Search results

Planning and control of humanoid biped walking has been an active research topic for many years. But, there is no definite answer to the question of how to practicre‐examinedally achieve speedy and stable walking in real‐time and in a changing environment. The purpose of this paper is to re‐examine the issue of planning and controlling humanoid biped walking, then to propose two new ideas.

The first idea is to treat the supporting foot of a biped to be part of the ground. In this way, there is a foot reaction force acting at a fixed virtual joint, which can be at, or below, the ankle joint. And, a new concept is come our that is named as in‐foot ZMP in contrast to the existing concept of on‐ground ZMP. The unique benefit with this new concept of in‐foot ZMP is that the ZMP control is no longer an issue because the in‐foot ZMP can be controlled so as to to be at a fixed virtual joint during a stable walking. Such a fixed virtual joint can be called a ZMP joint.

The second idea is to focus on hip's trajectory (instead of on‐ground ZMP's trajectory) and to split a hip's dynamic response into two independent parts: one is the steady‐state response contributing to the stability of walking (or standing), and the other is the transient response contributing to the speed of walking. This idea allows us to explicitly postulate the necessary and sufficient condition for achieving leg stability as well as the necessary and sufficient condition for achieving foot stability. The paper shows that the implementation of these two new ideas help realize a unified framework for task‐guided, intention‐guided, and sensor‐guided, planning and control of humanoid biped walking.

This paper first re‐examines the issue of planning and controlling humanoid biped walking, then proposes two new ideas. The first idea is to treat the supporting foot of a biped to be part of the ground. The second idea is to focus on hip's trajectory (instead of on‐ground ZMP's trajectory) and to split a hip's dynamic response into two independent parts: one is the steady‐state response contributing to the stability of walking (or standing), and the other is the transient response contributing to the speed of walking.

This paper aims to propose a novel method to identify the parameters of robotic manipulators using the torque exerted by the robot joint motors (measured by current sensors).

Previous studies used additional sensors like force sensor and inertia measurement unit, or additional payload mounted on the end-effector to perform parameter identification. The settings of these previous works were complicated. They could only identify part of the parameters. This paper uses the torque exerted by each joint while performing Fourier periodic excited trajectories. It divides the parameters into a linear part and a non-linear part, and uses linear least square (LLS) parameter estimation and dual-swarm-based particle swarm optimization (DPso) to compute the linear and non-linear parts, respectively.

The settings are simpler and can identify the dynamic parameters, the viscous friction coefficients and the Coulomb friction coefficients of two joints at the same time. A SIASUN 7-Axis Flexible Robot is used to experimentally validate the proposal. Comparison between the predicted torque values and ground-truth values of the joints confirms the effectiveness of the method.

The proposed method identifies two joints at the same time with satisfying precision and high efficiency. The identification errors of joints do not accumulate.

The assembly quality of complex products is pivotal to their lifecycle performance. Assembly precision analysis (APA) is an effective method used to check the feasibility and quality of assembly. However, there is still a need for a systematic approach to be developed for APA of kinematic mechanisms. To achieve more accurate analysis of kinematic assembly, this paper aims to propose a precision analysis method based on equivalence of the deviation source.

A unified deviation vector representation model is adopted by considering dimension deviation, geometric deviation, joint clearance and assembly deformation. Then, vector loops and vector equations are constructed, according to joint type and deviation propagation path. A combined method, using deviation accumulation and sensitivity modeling, is applied to solve the kinematic APA of complex products.

When using the presented method, geometric form deviation, joint clearance and assembly deformation are considered selectively during tolerance modeling. In particular, the proposed virtual link model and its orientation angle are developed to determine joint deviation. Finally, vector loops and vector equations are modeled to express deviation accumulation.

The proposed method provides a new means for the APA of complex products, considering joint clearance and assembly deformation while improving the accuracy of APA, as much as possible.

Introduction Lead sheet has made a comeback during the last few years. Over 90,000 tonnes of lead sheet was used for roofing, cladding and flashing applications during 1987 — the highest quantity ever known to be used in a year in the UK. Flashings and weatherings account for over 75 per cent of the tonnage, the balance being used for re‐roofing old or historic buildings and roofing and cladding for new buildings.

