scholarly journals Trajectory Analysis for the MASAR: A New Modular and Single-Actuator Robot

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 78
Author(s):  
Adrián Peidró ◽  
Julio Gallego ◽  
Luis Payá ◽  
José María Marín ◽  
Óscar Reinoso
Keyword(s):  
Driving Force ◽  
Trajectory Analysis ◽  
Low Cost ◽  
Optimal Solution ◽  
One Dimensional ◽  
Reconfigurable Robots ◽  
Higher Dimensional ◽  
Low Weight ◽  
Planar Trajectory ◽  
Low Energy Consumption

Single-actuator mobile robots offer the benefits of low energy consumption, low weight and size, and low cost, but their motion is typically only one-dimensional. By using auxiliary binary mechanisms that redirect and channel the driving force of their only actuator in different ways, it is possible for these robots to perform higher-dimensional motions, such as walking straight, steering, or jumping, with only one motor. This paper presents the MASAR, a new Modular And Single-Actuator Robot that carries a single motor and several adhesion pads. By alternately releasing or attaching these adhesion pads to the environment, the proposed robot is able to pivot about different axes using only one motor, with the possibility of performing concave plane transitions or combining with other identical modules to build more complex reconfigurable robots. In this paper, we solve the planar trajectory tracking problem of this robot for polygonal paths made up of sequences of segments, which may include narrow corridors that are difficult to traverse. We propose a locomotion based on performing rotations of 180 ∘ , which we demonstrate to be the minimum-time solution for long trajectories, and a near-optimal solution for shorter ones.

scholarly journals Ergodic control of diffusions with random intervention times

2021 ◽  
Vol 58 (1) ◽  
pp. 1-21
Author(s):  
Harto Saarinen ◽  
Jukka Lempa
Keyword(s):  
Optimal Solution ◽  
Singular Control ◽  
Control Policy ◽  
Control Problems ◽  
Ergodic Control ◽  
Linear Diffusion ◽  
One Dimensional ◽  
And Diffusion ◽  
Independent Poisson Process ◽  
Exact Amount

AbstractWe study an ergodic singular control problem with constraint of a regular one-dimensional linear diffusion. The constraint allows the agent to control the diffusion only at the jump times of an independent Poisson process. Under relatively weak assumptions, we characterize the optimal solution as an impulse-type control policy, where it is optimal to exert the exact amount of control needed to push the process to a unique threshold. Moreover, we discuss the connection of the present problem to ergodic singular control problems, and illustrate the results with different well-known cost and diffusion structures.

scholarly journals Higher Dimensional Holonomy Map for Rules Submanifolds in Graded Manifolds

2020 ◽  
Vol 8 (1) ◽  
pp. 68-91
Author(s):  
Gianmarco Giovannardi
Keyword(s):  
Characteristic Direction ◽  
Fixed Degree ◽  
One Dimensional ◽  
First Order ◽  
Natural Choice ◽  
Higher Dimensional ◽  
Graded Manifold ◽  
The One ◽  
Graded Manifolds ◽  
Holonomy Map

AbstractThe deformability condition for submanifolds of fixed degree immersed in a graded manifold can be expressed as a system of first order PDEs. In the particular but important case of ruled submanifolds, we introduce a natural choice of coordinates, which allows to deeply simplify the formal expression of the system, and to reduce it to a system of ODEs along a characteristic direction. We introduce a notion of higher dimensional holonomy map in analogy with the one-dimensional case [29], and we provide a characterization for singularities as well as a deformability criterion.

scholarly journals Classification of one-dimensional superattracting germs in positive characteristic

2014 ◽  
Vol 35 (7) ◽  
pp. 2242-2268 ◽  
Author(s):  
MATTEO RUGGIERO
Keyword(s):  
Positive Characteristic ◽  
Closed Field ◽  
Algebraically Closed Field ◽  
One Dimensional ◽  
Higher Dimensional ◽  
Dimensional Version

We give a classification of superattracting germs in dimension $1$ over a complete normed algebraically closed field $\mathbb{K}$ of positive characteristic up to conjugacy. In particular, we show that formal and analytic classifications coincide for these germs. We also give a higher-dimensional version of some of these results.

