- Friday
- July 5th, 2024
- Ajouter un cours
Two time scale approach In this chapter, a joint impedance controller is designed by building a joint controller upon the tendon force controller. Two different designs are presented: the first one is using the singular perturbation approach and the second...
State-Dependent Riccati Equation The 19 joints of the hand are driven by 38 tendons that have a nonlinear stiffness characteristic. It means that the motor displacement required to adjust the tendon force depends on the current force. As demonstrated previously,...
Cas Matrices 2*2 L’emploi des matrices dans la HBR est relativement récent. La première matrice rencontrée date de 1956 et correspond à une utilisation de la théorie des jeux pour le contrôle de gestion (Bennion, 1956). D’un point de vue...
Rigid registration The primary step in a CAl method for non-rigid parts is a rigid registration. Rigid registration brings the CAD and scan models as close as possible in a common coordinate system without deforming the models. In fact, rigid...
Recherche bibliographique sur les logiciels d'analyse aéroservoélastique Nous allons présenter premièrement dans cette section les logiciels les plus utilisés dans l'analyse et la validation des interactions aéroservoélastiques entre la structure flexible de l'avion et les systèmes de commande de l'avion....
Semi-solid casting process Semi-solid forming (SSF) also known as Semi-solid metallurgy (SSM) is a forming technique invented by David Spencer in 1971 as a part of his doctoral thesis [23]. Semisolid forming combines the processes of casting, forming and extrusion....
Consider human-in-the-loop systems that rely on a human expert to make decisions based on data, e.g., clinicians such as radiologists or pathologists interpreting images visually to identify the subtle signs of disease to plan the best possible treatment. According to...
In the beginning of his doctoral studies, the author had the chance to participate in the design of a 10 kW wind turbine. This turbine, was designed at ÉTS and manufactured in the course of a project funded by the...
The study of the Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) has been growing intensively by researchers in the recent decades. The UAVs have gradually been adopted by the public to be used in several areas. In fact,...
Motivation and previous work at the LARCASE Aeronautical transport has evolved at a very rapid pace; the traffic has increased by threefold over the last decade, and by 2025 it is expected to double its current level. An approximate 3%...