We derive a hybrid feedback control law for the lateral leg spring (LLS) model so that the center of mass of a legged runner follows a curved path in horizontal plane. The control law enables the runner to change the placement and the elasticity of its legs to move in a desired direction. Stable motion along a curved path is achieved using curvature, bearing and relative distance between the ru...

This paper presents an adaptive compliant multi-finger grasp approach control strategy based on based on a new interpretation of the virtual spatial spring framework, to improve the grasp performance for target objects with position errors. An n-finger virtual spatial spring frame is proposed to achieve the adaptive compliant grasp control. Twofinger grasp control based on a single virtual spri...

mahallat hot springs located in the northeast of mahallat, in central iran. there are 6 main hot springs namely shafa, abejoush, donbeh, soleimanie, hakim and soda. in this research, geology, physico-chemical characteristics and petrography of basement rocks of these hot springs have been investigated. the results show that hot springs have an average temperature of 45°c and acidic to neutral p...

This paper demonstrates the feasibility of replacing the metal coil spring with the composite coil spring. Three different types of springs were made using glass fiber, carbon fiber and combination of glass fiber and carbon fiber. The objective of the study is to reduce the weight of the spring. According to the experimental results the spring rate of the carbon fiber spring is 34% more than th...

artists; signatures and monograms, an international directory. Castagno, John. Scarecrow Pr., ©2007 567 p. $225.00 Castagno, a multimedia artist and sculptor and author of other books in the Artists’ Signatures and Monograms series, presents a reference for identifying, authenticating, and verifying signatures and works of wellknown and little-known abstract artists. About 2,300 painters, print...

The following document can be cited as: Boesch, D.F., J.C. Field, and D. Scavia, (Eds.) 2000. The Potential Consequences of Climate Variability and Change on Coastal Areas and Marine Resources: Report of the Coastal Areas and Marine Resources Sector Team, U.S. National Assessment of the Potential Consequences of Climate Variability and Change, U.S. Global Change Research Program. NOAA Coastal O...

Objective: To assess the sexually transmitted infection (STI) awareness, sexual risk behaviors, and related contextual factors of African-American female college students. Participants: Eighty-nine African-American first year female students attending a majority public four-year college in the southern U.S. participated in the study in Spring, 2006. Methods: Participants completed an anonymous ...

This paper presents a concept of component verification framework dedicated to a particular lightweight component environment. The starting point of the paper constitutes a discussion about the significance of verification of syntax inconsistencies in software development. Next, the need of verification in serviceoriented and component-based systems is presented, and various approaches of verif...