regain control of a crashed mac

... (similar to that of the Macro manipulator), small tracking and steady state errors (similar to that of the Mini manipulator) Thus, the combined system has taken full advantage of the Macro and ... computational/software models of the Macro and the Mini manipulators separately, analyzing their kinematics, dynamics; Simulating trajectory tracking / position control of Macro and Mini manipulators ... introduced by Sharon and Hogan [2] as a general means of improving a robot’s controlled dynamic behavior The Macro manipulator carries the Micro manipulator to the nearby area of a task, where the...

Ngày tải lên: 03/10/2015, 21:56

... (similar to that of the Macro manipulator), small tracking and steady state errors (similar to that of the Mini manipulator) Thus, the combined system has taken full advantage of the Macro and ... computational/software models of the Macro and the Mini manipulators separately, analyzing their kinematics, dynamics; Simulating trajectory tracking / position control of Macro and Mini manipulators ... introduced by Sharon and Hogan [2] as a general means of improving a robot’s controlled dynamic behavior The Macro manipulator carries the Micro manipulator to the nearby area of a task, where the...

Ngày tải lên: 04/10/2015, 07:58

... [19] Hasnain, S.M., Alawaji, S.H., A1 -Ibrahim, A and Smiai, M.S (1999), Application of Thermal Energy Storage in Saudi Arabia International Journal of Energy Research, vol 23, pp 117-124 [20] Zaheer-uddin, ... department of Mechanical Engineering and Materials Science at Washington University in St Louis, MO, USA He is a Fellow of ASME, AIAA, IEEE, and SAE E-mail address: rka@wustl.edu Huijun Gao received ... was created to simulate the temperature of the exterior wall of the room This temperature curve simulated the exterior surface and was assumed to be at a constant value of 320K A 3-D Cartesian...

Ngày tải lên: 05/09/2013, 16:11

... self-inductance and the mutualinductance of the stator coils Since we assume a constant airgap and no saturation, L, and M, are constant ara arb , and arc the rotor fluxes induced in the stator phases are ... are surface mounted and have the same permeability as air As a result, the armature reaction is negligible The magnetic circuit has an important air part so that the effects of the saturation in ... linearization control to nonlinear systems [111, Indeed, the nonlinear feedback linearization scheme is based on a coordinate transformation and an input transformation as well But the main advantage...

Ngày tải lên: 03/01/2014, 19:44

... 1, January 1991, pp 62-72 [2] Takao Kawabata, Takeshi Miyashita and Yushin Yamamoto, "Dead Beat Control of threePhase PWM Inverter", IEEE Transactions on Power Electronics, Vol 5, No 1, January ... that it does not affect the output voltage References [1] Takao Kawabata, Takeshi Miyashita and Yushin Yamamoto, "Digital Control of three-Phase Inverter with LC Filter", IEEE Transactions on Power ... c controllable dc link volta as indica in the ri age ated ight hand sub b diagram d Figure capacitor v voltage of the output filt with unbalanced load and controlled DC lin ter d o nk vo oltage...

Ngày tải lên: 19/01/2014, 02:20

... for Travel Authorization (ESTA), which screens travelers’ biographic information against immigration, criminal, and terrorism databases Canada also allows nationals of certain countries to travel ... included statutory language in the Security Appropriations Act requiring ICE to maintain an average daily detention capacity of at least 33,400 beds.”); Testimony of Janet Napolitano, Secretary of Homeland ... Immigration and Nationality Act (“INA”) §240B (a) 141 INA § 212 (a) (9) (A) 142 INA §276; see also National Research Council of the National Academies, Budgeting for Immigration Enforcement: A Path...

