Inaug.-diss.--Göttingen.

Inaug.-diss.--Göttingen.

Thesis (M.S.)--University of Wisconsin--Madison, 1967. / eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references.

Thesis (M.S.)--University of Wisconsin--Madison, 1967. / eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references.

Thesis (Ph. D.)--University of Wisconsin, 1966. / Typescript. Vita. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references.

Thesis (MSc)--Stellenbosch University, 2002. / ENGLISH ABSTRACT: We use Hanbury-Brown Twiss interferometry to determine Bose-Einstein correlations in the transverse and longitudinal directions. By using these two directions, we are able to determine the shape of the pion emitting source. The analysis is done with the UA1 (1985) data for pp collisions at Vs = 630 GeV. Two frames of reference, namely the laboratory frame and the Longitudinal Center-of-Mass System (LCMS) are used. A fit to a two-dimensional Gaussian parametrization yields good results. In the laboratory frame, an oblate form of the source is observed, with the value of the transverse radius (rt) larger than the longitudinal (rL) one. The LCMS analysis finds a prolate form of the source (rt < rL). A few reasons are discussed for the difference in the shape between the different reference frames. Our results are also compared with other hadron-hadron and e+ e: experiments. / AFRIKAANSE OPSOMMING: Hanbury-Brown Twiss interferometrie was gebruik om Bose-Einstein korrelasies in die transversale en longitudinale rigtings te bepaal. Deur hierdie twee rigtings te gebruik, kan die vorm van die pion-bron bepaal word. Die UA1 (1985) datastel van die pp botsings by Vs = 630 GeV is gebruik om die analise uit te voer. Twee verwysingstelsels, naamlik die laboratorium stelsel en die Longitudinale Massamiddelpunt-stelsel is aangewend. 'n Passing met 'n twee-dimensionele Gaussiese parametrisering het goeie resultate opgelewer. In die laboratorium stelsel, is 'n ovaalvormige vorm vir die bron waargeneem, met die transversale radius (rt) groter as die longitudinale radius (rl)' Die Longitudinale Massamiddelpunt stelsel het 'n prolate vorm vir die bron voorspel, met rt < ri, 'n Paar redes vir die verskil in die vorm van die pion-bron vir die verskillende verwysingstelsels word bespreek. Ons resultate word ook met ander hadron-hadron en e+e- eksperimente vergelyk.

This research studies the electrical power reduction and control analysis of various motion tasks of a humanoid robot. These motions include standing up and sitting down. Each motion’s tasks have their stable and unstable phases throughout the complete motion cycle. Unstable phases can be caused by gravity forces and improper handling of the upper body of the humanoid robot leaning too forward or backward. Even though most of the dynamic motions seem to be accomplished very simply by humans; standing up and sitting down could create challenges for humanoid robots. Some of the critical challenges researches face are: dynamic nature of motions, humanoid robot joint coordination, whole body balance, stability of the model, limited energy source, energy saving techniques and modeling. Dynamic motions of humanoid robots can be modeled and analyzed to reduce electrical power use. In order to accomplish such energy savings, a researcher needs to study the kinematics, dynamics of a humanoid, and motion tasks with given constraints. The robot in this research is modeled as a planar humanoid robot. All motion tasks of a humanoid robot are characterized in terms of motion variables. These motion variables include joint angular positions, joint angular velocity, joint angular acceleration, humanoid robot center of mass (CoM) position, velocity and acceleration change and center of pressure (CoP) position change. All mathematical models are completed so that electrical power analysis of each task produce comparable results. Humanoid robot joint cost functions related to energy consumption are used to define joint input electrical power used, joint mechanical power used, joint mechanical power dispersion and joint power loss due to torque required. In this research, a 4-link 3-joint humanoid is modeled for standing up and sitting down tasks. For each task, kinematics and dynamics models are created, motion constraints are found, energy and power usage analysis for whole robot and for individual joint motors are accomplished. By finding the best energy usage per motion variable, humanoid robot used less input electrical power to accomplish the motion task.

No description available.

No description available.

No description available.