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This paper introduces StarlETH, a compliant quadrupedal robot that is designed to study fast, efficient, and versatile locomotion. The platform is fully actuated with high compliant series elastic actuation, making the system torque controllable and at the ...
Stepper motors are a very convenient and economical solution for accurate positioning applications where long lifetime and low wear are required. Their particularly simple open-loop operation reduces the number of control components to a minimum. However, ...
Fulfillment of complex missions, such as zone watching or multiple target tracking by an UAV can prove very demanding in terms of vehicle ability. A potential way of lessening these demands consists in splitting the initial task into several complementary ...
An algorithmic method is proposed to design stabilizing control laws for a class of nonlinear systems that comprises single-input feedback-linearizable systems and a particular set of single-input non feedback-linearizable systems. The method proceeds iter ...
Reliable simulations of electromagnetic interference in motor drive power electronic systems ask for accurate high-frequency motor models. A methodology for creating frequency dependent behavioral circuit models of ac electrical motors is presented in this ...
This paper introduces a promising technique, called the first-pulse technique, for detecting the rotor position of a brushless DC motor at standstill. The technique is based on the B-H hysteresis characteristics of the stator iron. Depending on the rotor p ...
Institute of Electrical and Electronics Engineers2012
Chemical incidents are typically caused by loss of control, resulting in runaway reactions or process deviations in different stages of the production. In the case of fed-batch reactors, the problem generally encountered is the accumulation of heat. This i ...
In this paper, we present general considerations for the application of the multiconductor transmission-line theory for simulating shielded spacecraft harness cable assemblies. Some of the practical issues that occur in the modeling process of various comp ...
Institute of Electrical and Electronics Engineers2015
A novel splitting scheme to solve parametric multi-convex programs is presented. It consists of a fixed number of proximal alternating minimisations and a dual update per time step, which makes it attractive in a real-time Nonlinear Model Predictive Contro ...
With the prosperity of cloud computing, an increasing number of Small and Medium-sized Enterprises (SMEs) move their business to public clouds such as Amazon EC2. To help tenants deploy services in the cloud, researchers either conduct performance evaluati ...
