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Full-Text Articles in Electrical and Computer Engineering

The Need For Energy Storage On Renewable Energy Generator Outputs To Lessen The Geeth Effect, I.E. Short-Term Variations Mainly Associated With Wind Turbine Active Power Output, Tony Kealy Dec 2023

The Need For Energy Storage On Renewable Energy Generator Outputs To Lessen The Geeth Effect, I.E. Short-Term Variations Mainly Associated With Wind Turbine Active Power Output, Tony Kealy

Articles

Many studies investigating the short-term variations associated with the power output from wind turbine generators utilise simulated or modelled data in the analysis. This current study uses short-term empirical data downloaded directly from operational wind turbines via electrical power quality meters. The empirical data shows that the short-term variations (one-second or sub-one-second timeframe) occur continuously over most of the power output range. A novel name is proposed, the Geeth Effect, for this variability phenomenon. The Geeth Effect is measured using the coefficient of variation mathematical expression and is likely contributing to (i) lower-than-expected financial and environmental benefits associated with …


An Improved Genetic Algorithm Based Fractional Open Circuit Voltage Mppt For Solar Pv Systems, Aakash Hassan, Octavian Bass, Mohammad A. S. Masoum Dec 2023

An Improved Genetic Algorithm Based Fractional Open Circuit Voltage Mppt For Solar Pv Systems, Aakash Hassan, Octavian Bass, Mohammad A. S. Masoum

Research outputs 2022 to 2026

To extract the maximum power from solar PV, maximum power point tracking (MPPT) controllers are needed to operate the PV arrays at their maximum power point under varying environmental conditions. Fractional Open Circuit Voltage (FOCV) is a simple, cost-effective, and easy to implement MPPT technique. However, it suffers from the discontinuous power supply and low tracking efficiency. To overcome these drawbacks, a new hybrid MPPT technique based on the Genetic Algorithm (GA) and FOCV is proposed. The proposed technique is based on a single decision variable, reducing the complexity and convergence time of the algorithm. MATLAB/Simulink is used to test …


The Active Cryocubesat Technology: Active Thermal Control For Small Satellites, Lucas S. Anderson May 2023

The Active Cryocubesat Technology: Active Thermal Control For Small Satellites, Lucas S. Anderson

All Graduate Theses and Dissertations

Modern CubeSats and Small Satellites have advanced in capability to tackle science and technology missions that would usually be reserved for more traditional, large satellites. However, this rapid growth in capability is only possible through the fast-to-production, low-cost, and advanced technology approach used by modern small satellite engineers. Advanced technologies in power generation, energy storage, and high-power density electronics have naturally led to a thermal bottleneck, where CubeSats and Small Satellites can generate more power than they can easily reject. The Active CryoCubeSat (ACCS) is an advanced active thermal control technology (ATC) for Small Satellites and CubeSats, which hopes to …


When Less Is More: How Increasing The Complexity Of Machine Learning Strategies For Geothermal Energy Assessments May Not Lead Toward Better Estimates, Stanley P. Mordensky, John Lipor, Jacob Deangelo, Erick R. Burns, Cary R. Lindsey May 2023

When Less Is More: How Increasing The Complexity Of Machine Learning Strategies For Geothermal Energy Assessments May Not Lead Toward Better Estimates, Stanley P. Mordensky, John Lipor, Jacob Deangelo, Erick R. Burns, Cary R. Lindsey

Electrical and Computer Engineering Faculty Publications and Presentations

Previous moderate- and high-temperature geothermal resource assessments of the western United States utilized data-driven methods and expert decisions to estimate resource favorability. Although expert decisions can add confidence to the modeling process by ensuring reasonable models are employed, expert decisions also introduce human and, thereby, model bias. This bias can present a source of error that reduces the predictive performance of the models and confidence in the resulting resource estimates.

