This paper aims at the applications of natural frequency of inverted pendulum and Takagi-Sugeno (TS) fuzzy control in the swing up and stabilization of Rotary inverted pendulum (RIP) respectively. RIP is one of the important multivariable system in control to test the performance of any controller due to its nonlinear, unstable, non-minimum phase and under actuated nature. Many techniques based...

Legged robots have the advantage of being able to access a large variety of terrain types. In unstructured environments, where only a number of discrete footholds are possible (disaster sites, construction sites, forests, etc.), legged quadrupedal systems can utilize static stability crawl gaits or dynamic stability –often ZMP-based– gaits. In environments where smooth, continuous support is av...

Measurements are presented of the speed at which six different rods could be swung by four male students. Three of the rods had the same mass but their swing-weight (i.e. moment of inertia) differed by large factors. The other three rods had the same swing-weight but different masses. Our primary objective was to quantify the effects of mass and swing-weight on swing speed. The result has a dir...

Abstract How can fragility be averted in open-end mutual funds? In recent years, markets have observed an innovation that changed the way funds are priced. Alternative pricing rules (known as swing pricing) adjust funds’ net asset values to pass on trading costs transacting shareholders. Using unique data investor-level transactions U.K. corporate bond funds, we show eliminates first-mover adva...

,4Mrad —A new circuit configuration for an MOS four-quadrant analog multiplier circuit is presented. It is based on the square-law characteristics of the MOS transistor. Two versions have been realized. The first has a linearity better than 0.14 percent for an orrtpnt current swing of 36 percent of the supply current and a bandwidth from dc to 1 MHz. The second version has floating inputs, a li...

A low-voltage compatible 120dB gain two-stage amplifier in standard digital CMOS with 3 transistors between VDD and VSS is presented and circuit details are discussed. With the use of precision voltage attenuator, output level monitoring circuits (OLMC) and a digital tuning network, the first stage was tested, achieving ≥76dB DC gains over 2Vpp output swing. With a modest-gain 2nd stage, ≥120dB...

The relations among swing, stance and step durations for the fore and hind limbs were investigated. Registration of the swing and stance phases was performed by the opening and closing of an electrical circuit as the cat moved along the conductive pathway. In the walking animal, longer swing and shorter stance durations for hind limbs, in comparison with the fore limbs, were observed. However, ...

When walking (at moderate or fast speeds) or running, humans apply a burst hip torque to start leg swing and then again, at the end of the swing phase, to brake and reverse motion of their swing leg prior to heel-strike. The resulting rearward rotation of the swing leg, so called swingleg retraction, is also observed in animal gaits. Why is this retraction a common feature of many walking and r...