Ngày tải lên: 30/03/2014, 22:20

... Morphologies of Walking Animals 23 2.2.1 A Salamander A salamander is a vertebrate walking animal that belongs to the group of amphibian tetrapod It is able to traverse both on land and water It has small ... Irene Markelic, Johannes Knabe, Sadachai Nittayarumphong, Azamat Shakhimardanov, Ralph Breithaupt, Winai Chonnaparamutt, and all other members of Preface XIII the INDY team for many helpful discussions, ... the movement of a salamander Each leg is modeled more simply than a salamander leg but still maintains the operations of a salamander leg; i.e., it can perform forward–backward and up–down motions...

Ngày tải lên: 12/06/2014, 12:06

... Ferrata 1, 27100 Pavia, Italy 2ARTS Lab, Scuola Superiore Sant’Anna, V.le Piaggio 34, 56025 Pontedera (PI), Italy 3EUCENTRE Foundation, Via Ferrata 1, 27100 Pavia, Italy Page 12 of 13 Authors’ contributions ... control method had been firstly tested onto a virtual-reality model of a 15 DoFs hand [40] Simulations of hand movement were performed employing a real human hand PCs matrix available from Santello ... signal As a matter of fact, increasing the number of DoFs (i e dexterity) means either that the system should take care of carrying out the grasp with some level of automatism, as in the SAMS...

Ngày tải lên: 19/06/2014, 08:20

... Force–feedback interaction with a neural oscillator model: for shared human–robot control of a virtual percussion instrument Edgar Berdahl∗ (edgar.berdahl@imag.fr), Claude Cadoz (claude.cadoz@imag.fr) and ... For example, Ajay Kapur has designed a robotic drummer that automatically plays along with real human performers, such as sitar players [4] Similarly, researchers at the Georgia Institute of Technology ... force–feedback interaction A linear-only version of the mechanical analog model was proposed earlier by Claude Cadoz and Daniela Favaretto They presented an installation documenting the study at the...

Ngày tải lên: 21/06/2014, 17:20

... NAV (data) Defer access Backoff (a) Basic functionality of CoopMAC Octets 2 6 n Duration ID Frame control Address Address Address Sequence control Address Frame body FCS MAC header (b) MAC header ... In the MAC layer WARP provides a framework called WARPMAC and WARPHY which is used for the development of advanced MAC protocols WARPMAC and WARPPHY are a set of functions that provide MAC- type ... that is used in the particular WLAN [25] Although the described mechanism takes advantage of the rate adaptation capability of the network, it is independent of the particular rate adaptation algorithm...

Ngày tải lên: 21/06/2014, 20:20

... Morphologies of Walking Animals 23 2.2.1 A Salamander A salamander is a vertebrate walking animal that belongs to the group of amphibian tetrapod It is able to traverse both on land and water It has small ... Irene Markelic, Johannes Knabe, Sadachai Nittayarumphong, Azamat Shakhimardanov, Ralph Breithaupt, Winai Chonnaparamutt, and all other members of Preface XIII the INDY team for many helpful discussions, ... the movement of a salamander Each leg is modeled more simply than a salamander leg but still maintains the operations of a salamander leg; i.e., it can perform forward–backward and up–down motions...

Ngày tải lên: 27/06/2014, 06:20

... recapitulate IRES activity A possible caveat is that the transfected RNAs may fail to interact with necessary IRES-transacting factors (ITAFs) in the nucleus An alternative approach to measure ... protein & RNA Examples of interacting virusa PFV, HIV-1 PFV Tas and HIV-1 Tat act as RNA silencing suppressors that combat the antiviral effect of small RNA pathway Also miRNAs may be encoded ... translation of PCE-containing mRNAs [46] (Table 2) RHA is a multifunctional DEIH box helicase and RNA binding protein, and deregulation of RHA has been associated with various cancers and autoimmune...

Ngày tải lên: 13/08/2014, 05:21

... work of all the individuals stable platform for mobile manipulation there, especially Anthony del Balso, Rich Legrand, We have also described a new approach for a mod- Jim Slater and John Slater ... inverses of Jacobians in the past for manipulators because the meaning of minimizing quantities which have a combination of linear and angular units is not well defined The two proposed generalized ... (West and Asada 1994) All of these mechanisms, except for some types with ball wheels, have discontinuous wheel contact points which are a great source of vibration; primarily because of the changing...

