Search results for " Kinematics"
showing 10 items of 109 documents
Resilient hexapod robot
2017
In this paper, we present a method of learning desired behaviour of the specific robotic system and transfer of the existing knowledge in the event of partial system failure. Six-legged robot (hexapod) built on top of the Bioloid platform is used for the method verification. We use genetic algorithms to optimize the hexapod's gait, after which we simulate physical damage caused to the robot. The goal of this method is to optimize the gait in accordance with the actual robot morphology, instead of the assumed one. Also, knowledge that was previously gained will be transferred in order to improve the results. Nonstandard genetic algorithm with the specific mixed population is used for this.
Embedded Coprocessors for Native Execution of Geometric Algebra Operations
2016
Clifford algebra or geometric algebra (GA) is a simple and intuitive way to model geometric objects and their transformations. Operating in high-dimensional vector spaces with significant computational costs, the practical use of GA requires dedicated software and/or hardware architectures to directly support Clifford data types and operators. In this paper, a family of embedded coprocessors for the native execution of GA operations is presented. The paper shows the evolution of the coprocessor family focusing on the latest two architectures that offer direct hardware support to up to five-dimensional Clifford operations. The proposed coprocessors exploit hardware-oriented representations o…
AE Aurigae: First detection of non-thermal X-ray emission from a bow shock produced by a runaway star
2012
Runaway stars produce shocks when passing through interstellar medium at supersonic velocities. Bow shocks have been detected in the mid-infrared for several high-mass runaway stars and in radio waves for one star. Theoretical models predict the production of high-energy photons by non-thermal radiative processes in a number sufficiently large to be detected in X-rays. To date, no stellar bow shock has been detected at such energies. We present the first detection of X-ray emission from a bow shock produced by a runaway star. The star is AE Aur, which was likely expelled from its birthplace due to the encounter of two massive binary systems and now is passing through the dense nebula IC 405…
The gaia-eso survey: dynamical analysis of the l1688 region in ophiuchus
2016
The Gaia ESO Public Spectroscopic Survey (GES) is providing the astronomical community with high-precision measurements of many stellar parameters including radial velocities (RVs) of stars belonging to several young clusters and star-forming regions. One of the main goals of the young cluster observations is to study of their dynamical evolution and provide insight into their future, revealing if they will eventually disperse to populate the field, rather than evolve into bound open clusters. In this paper we report the analysis of the dynamical state of L1688 in the $\rho$~Ophiuchi molecular cloud using the dataset provided by the GES consortium. We performed the membership selection of t…
The kinematics of water masers in the stellar molecular outflow source, IRAS 19134+2131
2004
Using the Very Large Array (VLA) and the Very Long Baseline Array (VLBA), we have observed water maser emission in the proto-planetary nebula candidate IRAS 19134+2131, in which the water maser spectrum has two groups of emission features separated in radial velocity by ∼100 km s^−1. The blue-shifted and red-shifted clusters of maser features are clearly separated spatially by ∼150 mas, indicative of a fast collimated flow. However, not all of the maser features are aligned along the axis of the flow, as is seen in the similar high-velocity water maser source, W43A. Comparing the VLA and VLBA maps of the water maser source, we find 4 maser features that were active for 2 years. Using only V…
CGCG 480-022: A Distant Lonesome Merger?
2006
[EN]We present a complete analysis, which includes morphology, kinematics, stellar populations, and N-body simulations, of CGCG 480-022, the most distant (cz = 14,317 km s-1) isolated galaxy studied so far in such detail. The results all support the hypothesis that this galaxy has suffered a major merger event with a companion of ~0.1 times its mass. Morphology reveals the presence of a circumnuclear ring and possibly further ring debris. The radial velocity curve looks symmetrical, while the velocity dispersion increases with radius, reaching values that do not correspond to a virialized system. Moreover, this galaxy deviates significantly from the fundamental plane and the Faber-Jackson r…
The performance investigation of viscoelastic hybrid models in vehicle crash event representation
2011
Aurthor's version of a chapter published in the book: Proceedings of the 18th IFAC World Congress 2011. Also available from the publisher at: http://dx.doi.org/10.3182/20110828-6-IT-1002.00284 This paper presents application of physical models composed of springs, dampers and masses joined together in various arrangements to simulation of a real car collision with a rigid pole. Equations of motion of those systems are being established and subsequently solutions to obtained differential equations are formulated. We start with a general model consisting of two masses, two springs, and two dampers, and illustrate its application to represent fore-frame and aft-frame of a vehicle. Hybrid model…
Online Deflection Compensation of a Flexible Hydraulic Loader Crane Using Neural Networks and Pressure Feedback
2022
The deflection compensation of a hydraulically actuated loader crane is presented. Measurement data from the laboratory are used to design a neural network deflection estimator. Kinematic expressions are derived and used with the deflection estimator in a feedforward topology to compensate for the static deflection. A dynamic deflection compensator is implemented, using pressure feedback and an adaptive bandpass filter. Simulations are conducted to verify the performance of the control system. Experimental results showcase the effectiveness of both the static and dynamic deflection compensator while running closed-loop motion control, with a 90% decrease in static deflection.
A New Approach of Sperm Motility Subpopulation Structure in Donkey and Horse
2021
This study aimed to characterize the sperm kinematic values with high frames per second, to define the subpopulation structure of a horse and a donkey and compare them. A total of 57 fresh semen ejaculates (26 Spanish and 16 Arabian horse breeds and 10 donkeys) were collected and subsequently analyzed for kinematic parameters using the Computer-aided sperm motility analysis ISAS®v1.2 system and using a Spermtrack® 10-μm depth counting chamber. Sequences were recorded at 250 frames per second, and eight kinematic parameters were automatically evaluated. All kinematic parameters showed significant differences between a donkey and a horse and between horse breeds. All ejaculates evaluated show…
Asymptotic observer of the link states of flexible joint robots with motor-side sensing
2015
This paper proposes an approach for observing the link states, i.e. angular position and velocity, of the robotic joints with elasticities, when only the motor-side sensing is available. By separating the state-dependent nonlinearities of the rigid manipulator dynamics a linear sub-model of the elastic joint robot is obtained in an observable state-space form. The standard asymptotic Luenberger state observer is then designed for the given motor position signal which is measured by encoder and rectified from the nonlinear contribution. The configurable poles of observer allow shaping the estimated states dynamics to be fast enough in relation to the actual resonant joint behavior. Therefore…