scholarly journals Using a Gyro as a Tool for Continuously Variable Lateral Stabilisation of Dynamic Bipeds

2006 ◽  
Vol 3 (3) ◽  
pp. 237-243
Author(s):  
N. M. Mayer ◽  
K. Masui ◽  
M. Browne ◽  
M. Asada ◽  
M. Ogino
Keyword(s):  
Three Dimensional ◽  
Biped Robot ◽  
Reaction Wheel ◽  
Lateral Direction ◽  
Biped Walking ◽  
Walking Machines ◽  
Different Types ◽  
Dimensional Version ◽  
World Exhibition

We present simulations of different types of biped walking machines that are stabilized in the lateral direction by adding a gyro. The simulations show that, in principle, it is indeed possible to stabilise biped walking machines. Examples presented in this work include a three-dimensional version of the simplest walking model, which is based on earlier investigations, and an actuated biped robot. Here, the gyro is used as a reaction wheel. Finally, a rotor–brake combination is outlined that was used in an artistic biped robot at the Aichi World Exhibition.

scholarly journals Study on Walking Strategy of Biped Robot Based on Dynamics of Divergent Component of Motion

2019 ◽  
Vol 37 (6) ◽  
pp. 1285-1293
Author(s):  
Sheng Dong ◽  
Zhaohui Yuan ◽  
Jianrui Zhang ◽  
Shangjun Ma
Keyword(s):  
Disturbance Rejection ◽  
Inverse Kinematics ◽  
Closed Loop ◽  
Inverted Pendulum ◽  
Joint Angle ◽  
Center Of Mass ◽  
Three Dimensional ◽  
Biped Robot ◽  
Biped Walking ◽  
Gait Planning

In this paper, based on the linear inverted pendulum (LIP) model, the multi-walking of biped robot is analogous to the multi-swing of a three-dimensional inverted pendulum. In terms of the concept of 'divergent component of motion (DCM)', the dynamic equations expressed by using Center of Mass (COM) and DCM are studied. Two DCM closed-loop controllers are designed:one-step DCM terminal invariant disturbance rejection controller and real-time DCM trajectory tracking closed-loop controller. Both controllers can effectively suppress the disturbance, so that the DCM of the actual robot does not diverge, and which is used to plan the COM trajectory of the biped walking process. Based on the COM trajectory and biped end trajectory, the numerical method for solving inverse kinematics of biped robot is studied. The whole set of solving problems from input footprint to output joint angle in biped walking process is completed, and systematize the method of biped gait planning. Finally, combining with a ubiquitous robot model, all the algorithms in this paper are simulated via MATLAB platform. The simulation results verify the effectiveness of the method.

Ultrastructural Investigations of the Contractile Filaments of Amoebae

1974 ◽  
Vol 32 ◽  
pp. 188-189
Author(s):  
P.L. Moore
Keyword(s):  
Cytoplasmic Streaming ◽  
Three Dimensional ◽  
Freeze Fracture ◽  
Amoeboid Movement ◽  
Different Types ◽  
Chemical Conditions ◽  
Complete Interpretation

Previous freeze fracture results on the intact giant, amoeba Chaos carolinensis indicated the presence of a fibrillar arrangement of filaments within the cytoplasm. A complete interpretation of the three dimensional ultrastructure of these structures, and their possible role in amoeboid movement was not possible, since comparable results could not be obtained with conventional fixation of intact amoebae. Progress in interpreting the freeze fracture images of amoebae required a more thorough understanding of the different types of filaments present in amoebae, and of the ways in which they could be organized while remaining functional.The recent development of a calcium sensitive, demembranated, amoeboid model of Chaos carolinensis has made it possible to achieve a better understanding of such functional arrangements of amoeboid filaments. In these models the motility of demembranated cytoplasm can be controlled in vitro, and the chemical conditions necessary for contractility, and cytoplasmic streaming can be investigated. It is clear from these studies that “fibrils” exist in amoeboid models, and that they are capable of contracting along their length under conditions similar to those which cause contraction in vertebrate muscles.

A Study on Utilization of Three-Dimensional Sensor Lip Image for Developing a Pronunciation Recognition System

2019 ◽  
Vol 63 (5) ◽  
pp. 50402-1-50402-9 ◽  
Author(s):  
Ing-Jr Ding ◽  
Chong-Min Ruan
Keyword(s):  
Principal Component Analysis ◽  
Automatic Speech Recognition ◽  
Feature Fusion ◽  
Three Dimensional ◽  
Principal Component ◽  
Recognition System ◽  
Geometrical Characteristics ◽  
3D Geometry ◽  
Different Types ◽  
The Disabled

Abstract The acoustic-based automatic speech recognition (ASR) technique has been a matured technique and widely seen to be used in numerous applications. However, acoustic-based ASR will not maintain a standard performance for the disabled group with an abnormal face, that is atypical eye or mouth geometrical characteristics. For governing this problem, this article develops a three-dimensional (3D) sensor lip image based pronunciation recognition system where the 3D sensor is efficiently used to acquire the action variations of the lip shapes of the pronunciation action from a speaker. In this work, two different types of 3D lip features for pronunciation recognition are presented, 3D-(x, y, z) coordinate lip feature and 3D geometry lip feature parameters. For the 3D-(x, y, z) coordinate lip feature design, 18 location points, each of which has 3D-sized coordinates, around the outer and inner lips are properly defined. In the design of 3D geometry lip features, eight types of features considering the geometrical space characteristics of the inner lip are developed. In addition, feature fusion to combine both 3D-(x, y, z) coordinate and 3D geometry lip features is further considered. The presented 3D sensor lip image based feature evaluated the performance and effectiveness using the principal component analysis based classification calculation approach. Experimental results on pronunciation recognition of two different datasets, Mandarin syllables and Mandarin phrases, demonstrate the competitive performance of the presented 3D sensor lip image based pronunciation recognition system.

