This paper presents the ability of hybrid zero dynamics (HZD) feedback control method to reproduce human like movements for walking push recovery of an under-actuated 3D biped model. The balance recovery controller is implemented on a three-dimensional under-actuated bipedal model subjected to a push disturbance. The biped robot model is considered as a hybrid system with eight degrees of freed...

This paper presents a novel dosing concept for drug delivery based on a peristaltic piezo-electrically actuated micro membrane pump. The design of the silicon micropump itself is straight-forward, using two piezoelectrically actuated membrane valves as inlet and outlet, and a pump chamber with a piezoelectrically actuated pump membrane in-between. To achieve a precise dosing, this micropump is ...

We propose and implement a geodesic half-Maxwell fish-eye (MFE)-lens antenna. The lens was optimized using an in-house physical optics (PO) code adapted for generalized lenses. final antenna design validated with commercial electromagnetic simulation software. combines modulated half-MFE transition to linear flare, which is needed preserve the polarization in aperture. prototype, designed opera...

Nowadays, the constant striving to reduce emission and increase overall efficiency over a wide range of speeds loads internal combustion engine (CE) is observed. The different methods for improving charge exchange in engine, particularly ones based on variable valve timing are sought. This variability can be achieved, among others by using electrohydraulic drive. goal present study compare dyna...

The force-moment capabilities of redundantlyactuated planar-parallel manipulator (PPM) architectures are investigated. A previously developed explicit methodology for generating the force-moment capabilities of redundantly-actuated PPMs is used on three different architectures. The results for the 3-RRR, 3-RPR, 3-PRR layouts, where the underline denotes the actuated joints, are presented and di...

BACKGROUND The performance of nebulizers varies with the design type as well as the breathing patterns of various age groups. The present study quantified aerosol delivery using spontaneously breathing parameters of a small child (2-4 years) by a lung simulator to determine the influence of nebulizer type, actuation mechanisms, and pediatric aerosol masks. METHODS Three types of nebulizer (c...

This paper investigates the key problem of walking with both fully actuated and underactuated phases. The studied robot is planar, bipedal, and fully actuated in the sense that it has feet with revolute, actuated ankles. The desired walking motion is assumed to consist of three successive phases: a fullyactuated phase where the stance foot is flat on the ground, an underactuated phase where the...