Andrius Jackūnas :Orbicular pendulum computerised modelling, magister of physics / supervisor doc. dr. M. Stakvilevičius; Šiauliai University, Physics cathedra. – Šiauliai, 2005. – 36p .

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This thesis focuses on implementing a program, using Python and the symbolic package SymPy, to evaluate balancing of a humanoid robot modelled as inverted pendulums. The balancing algorithm used to evaluate the program is the feedback controller LQR. The program has successfully implemented a working LQR algorithm together with features such as underactuation and a tilting plane as disturbance. We have shown that the energy is conserved for the falling pendulums and that it is possible to predict the behavior for certain parameter values of the pendulums, thus confirming that the program is working correctly. Furthermore we have shown that a fully-actuated system is more controllable than an under-actuated system, and for each actuator that is removed, the system becomes less controllable. Finally we discuss the program performance where some concern is given toward the seemingly poor execution time of the program. The program has been tested for up to five pendulums with successful results. Most of the results however, are revolving around three pendulum systems.

Στην παρούσα διατριβή γίνεται διερεύνηση της ικανότητας υπολογισμού της τοπικής ταχύτητας ροής με την χρήση εκκρεμούς, βυθισμένο εντός της ροής. / In this thesis is examined if the local flow velocity can be calculated by a pendulum, with a narrow margin of error.

Orientador: Aguinaldo Robinson de Souza / Banca: Marcelo Maia Cirino / Banca: Emília de Mendonça Rosa Marques / Resumo: As tecnologias da informação e comunicação (TIC) fazem parte do cotidiano de grande parte da população e estão cada vez mais sendo utilizadas como instrumentos didáticos. Este trabalho investigou as possibilidades de utilização das ferramentas do software GeoGebra, um programa de matemática dinâmica, como recurso didático para o ensino do movimento oscilatório de pêndulos em cursos de graduação. A teoria dos Estilos de Aprendizagem e a Teoria da Aprendizagem Significativa foram utilizadas como referencial teórico para a proposição de atividade de experimentação no ambiente virtual do programa. Foram realizadas a identificação, a análise e o detalhamento das funções mais importantes do software. Posteriormente, foram elaborados Objetos de Aprendizagem, desenvolvidos no GeoGebra, considerando-se ações didáticas com potenciais aplicações para a observação e a interpretação de experimentos virtuais sobre o movimento oscilatório de pêndulos. Concluímos, ao final do trabalho, que as possibilidades de utilização do GeoGebra podem trazer significativas contribuições para o ensino deste conteúdo nos cursos de graduação, proporcionando um estudo contextualizado e reflexivo do movimento de pêndulos, além de ser um recurso didático que atende à diversidade e as necessidades individuais de cada aprendiz / Abstract: The technologies of information and communication are part of everyday life of most of the population and are increasingly being used as teaching tools. This research investigated the possibilities of using the tools of the GeoGebra software didactic resources for teaching the oscillatory movement of pendulum in undergraduate courses. The Learning Styles Theory and Meaningful Learning Theory were used as theoretical reference to develop experimental activities in the virtual environment of the software. The most important functions of the software were identified, analyzed and detailed. Then, Learning Objects, developed in the GeoGebra, were produced based on didactic actions with application for observation and interprestation of virtual experiments about the oscillatory movement of pendulum. Finally, we concluded that the use of GeoGebra can bring important contribution for teaching of this subject in undergraduate courses providing a contextualized and reflective study of the movement of pendulus, besides being a resource that meets the diverse and individual needs os students / Mestre

This thesis focuses on implementation of the swing-up, switching and stabilizing controllers for the rotary inverted pendulum. An energy based method to swing-up the pendulum and a state feedback controller to keep the pendulum in the upright position are employed. The mixed H2/H∞; state feedback controller is used to stabilize the pendulum with reduced oscillations. The results have been compared with the standard full state feedback and LQR. The Quanser rotary inverted pendulum is used as the testbed. All controllers are implemented in real-time using dSPACE 1104 rapid prototyping system. Microstick II with dsPIC33FJ128MC802 and Simulink embedded target for Microchip® is used as a standalone way to implement the controllers.

Made available in DSpace on 2014-06-11T19:24:50Z (GMT). No. of bitstreams: 0 Previous issue date: 2013-02-22Bitstream added on 2014-06-13T18:52:50Z : No. of bitstreams: 1 santos_rcm_me_bauru.pdf: 2063869 bytes, checksum: ef6915036be3b984695f73a5af56d382 (MD5) / As tecnologias da informação e comunicação (TIC) fazem parte do cotidiano de grande parte da população e estão cada vez mais sendo utilizadas como instrumentos didáticos. Este trabalho investigou as possibilidades de utilização das ferramentas do software GeoGebra, um programa de matemática dinâmica, como recurso didático para o ensino do movimento oscilatório de pêndulos em cursos de graduação. A teoria dos Estilos de Aprendizagem e a Teoria da Aprendizagem Significativa foram utilizadas como referencial teórico para a proposição de atividade de experimentação no ambiente virtual do programa. Foram realizadas a identificação, a análise e o detalhamento das funções mais importantes do software. Posteriormente, foram elaborados Objetos de Aprendizagem, desenvolvidos no GeoGebra, considerando-se ações didáticas com potenciais aplicações para a observação e a interpretação de experimentos virtuais sobre o movimento oscilatório de pêndulos. Concluímos, ao final do trabalho, que as possibilidades de utilização do GeoGebra podem trazer significativas contribuições para o ensino deste conteúdo nos cursos de graduação, proporcionando um estudo contextualizado e reflexivo do movimento de pêndulos, além de ser um recurso didático que atende à diversidade e as necessidades individuais de cada aprendiz / The technologies of information and communication are part of everyday life of most of the population and are increasingly being used as teaching tools. This research investigated the possibilities of using the tools of the GeoGebra software didactic resources for teaching the oscillatory movement of pendulum in undergraduate courses. The Learning Styles Theory and Meaningful Learning Theory were used as theoretical reference to develop experimental activities in the virtual environment of the software. The most important functions of the software were identified, analyzed and detailed. Then, Learning Objects, developed in the GeoGebra, were produced based on didactic actions with application for observation and interprestation of virtual experiments about the oscillatory movement of pendulum. Finally, we concluded that the use of GeoGebra can bring important contribution for teaching of this subject in undergraduate courses providing a contextualized and reflective study of the movement of pendulus, besides being a resource that meets the diverse and individual needs os students

