In this paper, we propose a new method to generate C continuous gait motion for biped robots. The method is based on the enhanced inverted pendulum mode, which can easily handle angular momentum around the center of gravity. Using our method, it is possible to plan motion paths for biped robots without discontinuity in the acceleration even during switching from single support phase to double s...

in this paper, the problem of finite time stabilization for guidance system is investigated and a novel nonlinear guidance law against maneuvering targets is proposed based on the principles of parallel navigation. the proposed law is developed using two variable structure control techniques. by applying finite time integral sliding mode and combining it with terminal sliding mode, a new guidan...

Recently, there has been some interest in planar or rectangular dielectric accelerating structures for future high-gradient linear accelerators. In this paper, we present a detailed analysis of the modes of a dielectric-loaded rectangular waveguide accelerating structure based on a circuit model approximation and mode matching method. In general, the acceleration field in a synchronous accelera...

An effective wide band active control law through one kind of the Dynamic Vibration Absorber (DVA) is proposed and studied in this paper. With the help of mechanical impedance method, active DVA control law is formulated based on the passive mechanical model. The electrical DVA can generate multi-mode active damping to the structure. The host structure is an aluminum plate and acceleration sign...

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this paper develops an analytical method to calculate seismic bearing capacity of a strip footing, which is located on a slope reinforced with rows of pile. the resistance of passive pile is determined based on normal and shear stress of the soil around the pile, which is then compared to other analytical methods. this comparison indicates an acceptable agreement. the variants of the study incl...

In this paper, we discuss integrated vehicle slip ratio control under both deceleration and acceleration without the need for controller switching, and also propose a design method for such an integrated slip ratio controller. When a vehicle switches from acceleration to deceleration and vice versa, the slip ratio varies discontinuously. Here, the slip ratio is approximated to a continuous func...