scholarly journals Evaluation of a Wireless Sensor Network with Low Cost and Low Energy Consumption for Fire Detection and Monitoring

2014 ◽  
Vol 51 (4) ◽  
pp. 971-993 ◽  
Author(s):  
Xavier Silvani ◽  
Frédéric Morandini ◽  
Eric Innocenti ◽  
Sylvestre Peres
Keyword(s):  
Energy Consumption ◽  
Wireless Sensor Network ◽  
Sensor Network ◽  
Low Cost ◽  
Fire Detection ◽  
Low Energy ◽  
Wireless Sensor ◽  
Low Energy Consumption

Design, Fabrication and Flight Testing of a Surveillance UAV

2015 ◽  
Vol 1115 ◽  
pp. 450-453 ◽  
Author(s):  
Moumen Idres ◽  
Burhani Makame ◽  
Bala Nabil Ahmad ◽  
Saleh Naji ◽  
Ahmad Safiuddin
Keyword(s):  
Design Process ◽  
Low Cost ◽  
Flight Test ◽  
Wing Loading ◽  
Rescue Operation ◽  
Low Weight ◽  
Carbon Rods ◽  
Power Loading ◽  
Final Design ◽  
Aerial Vehicle

Unmanned Aerial Vehicle (UAV) is becoming increasingly popular because it can perform variety of functions. These functions include surveillance, reconnaissance, monitoring, data collection and rescue operation. The purpose of this work is to design, fabricate and fly a low weight, low cost, small size UAV for a surveillance mission. The design is carried out based on Advanced Aircraft Analysis (AAA) software. The design process starts with the design specifications for a typical surveillance mission. Aircraft weight, wing loading and power loading were estimated in performance sizing process. Geometry was estimated using preliminary sizing. Aerodynamics of the aircraft was determined, which enabled the performance and stability to be analysed. If the desired performance is not achieved, the sizing is readjusted until a final design is reached. The aircraft was manufactured using foam, carbon rods, and fibreglass. The aircraft successfully flew at the first trial flight. This was followed by a successful flight with aerial photography. Keywords: UAV, design process, fabrication process, composite structure, flight test

Sintering and Hot-Pressing of Ti2AlC Obtained by SHS Process

2010 ◽  
Vol 63 ◽  
pp. 282-286 ◽  
Author(s):  
Leszek Chlubny ◽  
Jerzy Lis ◽  
Mirosław M. Bućko
Keyword(s):  
Hot Pressing ◽  
High Efficiency ◽  
Layer Structure ◽  
Low Cost ◽  
Max Phases ◽  
Fine Powders ◽  
High Temperature Synthesis ◽  
Low Energy Consumption ◽  
Potential Applications ◽  
Xrd Method

Some of ternary materials in the Ti-Al-C system are called MAX-phases and are characterised by heterodesmic layer structure. Their specific structure consisting of covalent and metallic chemical bonds influence its semi-ductile features locating them on the boundary between metals and ceramics, which may lead to many potential applications, for example as a part of a ceramic armour. Ti2AlC is one of this nanolaminate materials. Self-propagating High-temperature Synthesis (SHS) was applied to obtain sinterable powders of Ti2AlC Utilization of heat produced in exothermal reaction in adiabatic conditions to sustain process until all substrates are transformed into product is one of the advantages of the method that result in low energy consumption and low cost combined with high efficiency. Different substrates were used to produce fine powders of ternary material. Phase compositions of obtained powder were examined by XRD method. Than selected powders were used for sintering in various temperature both in a presureless sintering and hot-pressing in argon atmosphere. Properties and phase composition of obtained products were examined.

scholarly journals A Review on Applications of Kenaf Fibre Reinforced Composites

2018 ◽  
Vol 7 (2) ◽  
pp. 110-112
Author(s):  
Sasikumar Gnanasekaran ◽  
Sivasangari Ayyappan
Keyword(s):  
Mechanical Properties ◽  
Renewable Resources ◽  
Low Cost ◽  
Natural Fibres ◽  
Reinforced Composites ◽  
Reinforced Polymer ◽  
Kenaf Fibre ◽  
Low Weight ◽  
Fibre Reinforced Polymer ◽  
Fibre Reinforced Composites