Our study aims to develop robust data-driven methods with the goals of reducing bias and improving predictive ability. We present and compare nine favorability maps for geothermal resources in the …


Itw Zip-Pak Automatic Splice And Cut Machine, Dylan Miller, Jon Bodine, John Rienow Apr 2023

Itw Zip-Pak Automatic Splice And Cut Machine, Dylan Miller, Jon Bodine, John Rienow

Scholar Week 2016 - present

Automatic Cut and splice machine to improve the safety and other aspects of ITW Zip-Pak

Presentation in Reed 214


Compressive Sensing Via Variational Bayesian Inference Under Two Widely Used Priors: Modeling, Comparison And Discussion, Mohammad Shekaramiz, Todd K. Moon Mar 2023

Compressive Sensing Via Variational Bayesian Inference Under Two Widely Used Priors: Modeling, Comparison And Discussion, Mohammad Shekaramiz, Todd K. Moon

Electrical and Computer Engineering Faculty Publications

Compressive sensing is a sub-Nyquist sampling technique for efficient signal acquisition and reconstruction of sparse or compressible signals. In order to account for the sparsity of the underlying signal of interest, it is common to use sparsifying priors such as Bernoulli-Gaussian-inverse Gamma (BGiG) and Gaussian-inverse Gamma (GiG) priors on the compounds of the signal. With the introduction of variational Bayesian inference, the sparse Bayesian learning (SBL) methods for solving the inverse problem of compressive sensing have received significant interest as the SBL methods become more efficient in terms of execution time. In this paper, we consider the sparse signal recovery …


Digital Image Processing, Abhinav Deshpande Mar 2023

Digital Image Processing, Abhinav Deshpande

International Journal of Image Processing and Vision Science

Digital image processing is the use of a digital computer to process a digital image using an algorithm. As a subcategory or area of digital signal processing, digital image processing has many advantages over analog image processing. It allows a much wider range of algorithms to be applied to the input data and can avoid problems such as noise accumulation and distortion during processing. This review article provides a comprehensive literature review of various image processing techniques along with a brief introduction to digital image processing that defines its scope and importance, thereby highlighting the importance of its use in …


Efficient Scopeformer: Towards Scalable And Rich Feature Extraction For Intracranial Hemorrhage Detection Using Hybrid Convolution And Vision Transformer Networks, Yassine Barhoumi Mar 2023

Efficient Scopeformer: Towards Scalable And Rich Feature Extraction For Intracranial Hemorrhage Detection Using Hybrid Convolution And Vision Transformer Networks, Yassine Barhoumi

Theses and Dissertations

The field of medical imaging has seen significant advancements through the use of artificial intelligence (AI) techniques. The success of deep learning models in this area has led to the need for further research. This study aims to explore the use of various deep learning algorithms and emerging modeling techniques to improve training paradigms in medical imaging. Convolutional neural networks (CNNs) are the go-to architecture for computer vision problems, but they have limitations in mapping long-term dependencies within images. To address these limitations, the study explores the use of techniques such as global average pooling and self-attention mechanisms. Additionally, the …


An Evaluation Of A Computational Technique For Measuring The Embeddedness Of Sustainability In The Curriculum Aligned To Aashe-Stars And The United Nations Sustainable Development Goals, Philippe Lemarchand, Cormac H. Macmahon Dr, Mick Mckeever, Philip Owende Mar 2023

An Evaluation Of A Computational Technique For Measuring The Embeddedness Of Sustainability In The Curriculum Aligned To Aashe-Stars And The United Nations Sustainable Development Goals, Philippe Lemarchand, Cormac H. Macmahon Dr, Mick Mckeever, Philip Owende

Articles

Introduction: SDG 4.7 mandates university contributions to the United Nations (UN) Sustainable Development Goals (SDGs) through their education provisions. Hence, universities increasingly assess their curricular alignment to the SDGs. A common approach to the assessment is to identify keywords associated with specific SDGs and to analyze for their presence in the curriculum. An inherent challenge is associating the identified keywords as used in the diverse set of curricular contexts to relevant sustainability indicators; hence, the urgent need for more systematic assessment as SDG implementation passes its mid-cycle.

