EXPERIMENTAL REALIZATION OF DYNAMIC STAIR CLIMBING AND DESCENDING OF BIPED HUMANOID ROBOT, HUBO

2009 ◽  
Vol 06 (02) ◽  
pp. 205-240 ◽  
Author(s):  
JUNG-YUP KIM ◽  
ILL-WOO PARK ◽  
JUN-HO OH
Keyword(s):  
Control Strategy ◽  
High Performance ◽  
Humanoid Robot ◽  
Stair Climbing ◽  
Control Technique ◽  
Experimental Realization ◽  
Biped Walking ◽  
Switching Control Strategy ◽  
Stair Walking ◽  
And Performance

In this paper, dynamic stair climbing and descending are experimentally realized for a biped humanoid robot, HUBO. Currently, in addition to biped walking on the ground, other types of biped walking such as running, jogging, and stair walking (climbing and descending) have been also studied since the end of 1990. In spite of many years of research works on stair walking, it is still a challengeable topic that requires high performance of control technique. For dynamic stair walking, we designed stair climbing and descending patterns according to a known stair configuration. Next, we defined stair climbing and descending stages for a switching control strategy. In each stage, we designed and adopted several online controllers to maintain the balance. For the simplicity and easy application, the online controllers only use the force and torque signals of the force/torque sensors of the feet. Finally, the effectiveness and performance of the proposed strategy are verified through stair climbing and descending experiments of HUBO.

Sensorless Control Strategy for BLDC Motors Based on a Type-3 Phase Locked Loop

2021 ◽  
Author(s):  
Mohamed Abbes ◽  
Souad Chebbi
Keyword(s):  
Control Strategy ◽  
High Performance ◽  
Sensorless Control ◽  
Design Procedure ◽  
Phase Locked Loop ◽  
Control Technique ◽  
Loop Filter ◽  
Zero Crossing ◽  
Industrial Level ◽  
Type 3

This paper presents the design procedure of a high-performance sensorless control strategy for the widely used brushless DC (BLDC) motors. Generally, conventional sensorless techniques are based on detecting the zero-crossing instants (ZCP) of the back electromotives forces (back-EMFs) of the three phases. These methods, although widely adopted and marketed on an industrial level, involve many limitations such as filtering delays, difficulty to operate at low speeds and immunity against Electromagnetic Interferences (EMI). In this paper, the main objective is to develop a sensorless control technique integrally independent from the zero-crossing points of the back-EMFs. In the proposed method, a zero-delay adaptive filter was used to extract the fundamental and the quadrature components of the line-to-line voltage of the motor. Then, the Synchronous Reference Frame Phase Locked Loop (SRF-PLL) is used to estimate the electrical angle of phase-to-phase back-EMF along with the rotor speed. The conventional SRF-PLL was implemented using a second-order loop filter (type-3 PLL) in order to improve synchronization performances and for better rejection of voltage spikes induced in motor phases during commutations. The benefits of the control technique are brought to light through simulation results. An experimental prototype was designed to confirm the validity of the proposed method.

Trace nanoanalysis

1994 ◽  
Vol 52 ◽  
pp. 940-941
Author(s):  
D. E. Newbury ◽  
R. D. Leapman
Keyword(s):  
High Performance ◽  
Secondary Ion Mass Spectrometry ◽  
Detection Efficiency ◽  
Volume Element ◽  
And Performance ◽  
Trace Constituents ◽  
Secondary Ion ◽  
Concentration Levels ◽  
Structure Properties

Trace constituents, which can be very loosely defined as those present at concentration levels below 1 percent, often exert influence on structure, properties, and performance far greater than what might be estimated from their proportion alone. Defining the role of trace constituents in the microstructure, or indeed even determining their location, makes great demands on the available array of microanalytical tools. These demands become increasingly more challenging as the dimensions of the volume element to be probed become smaller. For example, a cubic volume element of silicon with an edge dimension of 1 micrometer contains approximately 5×1010 atoms. High performance secondary ion mass spectrometry (SIMS) can be used to measure trace constituents to levels of hundreds of parts per billion from such a volume element (e. g., detection of at least 100 atoms to give 10% reproducibility with an overall detection efficiency of 1%, considering ionization, transmission, and counting).

https://imsciences.edu.pk/files/journals/vol12_2/New%201%20MA.864.pdf

2020 ◽  
Vol 12 (2) ◽  
pp. 19-50 ◽  
Author(s):  
Muhammad Siddique ◽  
Shandana Shoaib ◽  
Zahoor Jan
Keyword(s):  
Organizational Performance ◽  
Structural Equation ◽  
High Performance ◽  
Service Sector ◽  
Performance Outcomes ◽  
Theory And Practice ◽  
Relational Coordination ◽  
Multiple Sources ◽  
And Performance ◽  
High Level

A key aspect of work processes in service sector firms is the interconnection between tasks and performance. Relational coordination can play an important role in addressing the issues of coordinating organizational activities due to high level of interdependence complexity in service sector firms. Research has primarily supported the aspect that well devised high performance work systems (HPWS) can intensify organizational performance. There is a growing debate, however, with regard to understanding the “mechanism” linking HPWS and performance outcomes. Using relational coordination theory, this study examines a model that examine the effects of subsets of HPWS, such as motivation, skills and opportunity enhancing HR practices on relational coordination among employees working in reciprocal interdependent job settings. Data were gathered from multiple sources including managers and employees at individual, functional and unit levels to know their understanding in relation to HPWS and relational coordination (RC) in 218 bank branches in Pakistan. Data analysis via structural equation modelling, results suggest that HPWS predicted RC among officers at the unit level. The findings of the study have contributions to both, theory and practice.

scholarly journals Study on strong spinning preparation method and mechanism of the industrial pure titanium ultrafine crystallization

