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Locomotion stability of a humanoid robot is closely related to the capacity to regulate its Center of Mass (CoM) motion. In this paper, the Feasible Center of Mass Dynamic Manipulability (FCDM) is introduced and analyzed as a measure of this capacity. The effects of posture, joint velocities and gravity on the torque-bounded dynamic manipulability ellipsoid are first analyzed on an n-DOF planar humanoid...
This paper describes the Magnetic Electron Ion Spectrometer (MagEIS) instruments aboard the RBSP spacecraft from an instrumentation and engineering point of view. There are four magnetic spectrometers aboard each of the two spacecraft, one low-energy unit (20–240 keV), two medium-energy units (80–1200 keV), and a high-energy unit (800–4800 keV). The high unit also contains a proton telescope (55 keV–20 MeV)...
This paper describes a thyristorized static switch designed for the operation of Direct On Line starter fed three phase induction motor drive. It establishes the fact that optimum value of firing angle combination for the voltage controller of induction motor depends on the motor parameters. Motors having different parameter values with identical rating are considered for the work. Optimum firing...
This paper establishes the fact that optimum value of firing angle for the thyristorized voltage controller fed induction motor at starting depends on motor parameters. Identically rated motors with different parameter values are considered for the work. Extensive simulations are carried out to obtain the optimum firing angle of the voltage controller, which gives zero negative torque pulsations with...
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