Method: In this study, a more nuanced technique was evaluated with notable capabilities …


Unmanned-Aircraft-System-Assisted Early Wildfire Detection With Air Quality Sensors †, Doaa Rjoub, Ahmad Alsharoa, Ala'eddin Masadeh Mar 2023

Unmanned-Aircraft-System-Assisted Early Wildfire Detection With Air Quality Sensors †, Doaa Rjoub, Ahmad Alsharoa, Ala'eddin Masadeh

Electrical and Computer Engineering Faculty Research & Creative Works

Numerous Hectares of Land Are Destroyed by Wildfires Every Year, Causing Harm to the Environment, the Economy, and the Ecology. More Than Fifty Million Acres Have Burned in Several States as a Result of Recent Forest Fires in the Western United States and Australia. According to Scientific Predictions, as the Climate Warms and Dries, Wildfires Will Become More Intense and Frequent, as Well as More Dangerous. These Unavoidable Catastrophes Emphasize How Important Early Wildfire Detection and Prevention Are. the Energy Management System Described in This Paper Uses an Unmanned Aircraft System (UAS) with Air Quality Sensors (AQSs) to Monitor Spot …


Phone Microwave, Khanh Kim Hoang, Emily Zhou Mar 2023

Phone Microwave, Khanh Kim Hoang, Emily Zhou

Computer Engineering

This project involves the installation of remote-control capabilities in an antique 1980s microwave, effectively turning the microwave into a “smart” device. While preserving the original functionality of the microwave, a combination of software and hardware components allows for remote microwave operations. The microwave can be remotely operated by calling the built-in number, and more advanced settings and options can be utilized by texting. The microwave is also secured against unauthorized use with the addition of a PIN code that is required to operate the device.


Deep Learning To Predict The Hydration And Performance Of Fly Ash-Containing Cementitious Binders, Taihao Han, Rohan Bhat, Sai Akshay Ponduru, Amit Sarkar, Jie Huang, Gaurav Sant, Hongyan Ma, Narayanan Neithalath, Aditya Kumar Mar 2023

Deep Learning To Predict The Hydration And Performance Of Fly Ash-Containing Cementitious Binders, Taihao Han, Rohan Bhat, Sai Akshay Ponduru, Amit Sarkar, Jie Huang, Gaurav Sant, Hongyan Ma, Narayanan Neithalath, Aditya Kumar

Electrical and Computer Engineering Faculty Research & Creative Works

Fly ash (FA) – an industrial byproduct – is used to partially substitute Portland cement (PC) in concrete to mitigate concrete's environmental impact. Chemical composition and structure of FAs significantly impact hydration kinetics and compressive strength of concrete. Due to the substantial diversity in these physicochemical attributes of FAs, it has been challenging to develop a generic theoretical framework – and, therefore, theory-based analytical models – that could produce reliable, a priori predictions of properties of [PC + FA] binders. In recent years, machine learning (ML) – which is purely data-driven, as opposed to being derived from theorical underpinnings – …


Special Section On Local And Distributed Electricity Markets, Rui Bo, Linquan Bai, Antonio J. Conejo, Jianzhong Wu, Tao Jiang, Fei Ding, Babak Enayati Mar 2023

Special Section On Local And Distributed Electricity Markets, Rui Bo, Linquan Bai, Antonio J. Conejo, Jianzhong Wu, Tao Jiang, Fei Ding, Babak Enayati

Electrical and Computer Engineering Faculty Research & Creative Works

Driven by the Goals of Clean Energy and Zero Carbon Emissions, the Power Industry is Undergoing Significant Transformations. the Rapid Growth of Diverse Distributed Energy Resources (DERs) at Grid Edge Such as Rooftop Photovoltaics (PVs) and Electric Vehicles is Transforming the Traditional Centralized Power Grid Management to a Decentralized, Bottom-Up, and Localized Control Paradigm. Establishing Local and Distribution-Level Electricity Markets Provides an Effective Solution to Managing Large Amounts of Small-Scale DERs. New Regulations Such as the Recent FERC Order 2222 in the U.S. Open the Door to DERs in the Wholesale Markets. through Coordinating the Local and Distribution-Level Markets with …


