Abstract. To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the adaptive control using sensory information (feedback control) is indispensable. In this paper, we propose a new body trajectory, the 3D sway compensation trajectory, for a stable trot gait; we show that this trajecto...

This article presents novel high speed and low power full adder cells based on carbon nanotube field effect transistor (CNFET). Four full adder cells are proposed in this article. First one (named CN9P4G) and second one (CN9P8GBUFF) utilizes 13 and 17 CNFETs respectively. Third design that we named CN10PFS uses only 10 transistors and is full swing. Finally, CN8P10G uses 18 transistors and divi...

In control applications, to apply the results obtained by evolutions and simulations to real systems, it is indispensable for them to have high robustness in computer simulations. The goal of this study is to generate robust control equations for controlling the real system of a rolling inverted pendulum with Genetic Programming. The control equations for this system must swing a pole up from a...

In this paper, we consider the problem of trajectory tracking of a multirotor Unmanned Aerial Vehicle carrying a suspended payload. The movement of the suspended payload influences the dynamics of the multirotor, which must be appropriately handled by the controller to achieve satisfactory tracking results. We derive a mathematical model of the interconnected multi-body system using Kane’s equa...

Power swing is a power system transient phenomenon that arises due to several reasons including line switching, outage, sudden increment or decrement in load, faults, etc. Unnecessary tripping during and unnecessary blocking for faults occur result distance relay maloperation. Several cascaded outages major worldwide blackouts have occurred maloperation of relays. This paper proposes technique ...

Analytic techniques for predicting onset of voltage collapse in power systems often rely upon identification of a saddle node bifurcation. While many authors acknowledge that the separation between voltage phenomena and phase angle phenomena is far from absolute, most recent works have viewed voltage variation as the more significant problem. The goal of the work presented here is to shift focu...

In order to implement complementary logic function with L-shaped tunneling field-effect transistors (TFETs), current drivability and subthreshold swing (SS) need to be improved more. For this purpose, highk material such as hafnium dioxide (HfO2) has been used as gate dielectric rather than silicon dioxide (SiO2). The effects of device parameters on performance have been investigated and the de...