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The authors proposed a basic method for generating a colhsionless walking gait of a non-straight-legged biped and analyzed the fundamental gait properties. This paper then discusses the transfer energy efficiency of the generated gait in terms of specific resistance. Numerical simulations show that energy efficiency can be improved by promoting the asymmetry of the leg shape, and by keeping the positivity...
In this paper, we improve a running speed of a biped robot by using a control law of a new wobbling mass. In the model of the biped robot, the running speed decreases when using a conventional control law of the wobbling mass. We first describe the conventional running control law of the biped robot and propose a control law that moves the wobbling mass up and down so that the forward direction component...
Permanent magnet linear motors (PMLM) are widely used in high precision machineries. With the removal of the transmission elements, the positioning performances of PMLM are easily affected by parameter variations and external disturbances. Various control approaches were proposed, yet it was noticed that majority of these controllers have complex design procedures, and require accurate model parameters...
This paper proposes a new method for tracking the whole trajectory of a ballistic missile from launch to impact on the ground. Multiple state models are applied for the ballistic missile movement descriptions during different phases, while the transition probabilities are modelled in a state-dependent way. A radar sensor is applied to obtain the missile range, azimuth angle and elevation angle measurements...
In this paper preliminary results from investigations of the proof of concept of a nonlinear (vibrational) bistable inductive energy harvester are presented. The main idea proposed through this paper is to exploits the benefits of the snap-through buckling configuration in terms of capability to scavenge energy from wide band vibrations and the possibility to use the beam switching between its stable...
The objective of this work is to introduce an autonomous Hovercraft with minimum Energy consumption. To achieve this goal, a computer simulation in addition to practical testing of a simple hovercraft model have been carried out. A mathematical model for the hovercraft is considered and simulated in the MATLAB/SIMULINK environment. A navigation system with Global Positioning System (GPS) integrated...
A free-piston engine linear generator system is investigated for use as a high-efficiency generator engine. The system's efficiency depends on its generation and thermal efficiency, and the generation efficiency is degraded at the edge of the expansion stroke when the piston speed is low and the thrust is high. The generation efficiency is thereby improved to 97% using machine coupling control. Furthermore,...
VisR ultrasound characterizes the viscoelastic properties of tissue by fitting acoustic radiation force (ARF)-induced displacements in the region of ARF excitation to a 1D mass-spring-damper (MSD) model. By so doing, viscosity and elasticity are found separately from each other but relative to the applied ARF amplitude. We refer to these parameters as ‘relative elasticity (RE)’ and ‘relative viscosity...
This research investigates the feasibility for the development of a novel 3D collision avoidance system for smart powered wheelchairs operating in a cluttered setting by using a scenario generated in a simulated environment using the Robot Operating System development framework. We constructed an innovative interface with a commercially available powered wheelchair system in order to extract joystick...
Present and future global energy challenges assume a growing role of intelligent information technologies. Among the global objectives lay a continuous energy supply, making efficient use of energy in all its forms. Renewable energy and energy harvester systems have become a hot topic to the academia and industrial representatives, due to the last technical developments and economical support. This...
The mathematical model of clamping electromagnets for clamping force determination on the basis of field theory means is offered for magnetically operated movers of mobile robots (MR) for moving on inclined or vertical ferromagnetic surfaces. The results of experimental investigations of magnetic induction and clamping force measurements in different spatial positions of clamping magnet relative to...
It was shown experimentally in [1], [2] that a macroscopic cylindrical solid can be rotated due to the excitation of two counter-propagating surface acoustic waves (SAWs) with different amplitudes on its surface. Arising internal distributed rotation force has been calculated phenomenologically in the partial case of a piezoelectric tube with a ring unidirectional electrode transducer (RUDT) using...
In this paper, we present a sound field synthesis technique based on the mode-matching and inverse-filtering to manipulate micro-particles within a given region. The technique employs a set of PZT transducers evenly placed on the perimeter of a 50 mm-radius circle to generate and manipulate the desired local ultrasonic filed. Adjusting the parameters of driven signals applied to the transducer array...
A mathematical model of electrically charged plastic particles movement in the free-fall electrostatic separator is discussed based on the theoretical analysis and experimental observation. The formulated model considers both field-to-particle and also particle-to-particle interactions and takes into account stochastic characteristics of the model parameters. Simulation of particle motion, therefore,...
Using the equations of compatibility of deformation and equilibrium between the turns of the threaded connection solved the problem of load distribution in the turns of the thread. Based on the selection of the turns of the screw and nut with different pitches of effective design-technological method enabling to align the load distribution between turns and thereby increase the durability of threaded...
This paper illustrates the design, implementation and modelling of the extensor pneumatic muscle actuator (PMA). The extensor soft actuator has a vital feature of ability to bend and extend, and that give it the flexibility to use in numerous applications. The extended behaviour of this actuator is modelled mathematically to be used to predict the length of a wide range of actuators at different air...
There exist some problems in the fiber optic gyro inertial measurement unit(FOG-IMU) calibration, such as dependence on high-precision turntable, low precision, rigorous calibration condition and so on. Aiming at these problems, we propose a high-precision grading calibration method. Firstly, system parameters are calibrated by the discrete calibration method, in which the effects of the lever-arm...
The paper reviews the radiation phenomena in classical electromagnetics in terms of microscopic and macroscopic approach, respectively. First, the radiation from an accelerated charged particle is outlined featuring the concept of radiation reaction force. Then the Pocklington integro-differential equation for dipole antennas is derived which is followed by the details related to the numerical solution...
This paper investigates curve-fitting methods to explore uncertainty quantification approaches for demand fluctuations in a power grid. Specifically, we use data sets from the Pennsylvania-New Jersey-Maryland (PJM) Interconnection, where we employ two stages of fitting. In stage one, a trigonometric based fit for historical data sets is carried out. In stage two, load forecasting for day-ahead market...
The motion of the nanoparticles ensemble was studied. The phenomenological model, which is presented by four differential equations for the rate of change of the main system parameters, was build taking into account the parameter determining the nonextensive property. The transition between different types of motion of nanoparticles ensemble was investigated. The kinetics of the system and the influence...
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