Deep Learning To Predict The Hydration And Performance Of Fly Ash-Containing Cementitious Binders, Taihao Han, Rohan Bhat, Sai Akshay Ponduru, Amit Sarkar, Jie Huang, Gaurav Sant, Hongyan Ma, Narayanan Neithalath, Aditya Kumar Mar 2023

Deep Learning To Predict The Hydration And Performance Of Fly Ash-Containing Cementitious Binders, Taihao Han, Rohan Bhat, Sai Akshay Ponduru, Amit Sarkar, Jie Huang, Gaurav Sant, Hongyan Ma, Narayanan Neithalath, Aditya Kumar

Electrical and Computer Engineering Faculty Research & Creative Works

Fly ash (FA) – an industrial byproduct – is used to partially substitute Portland cement (PC) in concrete to mitigate concrete's environmental impact. Chemical composition and structure of FAs significantly impact hydration kinetics and compressive strength of concrete. Due to the substantial diversity in these physicochemical attributes of FAs, it has been challenging to develop a generic theoretical framework – and, therefore, theory-based analytical models – that could produce reliable, a priori predictions of properties of [PC + FA] binders. In recent years, machine learning (ML) – which is purely data-driven, as opposed to being derived from theorical underpinnings – …


Model For Calculating The Static Characteristics Of Hydraulic Systems Of Hydro Technical Buildings, Mirkhalil Ismailov, Dong Zhang, Farkhod Kasimov Feb 2023

Model For Calculating The Static Characteristics Of Hydraulic Systems Of Hydro Technical Buildings, Mirkhalil Ismailov, Dong Zhang, Farkhod Kasimov

Chemical Technology, Control and Management

Hydraulic mechanisms that actuate flat gates, widely used in hydraulic structures, are studied as hydraulic actuators of the system. Their static mathematical models are developed using an integrated methodology with a hydraulic pump, inlet and suction pipes, and internal and external resistance factors. Unlike existing mathematical models, the model developed in this paper allows a detailed description of the characteristics of hydraulic drives due to the fact that pressure losses in the throttle, regulator, and power amplifier, as well as local resistances in hydraulic pipelines, are taken into account.


Algorithms For Multi-Factory Polynomial Modeling Of Technological Processes, Farrukh Do'stmirzayevich Jo'rayev, Murodjon Ashurqulovich Ochilov Feb 2023

Algorithms For Multi-Factory Polynomial Modeling Of Technological Processes, Farrukh Do'stmirzayevich Jo'rayev, Murodjon Ashurqulovich Ochilov

Chemical Technology, Control and Management

The article reveals the meaning and essence of the modeling method in the study of complex technological processes based on the problematic aspects of building multifactorial relationships and the principles for their elimination. In the case of non-linearity of multifactorial connections of a complex system, the expediency of approximating such functions by polynomials is substantiated. The authors' ideas about the increasing importance of interpolation methods in practice against the background of the possibility of simplification based on the use of modern mathematical hardware and software for integration into the process of modeling and optimizing technological processes due to the complexity …


Structural Model Of The Technological Process Of Storage And Processing Of Oil Raw Materials, N.A Kabulov Feb 2023

Structural Model Of The Technological Process Of Storage And Processing Of Oil Raw Materials, N.A Kabulov

Chemical Technology, Control and Management

The technological method of storing and processing oilseed raw materials is structurally modelled in the article. Additionally, it is suggested that the generalized structure be presented as a three-part scheme, consisting of a raw material department, a processing shop, and transportation networks. On the basis of a thorough examination of the characteristics of the constituent parts of the technological complex, a practical model for the problem of the general characteristics of the technological complex is proposed.