South Africa currently faces challenges such as high levels of unemployment, inequality and poverty. The skills deficiency in South Africa is one of the biggest obstacles to finding employment and poverty reduction. According to McGrath (2012), the TVET sector needs to be strengthened in order to provide access to high quality technical vocational education for all. This dissertation investigates the potential of a TVET college as a catalytic public building to uplift its community through both secular and educational functions. Humans are makers, everything around us are either made by humans or nature. By possessing the necessary skills to shape things, we also have the skill to shape our futures. This project investigation will specifically look at skills as intangible heritage and how collaboration can empower communities in shaping their own futures in a resilient manner. / Suid-Afrika ervaar huidiglik uitdagings soos ho? vlakke van werkloosheid, ongelykheid en armoede. Die vaardighede tekort in Suid-Afrika is een van die grootste struikelblokke om werk te kry asook om armoede te bestry. Volgens McGrath (2012), moet die TVET sektor versterk word om toegang te voorsien tot ho? gehalte tegniese beroepsonderwys vir almal. Die verhandeling ondersoek die potensiaal van 'n TVET kollege, as 'n katalitiese openbare gebou, om sy gemeenskap op te hef deur beide sekul?re en opvoedkundige funksies. Mense is makers, alles rondom ons is of deur die mens of die natuur gemaak. Deur die nodige vaardighede te h? om te kan maak, het ons ook die vaardigheid om ons toekoms te vorm. Hierdie projek-ondersoek sal spesifiek kyk na vaardighede as ontasbare erfenis en hoe samewerking gemeenskappe kan bemagtig in die vorming van hul eie toekoms in 'n veerkragtige manier. / Mini Dissertation (MArch (Prof))--University of Pretoria, 2017. / Architecture / MArch (Prof) / Unrestricted

Self-balancing robots are unique mobile platforms that stay upright on two wheels using a closed-loop control system. They can turn on the spot using differential steering and have compact form factors that limit their required floor space. However they have major limitations keeping them from being used in real world applications: they cannot stand-up on their own, climb stairs, or overcome obstacles. They can fall easily if hit or going onto a slippery surface because they rely on friction for balancing. The first part of this research proposes a novel design to address the above mentioned issues related to stair-climbing, standing-up, and obstacles. A single revolute joint is added to the centre of a four-wheel drive robot onto which an arm is attached, allowing the robot to successfully climb stairs and stand-up on its own from a single motion. A model and simulation of the balancing and stair-climbing process are derived, and compared against experimental results with a custom robot prototype. The second part, a control system for an inverted pendulum equipped with a gyroscopic mechanism, was investigated for integration into self-balancing robots. It improves disturbance rejection during balance, and keeps equilibrium on slippery surfaces. The model of a gyroscope mounted onto an actuated gimbal was derived and simulated. To prove the concept worked, a custom-built platform showed it is possible for a balancing robot to stay upright with zero traction under the wheels.

INTRODUCTION: Non-extraction Class II malocclusion treatments often employ the use of maxillary dentition distalization mechanics. The rationale behind these mechanics is to treat the sagittal position of the maxillary dentition to the mandibular dentition. As anchorage loss may occur after distalization of molars, inter-arch mechanics are often used during comprehensive treatment that may manifest in the finish as a more protrusive lower dentition. OBJECTIVE: To evaluate the efficacy of several distalization modalities, used as part of comprehensive orthodontics, by measuring the overall effects on the dentition and soft tissue. MATERIALS AND METHODS: Four different modalities of distalization treatment of Class II malocclusion were compared regarding dental and soft tissue changes: Distal Jet (n=26), Horseshoe Jet (n=26), Pendulum (n=26), and the MGBM (Maino, Giannelly, Bernard, Mura) protocol (n=25). The Horseshoe Jet and MGBM methods use miniscrews supported anchorage while the Distal Jet and pendulum do not. The majority of the pendulum subjects (24 of 26) were prescribed headgear wear. For each of the groups, lateral cephalograms were taken before treatment and after comprehensive treatment. RESULTS: Minimal differences in soft tissue changes between the groups were found; however, significant (p≤0.05) differences in dental changes between groups for lower incisor, upper incisor, and upper first molar sagittal positions were found. Lower incisors showed significant protrusion and proclination for the Distal Jet experimental group (p<0.05). The upper incisor showed the greatest uprighting and retraction (p<0.05) in the pendulum group and the most proclination (p<0.01) in the Horseshoe Jet group. CONCLUSION: Three out of four experimental groups showed some amount of lower incisor protrusion and/or proclination. Bone anchored modalities had reduced side effects on the lower incisors, with the Horseshoe Jet showing less change than Distal Jet (p=0.05) and the MGBM group showing no significant change. The pendulum group had the greatest upper incisor retraction and showed negligible lower incisor proclination with only 1 out of 6 measurements showing significance.