Sökning: "jacobian"

Visar resultat 1 - 5 av 35 uppsatser innehållade ordet jacobian.

  1. 1. Design, Modeling, and Testing of a Force Feedback Haptic Device for Simulated Robot Interaction

    Master-uppsats, Linköpings universitet/Institutionen för systemteknik

    Författare :Patrik Lindström; [2023]
    Nyckelord :Force Feedback; Impedance Control; PD-gain; Dynamic Behavior; Closed-chain; Master-Slave; Parallel Manipulator; Kinematics Redundancy; Mass-Spring-Damper; Position Control; Current Control; Modeling; Design; Joints; Delta robot; Differential Equations; External Torques; Kinematics; Forward Kinematics; Inverse Kinematics; Dynamic Matrices; Jacobian; URDF; Haptics; Haptic Device; Solidworks; CAD; Maxon Motors; EtherCAT; Beckhoff;

    Sammanfattning : Haptic feedback is a growing phenomenon that incorporates the sense of touch through tactile sensations such as vibrations, electrical signals, air pressure, and sound waves or through force feedback, which employs torques and/or forces to replicate the pressure and weight of a simulated object. Utilizing haptic technology establishes a communication bridge between the user and the technical component, enhancing the user's understanding of the technical component's surroundings. LÄS MER

  3. 2. Control System Simulator for MIMO Tank Level using Self-tuning PID-Fuzzy Adaptive Controller

    Magister-uppsats, Högskolan i Gävle/Avdelningen för elektroteknik, matematik och naturvetenskap

    Författare :Sinan Ibrahim; [2022]
    Nyckelord :;

    Sammanfattning : According to Oxford dictionary, the word intelligence is derived fromintellect, which is the ability of knowing, reasoning and understanding.Intelligent behaviour is thus the ability to reason, plan and learn, which in turnrequires access to knowledge. LÄS MER

  4. 3. DEFORMABLE IMAGE REGISTRATION OF SPINE MAGNETIC RESONANCE IMAGES WITH ELASTIX FOR DETAILED CHARACTERIZATION OF DISC LOADING BEHAVIORS

    Master-uppsats,

    Författare :Zainab Sirat; [2021-05-10]
    Nyckelord :Medical physics; Registration; MRI; Spine;

    Sammanfattning : Purpose: This work aimed to develop an optimized strategy for registration of spine magnetic resonance (MR) images acquired with and without spinal loading, as well as evaluate the quality of the registration strategy with commonly used quality assessment methods. Method: Previously collected MR images of the lumbar spine of 37 individuals were re analyzed. LÄS MER

  5. 4. Subgrid finite volume preconditioner for Discontinuous Galerkin implemented in the DUNE framework

    Master-uppsats, Lunds universitet/Matematik LTH

    Författare :Johannes Kasimir; [2021]
    Nyckelord :discontinuous galerkin spectral element method; dune; high performance computing; numerical analysis; numerical methods; fluid dynamics; simulation; multigrid; iterative methods; Technology and Engineering;

    Sammanfattning : A Jacobian free multigrid preconditioner for linear problems arising from Implicit Discontinuous Galerkin (DG) discretizations is implemented. The preconditioner is based on a multigrid method for a low order Finite volume (FV) discretization on a subcellgrid. L2-projections are introduced as a strategy to translate between the discretizations. LÄS MER

  7. 5. Linear-scaling Quantum Molecular Dynamics for Reactive Systems

    Master-uppsats, Uppsala universitet/Institutionen för informationsteknologi

    Författare :Linnéa Andersson; [2021]
    Nyckelord :;

    Sammanfattning : The purpose of this thesis is to demonstrate linear-scaling, energy stable, propagation of the electronic degrees of freedom in finite temperature ExtendedLagrangian Born-Oppenheimer Molecular Dynamics for reactive systems in aself-consistent charge density-functional tight-binding formulation. The inverse Jacobian kernel matrix in the electronic equation of motion is approximated using alow-rank combination of directional derivatives of the ground state residual function. LÄS MER