Analysis Of Vegetable Oil Refining Technology, Elyor Samadov Feb 2023

Analysis Of Vegetable Oil Refining Technology, Elyor Samadov

Chemical Technology, Control and Management

Innovative technologies for refining vegetable oils are presented, as well as the qualitative characteristics of raw vegetable oils obtained by extraction and mechanical methods. A general review of the chemical composition and impurities of vegetable oils resulting from the reaction between glycerol and fatty acids is carried out, and a brief review of the study to determine the effect of refining on biologically active components.

The analytical review is devoted to a comparative comparison of two types of refining - chemical and physical refining.


Influence Of Magnetomechanical Properties Of Ferromagnetic Materials On The Sensitivity Of A Magnetoelastic Sensor, Sulton Amirov, Kamila Komilovna Jurayeva Feb 2023

Influence Of Magnetomechanical Properties Of Ferromagnetic Materials On The Sensitivity Of A Magnetoelastic Sensor, Sulton Amirov, Kamila Komilovna Jurayeva

Chemical Technology, Control and Management

The requirements of high operational reliability are most fully met by automated monitoring and control systems, the elements of which are magnetoelastic sensors. Such sensors, due to their metrological characteristics, have found application in electrified railway transport, in the metallurgical, metalworking, mining and other industries. The principle of operation of such sensors is based on the fact that in the process of influencing the magnetic core of the sensor by force, there is a change in the magnetic permeability of the material, a change in the magnetic resistance of the circuit, a change in the mutual inductance coefficient of the …


Method For Solving The Kinematics Inverse Problem For Moving Along A Trajectory Objects (As An Example Of Assembly Industrial Robots), Oripjon Olimovich Zaripov, Dildora Usmonovna Sevinova Feb 2023

Method For Solving The Kinematics Inverse Problem For Moving Along A Trajectory Objects (As An Example Of Assembly Industrial Robots), Oripjon Olimovich Zaripov, Dildora Usmonovna Sevinova

Chemical Technology, Control and Management

The task of performing a technological operation in kinematic calculation of industrial robots and determining various kinematic parameters describing the efficiency of robots is solved. Among them, one of the urgent problems based on the analysis of the entire kinematics of the assembly industrial robot is the problem of solving the inverse problem of the kinematics of the manipulator positions, that is, the problem of determining the relative parameters that change the coordinates of the gripper according to the given position. The article presents a scheme that allows solving the inverse kinematics problem of an industrial robot manipulator moving in …


Research Of Three-Phases Current’S Transducers Of Filter-Compensation Devices For Control Reactive Power’S Consumption Of Asynchronous Motor, Ilkhomjon Khakimovich Siddikov, Dilyorbek Karimjonov Doniyorbek O'G'Li -, Abdumutal Abdikarimovich Abdigapirov Feb 2023

Research Of Three-Phases Current’S Transducers Of Filter-Compensation Devices For Control Reactive Power’S Consumption Of Asynchronous Motor, Ilkhomjon Khakimovich Siddikov, Dilyorbek Karimjonov Doniyorbek O'G'Li -, Abdumutal Abdikarimovich Abdigapirov

Chemical Technology, Control and Management

In the article given materials of developing of three-phase electromagnetic current transducers of reactive power, using with asynchronous motor, methods connecting of two sensing element, series, parallel and differential and loops suitable for each phase, dynamic characteristics of output signals of three-phase electromagnetic current transducers asynchronous motor.

On the basis of modern calculation and design complexes are of great importance in the research variable sizes of three-phase current electromagnetic transducers of filter-compensation devices of reactive power of asynchronous motors. Presented mathematical model of research of electrical, electromagnetic and magnetic elements of electromagnetic current transducers in the …


Modeling Of The Process Of Measuring Conversion Of The Flow Of Liquid And Gaseous Media By The Method Of Variable Pressure Drop, Shukhrat Manapovich Gulyamov, Elbek Elmirza O'G'Li Ortiqov Feb 2023

Modeling Of The Process Of Measuring Conversion Of The Flow Of Liquid And Gaseous Media By The Method Of Variable Pressure Drop, Shukhrat Manapovich Gulyamov, Elbek Elmirza O'G'Li Ortiqov

