of a high throughput assay for discovery of starch hydrolase inhibitors
... given as means ± standard deviations (SDs) The significance of the data was analysed by t- test using SPSS statistical software p
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Analysis, design and control of permanent magnet synchronous motors for wide speed operation
... Summary This thesis presents aspects of analysis, design and control of permanent magnet synchronous motors (PMSMs) for wide-speed operations An analytical method has been developed based on ... demagnetizing action of armature reaction and centrifugal forces and provides an asynchronous starting torque, and also acts as a damper [6] In the inset-type motors (Fig 1.3 b) permanent magnets are magnetized ... colleagues in the laboratory, Mr Tripathi Anshuman, for his smart ideas and valuable discussions on the motion control application for my work I also owe many thanks to my friends in the lab:...
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NGHIÊN cứu CHẾ tạo THIẾT bị THU NHẬN bề mặt 3d của CHI TIẾT cơ KHÍ BẰNG CÔNG NGHỆ ÁNH SÁNG cấu TRÚC STUDY AND FABRICATION OF a 3d SCANNING SYSTEM FOR RECONSTRUCTION 3d SURFACE OF MECHANICAL DETAILS ACQUIRED BY STRUCTURED LIGHT TECHNIQUE
... Accurate, and Robust Projector-Camera Calibration”, IEEE, 2012 Second International Conference on, 464-471, 2012 [5] S K Nayar, G Krishnan, M D Grossberg, R Raskar, “Fast separation of direct and global ... components of a scene using high frequency illumination”, ACM Trans on Graphics, 935-944,2006 [6] Z Zhang, A Flexible New Technique for Camera Calibration”, IEEE Transactions on Pattern Analysis ... thứ IV [2] Jens Gu�hring, “Dense 3-D surface acquisition by structured light using off-the-shelf components”, Proc SPIE 4309, Video metrics and Optical Methods for 3D Shape Measurement, 220,2000...
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Measurement, Monitoring, and Forecasting of Consumer Credit Default Risk – An Indicator Approach Based on Individual Payment Histories doc
... Johnson/Kallberg 1986, ff.) The analysis and prediction of this default risk is usually supported by a standardized process, often referred to as credit scoring This process is based on statistical ... Externally obtained credit score - Preliminary processes - Definition of default/non-default - Consolidation of internal data and external information - Construction and estimation of a statistical ... desired targets is evaluated by backtesting the whole system (scores, classifications and interventions) on the basis of a hold- SCHUMPETER DISCUSSION PAPERS 2011-004 out sample of historical customer...
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