Footstep Planning for Hexapod Robots Based on 3D Quasi-static Equilibrium Support Region

2021 ◽  
Vol 103 (2) ◽  
Author(s):  
Liang Ding ◽  
Guanyu Wang ◽  
Haibo Gao ◽  
Guangjun Liu ◽  
Huaiguang Yang ◽  
...  
2007 ◽  
Vol 51 (-1) ◽  
pp. 8-10
Author(s):  
Katarzyna Milde ◽  
Paweł Tomaszewski ◽  
Edyta Sienkiewicz-Dianzenza ◽  
Andrzej Wiśniewski

Author(s):  
Nilofar Shaikh ◽  
Shilpa Donga

The woman is an axle around whom not only the family or the society but the whole Universe revolves. A good progeny probably is the only prime thing on the earth that any couple would expect child is one who protects his race from grief, miseries etc. Today due to changing lifestyle Medical world is concerned about increasing rate of congenital imperfections in the new born which is posing confront to the aim of healthy humanity. Science reveals the fact that the anatomical, physiological, psychological built up of offspring is dependent on parents who provide ‘genes’ for specific characters to the child. Best of male and female gamete (sperm and ovum – through Shodhana and following regimes before conception) Atma, Suddha Garbhashaya, proper Kala (Ritukala), and observing Garbhini Paricharya properly will ensure timely and normal delivery of a healthy offspring. The contented, positive, enthusiastic but controlled state of mind of parents during conjugation results in static equilibrium of Manogunas, increment of Satvaguna leading to high ranked Satva of Garbha grating noble qualities like piousness, dexterity, intelligence, memory, quickness for work, gratitude and positive thoughts etc. Thus, Ayurveda- A complete and holistic health science, not only deal with preventive and curative aspects of health but also has a strong footings in the field of healthy progeny from choosing of life-partner to care during pregnancy.


2021 ◽  
Vol 87 (1) ◽  
pp. 107-140
Author(s):  
Nicholas Lawson ◽  
Dean Spears

AbstractThree important features of Indian labor markets enduringly coexist: rent-seeking, occupational immobility, and caste. These facts are puzzling, given theories that predict static, equilibrium social inequality without conflict. Our model explains these facts as an equilibrium outcome. Some people switch caste-associated occupations for an easier source of rents, rather than for productivity. This undermines trust between castes and shuts down occupational mobility, which further encourages rent-seeking due to an inability of workers to sort into occupations. We motivate our contribution with novel stylized facts exploiting a unique survey question on casteism in India, which we show is associated with rent-seeking.


1998 ◽  
Vol 59 (3) ◽  
pp. 537-541 ◽  
Author(s):  
MANUEL NÚÑEZ

Although most magnetic neutral points occurring in nature seem to form part of a continuum, recent studies of reconnection have centred on static equilibria in the neighbourhood of an isolated three-dimensional null point. The linear stability of this configuration is studied here. It is found that one may choose a flux surface so that transverse oscillations localized around the surface and polarized within it must grow exponentially in time. This means that any static equilibrium containing an isolated three-dimensional null point is linearly unstable.


Author(s):  
Mengxuan Li ◽  
Chaohua Gu ◽  
Xiaohong Pan ◽  
Shuiying Zheng ◽  
Qiang Li

A new dynamic mesh algorithm is developed in this paper to realize the three-dimensional (3D) computational fluid dynamics (CFD) method for studying the small clearance transient flow field of tilting pad journal bearings (TPJBs). It is based on a structured grid, ensuring that the total number and the topology relationship of the grid nodes remain unchanged during the dynamic mesh updating process. The displacements of the grid nodes can be precisely recalculated at every time step. The updated mesh maintains high quality and is suitable for transient calculation of large journal displacement in FLUENT. The calculation results, such as the static equilibrium position and the dynamic characteristic coefficients, are consistent with the two-dimensional (2D) solution of the Reynolds equation. Furthermore, in the process of transient analysis, under conditions in which the journal is away from the static equilibrium position, evident differences appear between linearized and transient oil film forces, indicating that the nonlinear transient calculation is more suitable for studying the rotor-bearing system.


2013 ◽  
Vol 60 (6) ◽  
pp. 4627-4633
Author(s):  
Andjelija Z. Ilic ◽  
Jasna L. Ristic-Djurovic ◽  
Sasa Cirkovic

Author(s):  
E. F. Fichter ◽  
D. R. Kerr

Abstract A walking machine design originating from observations of insects is presented. The primary concept derived from insects is a leg used to apply force to the body without applying significant moments about the point of body attachment. This is accomplished with legs which have kinematic equivalents to ball-and-socket joints at body attachment and ground contact, with joints in the middle which only change distance between body and ground. Standing and walking with 6 legs of this design requires careful attention to static equilibrium equations but does not necessitate a control system which actively distributes forces to the legs. This paper considers necessary observational data, assumptions on which control is based, mathematical development for control and problems such as foot slip.


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