Search for dissertations about: "La Hera"

Found 3 swedish dissertations containing the words La Hera.

  2. 1. Underactuated mechanical systems : Contributions to trajectory planning, analysis, and control

    Author : Pedro La Hera; Anton Shiriaev; Ambarish Goswami; Umeå universitet; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Underactuated mechanical systems; mechanical systems with impacts; trajectory planning; periodic trajectories; orbital stabilization; walking robots; virtual holonomic constraints; transverse linearization; Automatic control; Reglerteknik; Automatic Control; reglerteknik;

    Abstract : Nature and its variety of motion forms have inspired new robot designs with inherentunderactuated dynamics. The fundamental characteristic of these controlled mechanicalsystems, called underactuated, is to have the number of actuators less than the number ofdegrees of freedom. READ MORE

  4. 2. Surface analysis of low dimensional materials : revealing their electronic properties by advanced spectroscopy

    Author : Vladimir Miranda la Hera; Thomas Wågberg; Eduardo Gracia-Espino; Tomas Edvinsson; Umeå universitet; []
    Keywords : NATURVETENSKAP; NATURAL SCIENCES; Low-dimensional materials; surface science; surface-sensitive techniques; angle-resolved photoemission spectroscopy; ultraviolet photoemission spectroscopy; electronic properties;

    Abstract : Low-dimensional materials (0D, 1D, 2D) have been widely used to develop modern miniaturized (micro- and nano-) technology. The use of these materials come from their extraordinary optical, electrical, thermal, and mechanical properties, which are very different from the bulk crystal. READ MORE

  5. 3. Contributions to motion planning and orbital stabilization : case studies: Furuta pendulum swing up, inertia wheel oscillations and biped robot walking

    Author : Pedro Xavier Miranda La Hera; Anton Shiriaev; Umeå universitet; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Under-actuated Systems; Orbital Exponential Stability; Motion Planning; Virtual Constraints; Walking robots; Automatic control; Reglerteknik;

    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. READ MORE