| 1. |
- Bohra, Murtaza M., et al.
(författare)
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CPG-based online trajectory generation for quadruped rovers
- 2016
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Ingår i: 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO). - Piscataway, NJ : IEEE Communications Society. - 9781467396745 ; , s. 1053-1058
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Konferensbidrag (refereegranskat)abstract
- Legged rovers are often considered as viable solutions for traversing unknown terrain. A 2D sagittal plane rover model, based on a domestic cat, is considered in this paper, and an online model-free gait planning framework is implemented using Central Pattern Generators. The framework is used to generate joint trajectories for any arbitrarily varying speed profile, and regulate locomotion transition and speed modulation, both continuously and endogenously. For a continuously changing speed profile, the gait transition is continuous as well. For a discontinuously changing speed profile, a hopping motion is observed, because the rover's thrust speed cannot increase discontinuously
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| 2. |
- Singh, Vidyadhar, et al.
(författare)
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Assembly of tantalum porous films with graded oxidation profile from size-selected nanoparticles
- 2014
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Ingår i: Journal of nanoparticle research. - : Springer Science and Business Media LLC. - 1388-0764 .- 1572-896X. ; 16:5
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Tidskriftsartikel (refereegranskat)abstract
- Functionally graded materials offer a way to improve the physical and chemical properties of thin films and coatings for different applications in the nanotechnology and biomedical fields. In this work, design and assembly of nanoporous tantalum films with a graded oxidation profile perpendicular to the substrate surface are reported. These nanoporous films are composed of size-selected, amorphous tantalum nanoparticles, deposited using a gas-aggregated magnetron sputtering system, and oxidized after coalescence, as samples evolve from mono- to multi-layered structures. Molecular dynamics computer simulations shed light on atomistic mechanisms of nanoparticle coalescence, which govern the films porosity. Aberration-corrected (S) TEM, GIXRD, AFM, SEM, and XPS were employed to study the morphology, phase and oxidation profiles of the tantalum nanoparticles, and the resultant films. Design and assembly of tantalum nanoparticle porous films with a graded oxidation profile perpendicular to the substrate surface were fabricated by magnetron-sputter inert-gas aggregation system. At the top-most layers of the film, the larger free-surface areas of nanoparticles enable the formation of thermodynamically stable Ta2O5.
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