Chemical Technology, Control and Management

On the basis of material and heat balances, taking into account the initial and boundary conditions, a mathematical model of the process of measuring the transformation of liquid and gaseous technological media by the method of variable pressure drop is constructed. The analysis of the results of studying the influence of non-stationary flows of a controlled medium on the uncertainty of the results of measuring the flow rate of liquids and gaseous mixtures with a changing hydrodynamic structure of the flow of a controlled medium is performed. A comparative analysis of the calculated and experimental transient processes in the measuring …


Virtual Potassium Chloride Analyzer In The System Of Advanced Control Of Potash Fertilizer Production Processes, Umidjon Ruziev, Jahongir Sherboyevich Bekqulov Feb 2023

Virtual Potassium Chloride Analyzer In The System Of Advanced Control Of Potash Fertilizer Production Processes, Umidjon Ruziev, Jahongir Sherboyevich Bekqulov

Chemical Technology, Control and Management

It is proposed to include virtual instrumental quality analyzers of potash fertilizers in the composition of the advanced (advanced) management system. The structure of the virtual analyzer is substantiated using mathematical models of the technological process of drying potassium chloride in its composition. Based on the results of fuzzy clustering, the parameters of the modes of the technological process of drying potassium chloride are determined.


Synchronization Of The Training Of Specialists In The Automation Of Technological Processes In Accordance With The Dynamics Of The Taxonomy Of Learning Goals, Yusuf Shodievich Avazov, Kamola Abdullaeva Feb 2023

Synchronization Of The Training Of Specialists In The Automation Of Technological Processes In Accordance With The Dynamics Of The Taxonomy Of Learning Goals, Yusuf Shodievich Avazov, Kamola Abdullaeva

Chemical Technology, Control and Management

Changes in the characteristics of modern ones, reflecting them as the "digital generation", inevitably necessitate electronic interactive, mobile and mixed, machine learning, especially in the field of automation and control of technological processes and production. As a consequence of reflecting these realities, there have been parallel changes in the taxonomy of learning objectives - from the classical to the revised rethought and digital.

In order to study the problem of synchronizing the training of future specialists in the field of automation and control of technological processes and production and funny knowledge in accordance with the dynamics of the taxonomy of …


Algorithmic Methods For Developing The Structure Of A Thyristor Electric Drive For Mining Machines, N.R Yusupbekov, O.A. Jumaev, S.S. Turaev Feb 2023

Algorithmic Methods For Developing The Structure Of A Thyristor Electric Drive For Mining Machines, N.R Yusupbekov, O.A. Jumaev, S.S. Turaev

Chemical Technology, Control and Management

The article discusses the creation of algorithmic structures and the development of digital control systems for electric drives of mine-lifting machines, provides some concepts for creating digital control systems using thyristor converters. The analysis of the static volt-ampere characteristics of the thyristor is given, some calculations of the circuits and circuits of the thyristor converter (TP) corresponding to the different modes of operation of the TP are given, and also, based on the synthesis of the dynamic properties and characteristics of the thyristor, an algorithmic structure of the model of the thyristor converter is proposed.


On Refinements To Qmfd Based Chirp Parameter Estimation, Balu Santhanam, Thalanayar Santhanam Feb 2023

On Refinements To Qmfd Based Chirp Parameter Estimation, Balu Santhanam, Thalanayar Santhanam

Electrical & Computer Engineering Technical Reports

Commuting matrix methods furnish a full basis of orthog- onal eigenvectors for the discrete Fourier transform or its centered version needed for computing the discrete fractional Fourier transform and multicomponent chirp signal analysis. However, these approaches suffer from ill-conditioning issues at higher matrix sizes, and require a computationally expensive eigenvalue decomposition.

