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Problem: Two robots are shown in Figure 14 cooperating with each other to manipulate a long shaft, before they insert it into the hole in the block resting on the table. Long-part insertion is a good example of a task that can benefit from cooperative control. The feedback control system of one robot joint of the from shown in Figure 15 and
G(s) = 8/s(2s + 1)
The specifications require a steady-state error for a unit ramp input of 0.0125 (i.e., KV = 1/0.0125 = 80, see Ogata 5th), and the step response has an overshoot of less than 25% with a 2% settling time of less than 2 seconds. Determine a lag-lead compensator that will meet the specification, and plot the compensated and uncompensated response for the ramp and step inputs.
A DC electric motor draws a current of 8 amps, at a voltage of 50V. The efficiency of the motor is given as 60% at a a spindle speed of 400 rpm. Calculate the torque produced by the motor.
the z-axis carries a 10mA current in the +z direction. A second line of current parallel to the first is located at x= 0, y=3cm carrying a 10 mA current in the -z direction. A rod exists in the y-z-plave from y= 1cm to y= 2 cm. velocity u = 2m/s z..
A pn-junction is formed in silicon by doping one side with acceptor atoms at concentration Na = 10^19 cm^(-3) and another side with donor atoms at Nd = 10^18 cm^(-3). What is the dopant concentration on the p-type side and on the n-type side
Assume that an oven has an electronic thermometer attached to circuitry with two outputs: one (H) is asserted when the temperature is above h, and the other (L) is asserted when the temperature is below l. Design a circuit that will turn the oven
The project has been broken down into the following modules: Power supply, Processor and motherboard with RAM, I/O circuit board, CD-ROM drive, Floppy drive LCD display, Keypad, Enclosure and all mechanical parts, Final assembly.
The dielectric strength of air is 3.0 10^6 V/m, and that of neoprene rubber is 1.2 10^7 V/m. A certain air-gap, parallel plate capacitor can store no more than 0.070 J of electrical energy before breaking down. How much energy can this capacitor s..
For the system described by the following equations, with the input x(t) and output y(t), determine which are invertible systems and which are noninvertible. For the invertible systems, find the input-output relationships of the inverse system.
Design a bus with 3 bits in the address of the source, 4 bits in the address of the destination and 2 bits of data to be transmitted. Use gates only. Hint: good solution should be based on 2-dimensional decoding.
assume QPSK is the modulation method used in a digital communication system.The communication system requires minimum bit error.what is the acceptable bit error assuming additive white gaussian noise.
A light source generates 10^17 electron hole pairs per cm^3 persecond in an n-type sample doped ND = 10^16 cm^-3 and the average minority carrier lifetime is 10^-5 seconds. Is this Low level injection.
The power factor of a load connected to a 120-V 60-Hz source is raised from 0.866 lagging to 0.966 leading by connecting a 110.5-F capacitor in parallel with the load. Determine the load current I1 and the circuit current IT
Design a circuit using JK flip-flops that takes in a binary stream B0B1B2B3 and outputs 1 at a time t if the stream recieved thusfar (i.e. BoB1..Bt-1Bt), when read as an unsigned binary number, is divisible by 3.
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