2019 ◽  
Vol 14 ◽  
pp. 155892501989525
Author(s):  
Yu Yang ◽  
Yanyan Jia
Keyword(s):  
Heat Treatment ◽  
High Performance ◽  
Pure Titanium ◽  
Grain Structure ◽  
Theoretical Research ◽  
Ultrafine Grain ◽  
Forming Process ◽  
Spinning Process ◽  
And Performance ◽  
Material Utilization

Ultrafine crystallization of industrial pure titanium allowed for higher tensile strength, corrosion resistance, and thermal stability and is therefore widely used in medical instrumentation, aerospace, and passenger vehicle manufacturing. However, the ultrafine crystallizing batch preparation of tubular industrial pure titanium is limited by the development of the spinning process and has remained at the theoretical research stage. In this article, the tubular TA2 industrial pure titanium was taken as the research object, and the ultrafine crystal forming process based on “5-pass strong spin-heat treatment-3 pass-spreading-heat treatment” was proposed. Based on the spinning process test, the ultimate thinning rate of the method is explored and the evolution of the surface microstructure was analyzed by metallographic microscope. The research suggests that the multi-pass, medium–small, and thinning amount of spinning causes the grain structure to be elongated in the axial and tangential directions, and then refined, and the axial fiber uniformity is improved. The research results have certain scientific significance for reducing the consumption of high-performance metals improving material utilization and performance, which also promote the development of ultrafine-grain metals’ preparation technology.

High-Performance Image Filters via Sparse Approximations

2020 ◽  
Vol 3 (2) ◽  
pp. 1-19
Author(s):  
Kersten Schuster ◽  
Philip Trettner ◽  
Leif Kobbelt
Keyword(s):  
High Performance ◽  
Hardware Acceleration ◽  
Optimization Method ◽  
Translation Invariant ◽  
Approximation Quality ◽  
Trade Offs ◽  
Sparse Approximations ◽  
Image Filters ◽  
Good Trade ◽  
And Performance

We present a numerical optimization method to find highly efficient (sparse) approximations for convolutional image filters. Using a modified parallel tempering approach, we solve a constrained optimization that maximizes approximation quality while strictly staying within a user-prescribed performance budget. The results are multi-pass filters where each pass computes a weighted sum of bilinearly interpolated sparse image samples, exploiting hardware acceleration on the GPU. We systematically decompose the target filter into a series of sparse convolutions, trying to find good trade-offs between approximation quality and performance. Since our sparse filters are linear and translation-invariant, they do not exhibit the aliasing and temporal coherence issues that often appear in filters working on image pyramids. We show several applications, ranging from simple Gaussian or box blurs to the emulation of sophisticated Bokeh effects with user-provided masks. Our filters achieve high performance as well as high quality, often providing significant speed-up at acceptable quality even for separable filters. The optimized filters can be baked into shaders and used as a drop-in replacement for filtering tasks in image processing or rendering pipelines.

scholarly journals Low-Process–Voltage–Temperature-Sensitivity Multi-Stage Timing Monitor for System-on-Chip Applications

Electronics ◽  
2021 ◽  
Vol 10 (13) ◽  
pp. 1587
Author(s):  
Duo Sheng ◽  
Hsueh-Ru Lin ◽  
Li Tai
Keyword(s):  
High Performance ◽  
Power Reduction ◽  
System On Chip ◽  
Timing Information ◽  
Multi Stage ◽  
Dynamic Voltage ◽  
And Performance ◽  
On Chip ◽  
Maximum Measurement ◽  
Maximum Measurement Error

High performance and complex system-on-chip (SoC) design require a throughput and stable timing monitor to reduce the impacts of uncertain timing and implement the dynamic voltage and frequency scaling (DVFS) scheme for overall power reduction. This paper presents a multi-stage timing monitor, combining three timing-monitoring stages to achieve a high timing-monitoring resolution and a wide timing-monitoring range simultaneously. Additionally, because the proposed timing monitor has high immunity to the process–voltage–temperature (PVT) variation, it provides a more stable time-monitoring results. The time-monitoring resolution and range of the proposed timing monitor are 47 ps and 2.2 µs, respectively, and the maximum measurement error is 0.06%. Therefore, the proposed multi-stage timing monitor provides not only the timing information of the specified signals to maintain the functionality and performance of the SoC, but also makes the operation of the DVFS scheme more efficient and accurate in SoC design.

scholarly journals Ship Handling in Unprotected Waters: A Review of New Technologies in Escort Tugs to Improve Safety

2021 ◽  
Vol 2 (1) ◽  
pp. 46-62
Author(s):  
Santiago Iglesias-Baniela ◽  
Juan Vinagre-Ríos ◽  
José M. Pérez-Canosa
Keyword(s):  
High Performance ◽  
New Technologies ◽  
Weather Conditions ◽  
Hull Form ◽  
Best Available Technologies ◽  
Adverse Weather Conditions ◽  
Adverse Weather ◽  
New Type ◽  
Technological Challenge ◽  
And Performance

It is a well-known fact that the 1989 Exxon Valdez disaster caused the escort towing of laden tankers in many coastal areas of the world to become compulsory. In order to implement a new type of escort towing, specially designed to be employed in very adverse weather conditions, considerable changes in the hull form of escort tugs had to be made to improve their stability and performance. Since traditional winch and ropes technologies were only effective in calm waters, tugs had to be fitted with new devices. These improvements allowed the remodeled tugs to counterbalance the strong forces generated by the maneuvers in open waters. The aim of this paper is to perform a comprehensive literature review of the new high-performance automatic dynamic winches. Furthermore, a thorough analysis of the best available technologies regarding towline, essential to properly exploit the new winches, will be carried out. Through this review, the way in which the escort towing industry has faced this technological challenge is shown.

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