In this paper, ill-conditioning issues associated with the QMFD approach developed previously by the authors are addressed via diagonal modification. Further symmetries of the eigenvectors are used to reduce the size of the underlying eigenvalue problem. These modifications are then incorporated into the real-arithmetic implementation of the QMFD approach …


Calculations Of Adsorption-Dependent Refractive Indices Of Metal-Organic Frameworks For Gas Sensing Applications, Nahideh Salehifar, Peter Holtmann, Abhishek Prakash Hungund, Homayoon Soleimani Dinani, Rex E. Gerald, Jie Huang Feb 2023

Calculations Of Adsorption-Dependent Refractive Indices Of Metal-Organic Frameworks For Gas Sensing Applications, Nahideh Salehifar, Peter Holtmann, Abhishek Prakash Hungund, Homayoon Soleimani Dinani, Rex E. Gerald, Jie Huang

Electrical and Computer Engineering Faculty Research & Creative Works

Detection of Volatile Organic Compounds (VOCs) is One of the Most Challenging Tasks in Modelling Breath Analyzers Because of their Low Concentrations (Parts-Per-Billion (Ppb) to Parts-Per-Million (Ppm)) in Breath and the High Humidity Levels in Exhaled Breaths. the Refractive Index is One of the Crucial Optical Properties of Metal-Organic Frameworks (MOFs), Which is Changeable Via the Variation of Gas Species and Concentrations that Can Be Utilized as Gas Detectors. Herein, for the First Time, We Used Lorentz–Lorentz, Maxwell–Ga, and Bruggeman Effective Medium Approximation (EMA) Equations to Compute the Percentage Change in the Index of Refraction (∆n%) of ZIF-7, ZIF-8, ZIF-90, …


Technical Report On: Anchoring Sagittal Plane Templates In A Spatial Quadruped, Timothy M. Greco, D. E. Koditschek Feb 2023

Technical Report On: Anchoring Sagittal Plane Templates In A Spatial Quadruped, Timothy M. Greco, D. E. Koditschek

Technical Reports (ESE)

This technical report provides a more thorough treatment of the proofs and derivations in the authors' paper "Anchoring Sagittal Plane Templates in a Spatial Quadruped." The description of the anchoring controller is reproduced here without abridgement, and additional appendices provide a clearer account of the implementation details.


Anchoring Sagittal Plane Templates In A Spatial Quadruped, Timothy M. Greco, Daniel E. Koditschek Feb 2023

Anchoring Sagittal Plane Templates In A Spatial Quadruped, Timothy M. Greco, Daniel E. Koditschek

Departmental Papers (ESE)

This paper introduces a new controller that stabilizes the motion of a spatial quadruped around sagittal-plane templates. It enables highly dynamic gaits and transitional maneuvers formed from parallel and sequential compositions of such planar templates in settings that require significant out-of-plane reactivity. The controller admits formal guarantees of stability with some modest assumptions. Experimental results validate the reliable execution of those planar template-based maneuvers, even in the face of large lateral, yaw, and roll incurring disturbances. This spatial anchor, fixed in parallel composition with a variety of different parallel and sequential compositions of sagittal plane templates, illustrates the robust portability …


Analysis On Bottleneck And Prospect Of Integrated Circuit Talent Training Oriented To Sci-Tech Self-Reliance And Self-Strengthening At Higher Levels, Kaixuan Guan, Jiang Yu, Jianzhong Zhou, Feng Chen, Yan Han Feb 2023

Analysis On Bottleneck And Prospect Of Integrated Circuit Talent Training Oriented To Sci-Tech Self-Reliance And Self-Strengthening At Higher Levels, Kaixuan Guan, Jiang Yu, Jianzhong Zhou, Feng Chen, Yan Han

Bulletin of Chinese Academy of Sciences (Chinese Version)

The most essential feature of building a new development paradigm is to achieve sci-tech self-reliance and self-strengthening at higher levels. The integrated circuit industry, as an important pillar to achieve this essential feature, is facing a severe external situation. China's chip shortage pain begins with a shortage of talents. The structural problem of uneven development at the overall level of the industry makes it more difficult to effectively gather and distribute talents. To achieve sci-tech self-reliance and self-strengthening at higher levels, we need to be both demand-oriented and problem-oriented, which means not only to pay attention to the core technology …