Natural fibres namely sisal, jute, kenaf, hemp, abaca and banana are mainly used in industries for developing Natural fibres composites. They find many applications such as automobiles, furniture, packing and construction due to many merits such as their low cost, good mechanical properties, non-toxic, low weight, less damage to processing equipment, improved surface finish, abundant and renewable resources. The objective of this paper is to review the applications of various kenaf fibre reinforced polymer composites which will provide a base for further research in this area.

scholarly journals Collecting Malware in Swiss German University with Low Energy and Cost Computer

2018 ◽  
Vol 5 (2) ◽  
pp. 85-91
Author(s):  
Mario Marcello
Keyword(s):  
Information Technology ◽  
Energy Consumption ◽  
Low Cost ◽  
Low Energy ◽  
Raspberry Pi ◽  
Swiss German ◽  
Low Energy Consumption

The malware spreads massively in Indonesia. The security in Information Technology doesn’t seem to become a top priority for Indonesian. The use of pirated software is still high, although it is the biggest threat and entrance for the malwares to attacks. This paper shows how to collect a spreading malware in a system to know the malware trends that exist. So, the owner may know the malware trends inside his system and he can countermeasure the attacks. To collect the malwares, I use the Dionaea, the honeypot to collect malware and implement it to Raspberry Pi. Raspberry Pi is a small, low cost and low energy consumption computer. By using Raspberry Pi to collect malware, we can minimize budget, save the energy and space.

scholarly journals Single-Element Reflective Digital Holographic Microscopy

2021 ◽  
Vol 9 ◽  
Author(s):  
José Ángel Picazo-Bueno ◽  
Javier García ◽  
Vicente Micó
Keyword(s):  
Low Cost ◽  
Digital Holographic Microscopy ◽  
Single Element ◽  
Phase Imaging ◽  
Single Shot ◽  
One Dimensional ◽  
Common Path ◽  
Microscopy Technique ◽  
Digital Holograms ◽  
Holographic Microscopy

Digital holographic microscopy (DHM) is a well-known microscopy technique using an interferometric architecture for quantitative phase imaging (QPI) and it has been already implemented utilizing a large number of interferometers. Among them, single-element interferometers are of particular interest due to its simplicity, stability, and low cost. Here, we present an extremely simple common-path interferometric layout based on the use of a single one-dimensional diffraction grating for both illuminating the sample in reflection and generating the digital holograms. The technique, named single-element reflective digital holographic microscopy (SER-DHM), enables QPI and topography analysis of reflective/opaque objects using a single-shot operation principle. SER-DHM is experimentally validated involving different reflective samples.

scholarly journals A Novel Capacitive Sensing Principle for Microdevices

2015 ◽  
Author(s):  
Jian Zhou ◽  
Ronald N. Miles ◽  
Shahrzad Towfighian
Keyword(s):  
Electric Field ◽  
Driving Force ◽  
Design Principle ◽  
Electrostatic Force ◽  
Low Cost ◽  
Repulsive Force ◽  
Attractive Force ◽  
Sensor Design ◽  
Capacitive Sensing

Conventional capacitive sensing places significant limitations on the sensor design due to the pull-in instability caused by the electrostatic force. The main purpose of this study is to examine a low-cost novel capacitive sensing principle based on electrostatic balance which promises to avoid these design limitations. The approach uses an asymmetric electric field on a structure with fingers that can generate a repulsive force while the gap is low and create an attractive force while the gap is large. The size and thickness of the fingers are also responsible for creating repulsive or attractive forces on the structure. This approach has recently been applied successfully in the design of capacitive actuators to provide a repulsive driving force. A new design principle for capacitive sensing is described that avoids pull-in instability by designing the fingers such that the structure is at the equilibrium.

Sign in / Sign up

Export Citation Format

Share Document