Ngày tải lên: 26/10/2014, 14:32

... Raja Ismail, M .A Ahmad, M.S Ramli, F.R.M Rashidi, Nonlinear Dynamic Modeling and Analysis of a 3-D Overhead Gantry Crane System with Payload Variation, ems, pp.350354, 2009 Third UKSim European ...  sa   a  Caa      (15) where    τ a  M am q rm   M aa q   Cam q rm    Caa q   G a (q) We can be expressed τ m and τ a as in term of a known matrix ω m , ω a and ... dynamics of the load are modified to make his job easier A number of researchers developed damping controllers employing feedback signals of the load sway angles and their rate (Henry et al.,...

Ngày tải lên: 16/08/2015, 15:47

... North Carolina, USA, 2005 B Yin, R Oruganti, S K Panda, and A K S Bhat, “Performance comparison of voltage mode control and current mode control of a three-phase PWM Rectifier based on a dual SISO ... so that linear control can be applied An optimal linear quadratic regulator with integral action (LQI regulator) [21] and a pole placement controller [20] have been applied to a PWM 24 Chapter ... phase loads Voltage imbalances due to imbalances in phase loads can be particularly severe if large single phase loads, such as arc furnaces are used [6-7]  Asymmetrical winding of transformers which...

Ngày tải lên: 11/09/2015, 16:04

... Cartesian space to joint space, giving instructions that the actuators require The advantage of planning in Cartesian space is that path planning is on parameters with resultant of motions of ... hardware, (2) walking control and (3) artificial intelligence CHAPTER 2: LITERATURE REVIEW 2.1 Mechanical Design and Hardware In the area of mechanical design, one of the important areas is ... the sagittal plane of the lower body of a typical biped, with three rotational joints at each leg CHAPTER 5: WALKING CONTROL 37 Fig 5.1 Sagittal plane of the lower body of a typical biped As shown...

Ngày tải lên: 04/10/2015, 10:25

... repetitive and hazardous tasks can be dated back to the era of ancient Greek and Egyptian with their automata More recently, Leonardo da Vinci, a talented and famous Italian artist and engineer ... example, aluminum alloy[41], sheet metal [7] and magnesium alloy [4] Being light, strong and easy to fabricate are a few features that make aluminum alloy the favorite material in many humanoid ... rather than in industrial factories as we saw in later half of last century It seems that making a humanoid robot able to walk stably is not a too difficult task nowadays Presently, most humanoid...

Ngày tải lên: 04/10/2015, 10:25

... equations as the human arm One advantage of this approach is that it is relatively easy to design an exoskeleton that can track the entire workspace of the human arm Apart from the difficulty of wearing ... user a full information for the hardware and software interface The humanoid robot weighs 6kg and stands 48cm tall It has a total of 20 Degree of Freedom (DOF) - DOF each leg and DOF each arm ... initialization This alignment slot and the jig has the clearance of ± 0.5mm Attachment Point Attachment points are important to enable accurate tracking of the joint rotation of the human operator...

Ngày tải lên: 04/10/2015, 10:25

... have given a comprehensive description of distillation column control objectives, which are material balance control, product quality control and satisfaction of constraints The material balance ... Dynamic Simulation 19 Table 3.3 Data for and Results from Short-cut Distillation 21 Table 3.4: Possible Pairings of Controlled and Manipulated Variables 27 Table 3.5: Significance of Relative Gain ... Control Valve XIC : Composition Indicator and Controller, used only as an indicator Design, Simulation and Control of a Depropaniser 27 Table 3.4: Possible Pairings of Controlled and Manipulated...

Ngày tải lên: 04/10/2015, 17:06