Simulating Self-Regeneration and Self-Replication Processes Using Movable Cellular Automata with a Mutual Equilibrium Neighborhood

2020 ◽  
Vol 29 (4) ◽  
pp. 741-757
Author(s):  
Kateryna Hazdiuk ◽  
◽  
Volodymyr Zhikharevich ◽  
Serhiy Ostapov ◽  
◽  
...  
Keyword(s):  
Cellular Automata ◽  
Cellular Automaton ◽  
Three Dimensional ◽  
Computer Models ◽  
The Self ◽  
Model Construction ◽  
Natural Phenomena ◽  
Different Types ◽  
Movable Cellular Automata ◽  
Self Replication

This paper deals with the issue of model construction of the self-regeneration and self-replication processes using movable cellular automata (MCAs). The rules of cellular automaton (CA) interactions are found according to the concept of equilibrium neighborhood. The method is implemented by establishing these rules between different types of cellular automata (CAs). Several models for two- and three-dimensional cases are described, which depict both stable and unstable structures. As a result, computer models imitating such natural phenomena as self-replication and self-regeneration are obtained and graphically presented.

Geological Field Sketches and Illustrations

2019 ◽  
Author(s):  
Matthew J. Genge
Keyword(s):  
Cross Sections ◽  
Earth Science ◽  
Three Dimensional ◽  
Worked Examples ◽  
Scientific Publications ◽  
Thin Sections ◽  
Geological Features ◽  
Different Types ◽  
The Subject

Drawings, illustrations, and field sketches play an important role in Earth Science since they are used to record field observations, develop interpretations, and communicate results in reports and scientific publications. Drawing geology in the field furthermore facilitates observation and maximizes the value of fieldwork. Every geologist, whether a student, academic, professional, or amateur enthusiast, will benefit from the ability to draw geological features accurately. This book describes how and what to draw in geology. Essential drawing techniques, together with practical advice in creating high quality diagrams, are described the opening chapters. How to draw different types of geology, including faults, folds, metamorphic rocks, sedimentary rocks, igneous rocks, and fossils, are the subjects of separate chapters, and include descriptions of what are the important features to draw and describe. Different types of sketch, such as drawings of three-dimensional outcrops, landscapes, thin-sections, and hand-specimens of rocks, crystals, and minerals, are discussed. The methods used to create technical diagrams such as geological maps and cross-sections are also covered. Finally, modern techniques in the acquisition and recording of field data, including photogrammetry and aerial surveys, and digital methods of illustration, are the subject of the final chapter of the book. Throughout, worked examples of field sketches and illustrations are provided as well as descriptions of the common mistakes to be avoided.

scholarly journals Optimized stable gait planning of biped robot using multi-objective evolutionary JAYA algorithm

2020 ◽  
Vol 17 (6) ◽  
pp. 172988142097634
Author(s):  
Huan Tran Thien ◽  
Cao Van Kien ◽  
Ho Pham Huy Anh
Keyword(s):  
Inverse Kinematics ◽  
Biped Robot ◽  
Step Length ◽  
Jaya Algorithm ◽  
Kinetic Chain ◽  
Biped Walking ◽  
Gait Planning ◽  
Multi Objective ◽  
Simulation And Experiment ◽  
Stable Gait

This article proposes a new stable biped walking pattern generator with preset step-length value, optimized by multi-objective JAYA algorithm. The biped robot is modeled as a kinetic chain of 11 links connected by 10 joints. The inverse kinematics of the biped is applied to derive the specified biped hip and feet positions. The two objectives related to the biped walking stability and the biped to follow the preset step-length magnitude have been fully investigated and Pareto optimal front of solutions has been acquired. To demonstrate the effectiveness and superiority of proposed multi-objective JAYA, the results are compared to those of MO-PSO and MO-NSGA-2 optimization approaches. The simulation and experiment results investigated over the real small-scaled biped HUBOT-4 assert that the multi-objective JAYA technique ensures an outperforming effective and stable gait planning and walking for biped with accurate preset step-length value.

Study on the performance of different types of three-dimensional chromatographic systems

2013 ◽  
Vol 1271 (1) ◽  
pp. 137-143 ◽  
Author(s):  
Ekaterina Davydova ◽  
Peter J. Schoenmakers ◽  
Gabriel Vivó-Truyols
Keyword(s):  
Three Dimensional ◽  
Different Types

Design of coaxial and waveguide couplers for helix TWT

Frequenz ◽  
2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Mukesh Kumar Alaria ◽  
Sanjay Kumar Ghosh
Keyword(s):  
Traveling Wave ◽  
Return Loss ◽  
Characteristic Impedance ◽  
Three Dimensional ◽  
Waveguide Coupler ◽  
Quarter Wavelength ◽  
Different Types ◽  
Waveguide Type ◽  
Transformer Design ◽  
Traveling Wave Tubes

Abstract In this paper, two types of coaxial coupler and waveguide coupler for different frequency helix traveling wave tubes (TWTs) are designed, fabricated and cold tested. The coaxial coupler includes of window ceramic and RF transformer section. At present multi-section impedance transformer design approach is used for wideband helix TWTs. In any helix TWT, impedance of the source is transformed to the characteristic impedance of helix. This is done by the quarter-wavelength (λ/4) impedance transformation approach. The simulated results of different types of couplers are carried out by HFSS and CST microwave studio software and compare with experimental results. Three-dimensional electromagnetic field simulators allowing the any geometry with port excitations it is possible to model the complex coaxial and waveguide type couplers with helix SWS assembly and predict its desired return loss performances.

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