Sökresultat

The paper suggests conditions for presence of quadratic Lyapunov functions for nonlinear observer based feedback systems with an 'input nonlinearity' in the feedback path. Provided that the system using state feedback satisfies the Circle Criterion (i.e., when all states can be measured), we show that the extended system with only output feedback control from a (full state) Luenberger-type observe

We consider a tracking problem for mechanical systems. It is assumed that feedback controller is designed neglecting some disturbances, which could be approximately modeled by a dynamic LuGre friction model. We are interested to derive an additive observer-based compensator to annihilate or reduce the influence of such a disturbance. We exploit a recently suggested approach for observer design for

In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators. Since the inertial forces are undesirable forces to be measured in the robot manipulation, it is processed, using sensor fusion techniques, the force sensor signal in order to extract the contact force exerted by the robot. We propose a complete formulation and implementation of

The theory for motion planning and feedback stabilization of periodic orbits has regained a large interest during the last couple of years, with applications in, for instance, biped locomotion. The analysis of zero-dynamics after partial feedback linearization has been one means. More recently, the introduction of virtual holonomic constraints has offered also the design tools for these type of sy

Within the world of professional wrestling, the blurred boundaries of the live event and physical nature of the sport intersect with the dramatized storytelling of this entertainment experience. As such, this chapter considers how audiences and fans interact with professional performers to co-produce the cultural practices of professional wrestling. The author uses ethnographic research at live pr

This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot. The goal is to create stable oscillations of the outer link of the pendubot, which is not directly actuated. We exploit a recently proposed feedback control design strategy, based on motion planning via virtual holonomic constraints. This strategy is shown to be useful for design of regulators for

Under hösten 2017 och våren 2018 genomförde innovationsenheten PART – Preventivt arbete tillsammans– och Institutionen för service management och tjänstevetenskap vid Lunds universitet ett utvecklingsarbete,med syftet att ta fram en modell för att öka kunskapen om resursanvändning i barnavårdsutredningar. Måletmed den framtagna modellen är att göra det möjligt att kartlägga arbetsuppgifter och tid

Har den egyptiska revolutionen nått sin slutstation eller kommer de närmaste dagarna att erbjuda överraskande nya vägar framåt?

Potatoes served in large-scale food service systems are often of poor quality. The current recommendation is to cook the potatoes until the core has reached a temperature of 96°C, but this recommendation is questionable. In this study, three potato varieties have been cooked by using conventional boiling (CB) to temperatures of 94°C and 96°C and steam cooking (SC) to temperatures of 92°C, 94°C and

Several of the rice quality parameters are nowadays determined manually or partly manually, which leads to subjective results. In order to analyse the rice quality and avoid most of the manual handling, the PaddyCheck instrument was mainly developed to measure the paddy/rough rice kernels. However, the design and technique of the instrument are also suitable for brown rice kernels. The PaddyCheck

Volume is an important measure of fermented bread quality that has traditionally been determined by seed displacement methods. These methods are cumbersome; poorly suited to compressible, sticky, or creased products; prone to error; and, to date, lack standardization. A collaborative study was conducted by the AACC International (AACCI) Physical Testing Methods Technical Committee in 2005 to asses

Group A Streptococcus (GAS) is a common and versatile human pathogen causing a variety of diseases. One of the many virulence factors of GAS is the secreted pore-forming cytotoxin streptolysin O (SLO), which has been ascribed multiple properties, including inflammasome activation leading to release of the potent inflammatory cytokine IL-1β from infected macrophages. IL-1β is synthesized as an inac

PurposeThe fast advancement of medical technology and processes poses challenges to hospital construction and management. The purpose of this paper is to provide a structured approach to advancing adaptability in hospital retrofits, proposing the preferable timing and scope of different adaptability strategies.Design/methodology/approachA qualitative research approach was chosen, with 28 semi-stru