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The future of transportation is inevitably all-electric, and its driving forces are electric energy storage devices. This is particularly true for urban mass transit modes, such as trains, trams, buses, and public utility trucks. Ultracapacitors (UCs) are gaining popularity in transportation storage applications to supply peak power and power transient demands, especially in mass transit electrification...
The Jansen mechanism is a one degree-of-freedom, planar, 12-link, leg mechanism that can be used in mobile robotic applications and in gait analysis. This paper presents the kinematics and dynamics of the Jansen leg mechanism. The forward kinematics, accomplished using circle intersection method, determines the trajectories of various points on the mechanism in the chassis (stationary link) reference...
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