quadruped robots have unique capabilities for motion over uneven natural environments. this article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. first, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-dof quadruped robot. thereafter, an inverse-dynamics...

in general, the objective of distillation control is to maintain the desired products quality. in this paper, the performances of different one point control strategies for an aromatic distillation column have been compared through dynamic simulation. these methods are: a) composition control using measured composition directly. this method sufferes from large sampling delay of measuring device...

p. 68 (-9) Change “Applying Eq. (1.60) with J and TJ and replaced by J ′ and J , respectively” to “Applying Eq. (1.60) with J ′ and J replaced by J and TJ , respectively” p. 87 (-7) Change “αc1 ≤ c2” to “αc1 ≤ c2” p. 125 (-9 and -11) Change “Section 1.6.1” to “Section 1.6.2” p. 135 (-5, -4, and -3) The calculation in these three lines has a flaw, and in the final result μ should be replaced by ...

A solution technique for the dynamic analysis of asymmetric base-isolated buildings, subject to earthquake ground motion, is presented. To develop the formulation, a yield surface as a function of both shear force and torsion moment of the sliding surface with rigid perfectly plastic behavior is constituted. To achieve the objective, the yield stress is defined by the friction coefficient throu...

An Adaptive Sliding Mode Control (ASMC) scheme is proposed for the synchronization of two chaotic nonlinear systems. Due to sliding mode control methodology, a sliding surface is determined and the control law (synchronization method) is established. The proposed method can force an uncertain chaotic dynamic (slave dynamic) to trace another chaotic dynamic (master dynamic) without oscillating v...

BACKGROUND We aimed to use the animal model of dynamic fixation to examine the interaction of the pedicle screw surface with surrounding bone, and determine whether pedicle screws achieve good mechanical stability in the vertebrae. METHODS Twenty-four goats aged 2-3 years had Cosmic ® pedicle screws implanted into both sides of the L2-L5 pedicles. Twelve goats in the bilateral dynamic fixatio...

recent progress in nanotechnology and electrochemical methods can be applied to fine control of the size, crystal structure, and surface properties of iron oxide nanoparticles. here we appliedcathodic electrochemical deposition (ced) as an efficient and effective tactic for synthesisand double coating of surface of superparamagnetic iron oxide nanoparticles (spions). in first step, bare fe3o4 n...

A solution technique for the dynamic analysis of asymmetric base-isolated buildings, subject to earthquake ground motion, is presented. To develop the formulation, a yield surface as a function of both shear force and torsion moment of the sliding surface with rigid perfectly plastic behavior is constituted. To achieve the objective, the yield stress is defined by the friction coefficient throu...