Loading...
Search for:
matching-condition
0.005 seconds
Geometric control of the brachiation robot using controlled Lagrangians method
, Article 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 ; 17 December , 2014 , Pages 706-710 ; Vossoughi, G ; Yazdi, E. A ; Sharif University of Technology
Abstract
This paper studies a brachiation robot that is a long armed locomotion similar to apes. The robot has 2 revolute joints but only one of them is actuated. In this paper, after deriving dynamic model of the robot the Controlled Lagrangian (CL) method is used for stabilization. The matching conditions satisfied for the controller are derived and the extended λ-method is used to solve PDE's involved in the method of controlled lagrangian. Satisfactory controller's gains are chosen by PSO algorithm. Finally, feasibility of the developed controller is investigated by numerical simulations
A mixture of vortex terahertz radiation generation in inhomogeneous plasma by considering pump depletion
, Article Laser Physics ; Volume 29, Issue 1 , 2019 ; 1054660X (ISSN) ; Bahrampour, A. R ; Sharif University of Technology
Institute of Physics Publishing
2019
Abstract
An attempt to extend helical terahertz radiation generation based on pump depletion is presented here. By considering an upward plasma density ramp, such a reasonable extension is examined to improve the results. It is claimed that the output terahertz energy is saturated which is attributed to laser pump divergence. The saturation effect is enhanced by considering suitable laser and plasma parameters. The adjustable slope of the density ramp is an important parameter for tuning terahertz generation effciency, which is restricted to the up and down limit. For the resonant excitation of terahertz radiation, the ripple wave number is suitably chosen to satisfy the phase matching condition....
A mixture of vortex terahertz radiation generation in inhomogeneous plasma by considering pump depletion
, Article Laser Physics ; Volume 29, Issue 1 , 2019 ; 1054660X (ISSN) ; Bahrampour, A. R ; Sharif University of Technology
Institute of Physics Publishing
2019
Abstract
An attempt to extend helical terahertz radiation generation based on pump depletion is presented here. By considering an upward plasma density ramp, such a reasonable extension is examined to improve the results. It is claimed that the output terahertz energy is saturated which is attributed to laser pump divergence. The saturation effect is enhanced by considering suitable laser and plasma parameters. The adjustable slope of the density ramp is an important parameter for tuning terahertz generation effciency, which is restricted to the up and down limit. For the resonant excitation of terahertz radiation, the ripple wave number is suitably chosen to satisfy the phase matching condition....