This bibliography is offered as a practical guide to published papers, conference proceedings papers and theses/dissertations on the finite element (FE) and boundary element (BE) applications in different fields of biomechanics between 1976 and 1991. The aim of this paper is to help the users of FE and BE techniques to get better value from a large collection of papers on the subjects. Categories in biomechanics included in this survey are: orthopaedic mechanics, dental mechanics, cardiovascular mechanics, soft tissue mechanics, biological flow, impact injury, and other fields of applications. More than 900 references are listed.

This paper intends to study how geographic heterogeneity in urban vibrancy, especially in human capital creation, helps explain persist firm valuation dispersion across cities in China.

This paper studies geographic differences in firm valuations of 1,023 listed companies headquartered in 35 major cities in China from 2001 to 2018. The authors estimate panel regressions of local firm Tobin's q on city fixed effects or city endowed attributes in human capital creation after controlling industry-year fixed effects as well as a set of firm and city time variant attributes.

The results show persistent, significant city-to-city differences in Tobin's q, especially among large, mature or high labor-intensive firms. To explain such geographic differences in firm valuations, the authors identify several factors of the endowed city competitive advantages in creating human capital that play important roles in explaining the persistent geographic firm valuation premia.

This paper provides the first systematic analysis of urban vibrancy in human capital supply in explaining persistent geographic firm valuation dispersion in China. The evidence suggests that city endowed comparative advantages in supplying human capital have created long-lasting, and growing, shareholder wealth by attracting and retaining talents and human resources in local firms.

This paper aims to present the design optimisation using genetic algorithm (GA) to achieve the highest strength to weight (S/W) ratio, for cold-formed steel residential roof truss.

The GA developed in this research simultaneously optimises roof pitch, truss configurations, joint coordinates and applied loading of typical dual-pitched symmetrical residential roof truss. The residential roof truss was considered with incremental uniform distributed loading, in both gravitational and uplift directions. The structural analyses of trusses were executed in this GA using finite element toolbox. The ultimate strength and serviceability of trusses were checked through the design formulation implemented in GA, according to the Australian standard, AS/NZS 4600 Cold-formed Steel Structures.

An optimum double-Fink roof truss which possess highest S/W ratio using GA was determined, with optimum roof pitch of 15°. The optimised roof truss is suitable for industrial application with its higher S/W ratio and cost-effectiveness. The combined methodology of multi-level optimisation and simultaneous optimisation developed in this research could determine optimum roof truss with consistent S/W ratio, although with huge GA search space.

The sizing of roof truss member is not optimised in this paper. Only single type of cold-formed steel section is used throughout the whole optimisation. The design of truss connection is not considered in this paper. The corresponding connection costs are not included in the proposed optimisation.

The optimum roof truss presented in this paper is suitable for industrial application with higher S/W ratio and lower cost, in either gravitational or uplift loading configurations.

This research demonstrates the approaches in combining multi-level optimisation and simultaneous optimisation to handle large number of variables and hence executed an efficient design optimisation. The GA designed in this research determines the optimum residential roof truss with highest S/W ratio, instead of lightest truss weight in previous studies.

Knowledge concerning the meaning of the object of learning is an important contribution of Learning study. The purpose of this paper is to generate this kind of knowledge and show how it can be developed and refined in the different phases of a Learning study.

The paper reports on a Learning study in primary technology education conducted with students aged six to seven years old, with the aim to explore a specific object of learning; to construct a linkage mechanism for transferring and transforming movement.

The findings show several aspects to discern by the learner in order to grasp the object of learning and reveal how this knowledge was gradually developed during the Learning study. The presumed aspects, those identified in the pre- and post-test, as well as how they were elaborated in the lesson contributed to refining the meaning of the object of learning.

In Learning study, knowledge concerning the meaning of the object of learning is generated. By empirically demonstrating the development and specification of this knowledge during a Learning study, this paper will contribute to the discussion of knowledge products from Learning studies as well as to knowledge concerning what there is to know in order to develop a specific capability in technology education.