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Träfflista för sökning "WFRF:(Miranda Pedro) srt2:(2006-2009)"

Sökning: WFRF:(Miranda Pedro) > (2006-2009)

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1.
  • Miranda La Hera, Pedro Xavier, 1981- (författare)
  • Contributions to motion planning and orbital stabilization : case studies: Furuta pendulum swing up, inertia wheel oscillations and biped robot walking
  • 2008
  • Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
    • Generating and stabilizing periodic motions in nonlinear systems is a challenging task. In the control system community this topic is also known as limit cycle control. In recent years a framework known as Virtual Holonomic Constraints (VHC) has been developed as one of the solutions to this problem. The aim of this thesis is to give an insight into this approach and its practical application.The contribution of this work is primarily the experimental validation of the theory. A step by step procedure of this methodology is given for motion planning, as well as for controller design. Three particular setups were chosen for experiments: the inertia wheel pendulum, the Furuta pendulum and the two-link planar pendulum. These under-actuated mechanical systems are well known benchmarking setups for testing advanced control design methods.Further application is intended for cases such as biped robot walking/running, human and animal locomotion analysis, etc.
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2.
  • Sodergren, Erica, et al. (författare)
  • The genome of the sea urchin Strongylocentrotus purpuratus.
  • 2006
  • Ingår i: Science. - : American Association for the Advancement of Science (AAAS). - 1095-9203 .- 0036-8075. ; 314:5801, s. 941-52
  • Tidskriftsartikel (refereegranskat)abstract
    • We report the sequence and analysis of the 814-megabase genome of the sea urchin Strongylocentrotus purpuratus, a model for developmental and systems biology. The sequencing strategy combined whole-genome shotgun and bacterial artificial chromosome (BAC) sequences. This use of BAC clones, aided by a pooling strategy, overcame difficulties associated with high heterozygosity of the genome. The genome encodes about 23,300 genes, including many previously thought to be vertebrate innovations or known only outside the deuterostomes. This echinoderm genome provides an evolutionary outgroup for the chordates and yields insights into the evolution of deuterostomes.
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