This paper deals with the real-time stable walking for a humanoid robot, ISHURO-II, on uneven terrain. A humanoid robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the...

Ground motion and vibration can be a limiting factor in the performance of future colliders, in particular linear colliders and large hadron colliders. Investigations of ground motion have been carried out around the world for several decades. In this review, after brief discussion of ground motion requirements for NLC, TESLA and VLHC, the results of recent investigations of ground motion are p...

AThis paper introduces the development of a ground experiment testbed for synthetic mission demonstration of small satellites in National University of Defense Technology (NUDT). This testbed consists of five parts: test platform, small satellite simulator, monitoring and control system, data collecting and simulation system, and displaying system. It can simulate small satellite motion with tw...

Following previous measurements [1], more detailed preliminary ground motion measurements have been performed at the LNF site for the Super B project site characterization [2]. First, results of vertical ground motion measurements done during 18 hours are shown in order to get an idea of the evolution of the ground motion amplitude with time. Secondly, measurements of ground motion (in the 3 di...

background: in radiation treatment of moving targets located in thorax region of patient body, the delivered dose does not match with the planned treatment, resulting in some over and under dosage in the tumor volume, as a function of motion magnitude and frequency. several efforts have been done to investigate the target motion effects on dose distribution in the target and surrounding normal ...

Ground-motion (attenuation) relations are used to estimate strong ground motion for many engineering and seismological applications. Where strongmotion recordings are abundant, these relations are developed empirically from strong-motion recordings. Where recordings are limited, they are often developed from seismological models using stochastic and theoretical methods. However, there is a larg...

Most instruments used in seismological practice to record ground motion are pendulum seismographs, velocigraphs, or accelerographs. In most cases it is assumed that seismic instruments are only sensitive to the translational motion of the instrument’s base. In this study the full equation of pendulum motion, including the inputs of rotations and tilts, is considered. It is shown that tilting th...

Accurate measurement of quadrupole-to-BPM center offsets and use of this information in an auto-steering algorithm are two essential components of emittance preservation in the Next Linear Collider main linac. We present the results of an analytic/simulation study of possible statistical and systematic limitations on the measurement of quad-BPM center offsets. These results are incorporated in ...

Abstract The outer space environment is complex, so the research and development of 3D printing equipment depends on prototype test that difficult to achieve ground, therefore, performance must be investigated by means simulation. In this paper, electro-mechanical joint simulation model established based ADAMS MATLAB/Simulink, which taking into account overall micro-gravity environment, nonline...