Cinemática en coordenadas normal-tangencial_ Bravo Montenegro Angie
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This document describes the design and construction of a mechanical game called "Flying Chairs" to analyze kinetics in normal-tangential coordinates. The objectives are to design a scale model of the flying chairs ride and analyze the intrinsic system in the motion provided by the model. Data from experimentation will be used to find the physical magnitudes and vector quantities affecting the moving particle. Equations of motion like velocity, angular velocity, normal and tangential acceleration are presented for analyzing the kinetics of the particle on the moving ride. Test data is collected and error analysis is performed to calculate relative and percentage errors in measurements.
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This document presents a student project to build a model that simulates curvilinear motion in normal and tangential coordinates. The objectives are to analyze experimental measurements over time, relate calculation errors to experimental data, and estimate the validity of the model. The theoretical framework discusses kinematic elements like particles, reference systems, and uniform circular motion. The procedures and materials used to build the model are presented, along with calculation tables analyzing variables like time, velocity, and length. Calculated errors were below 0.4062%, validating the model. Recommendations include ensuring materials are in good condition and taking precise data measurements with an assistant.
Design and Fabrication of Electronic Pen Plotter
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Image Based Visual Servoing for Omnidirectional Wheeled Mobile Robots in Volt...
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—This paper presents a new image based visual servoing (IBVS) control scheme for omnidirectional wheeled mobile robots with four swedish wheels. The contribution is the proposal of a scheme that consider the overall dynamic of the system; this means, we put together mechanical and electrical dynamics. The actuators are direct current (DC) motors, which imply that the system input signals are armature voltage applied to DC motors. In our control scheme the PD control law and eye-to-hand camera configuration are used to compute the armature voltages and to measure system states, respectively. Stability proof is performed via Lypunov direct method and LaSalle's invariance principle. Simulation and experimental results were performed in order to validate the theoretical proposal and to show the good performance of the posture errors. Keywords—IBVS, posture control, omnidirectional wheeled mobile robot, dynamic actuator, Lyapunov direct method.Smart Room Gesture Control
Technical presentation of the gesture based NUI I developed for the Aigaio smart conference room in IIT Demokritos
Demo In Greek:
https://www.youtube.com/watch?v=5C_p7MHKA4g
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This document is a project report submitted for the degree of Bachelor of Technology in Civil Engineering at IIT Guwahati. It investigates using sequential Markov Chain Monte Carlo (MCMC) simulation based algorithms, also known as particle filters, for parameter estimation of linear time-invariant (LTI) structural systems subjected to non-stationary earthquake excitations. The report describes implementing Sequential Importance Sampling (SIS), Sequential Importance Resampling (SIR), and Bootstrap filters to identify stiffness and damping parameters of a 3-story shear building model and a multi-story reinforced concrete framed building (BRNS building) at IIT Guwahati. It compares the performance of these filters based on identified natural frequencies and
Pedestrian dead reckoning indoor localization based on os-elm
Smartphone-based pedestrian dead-reckoning (PDR) has become promising in indoor localization since it locates users with a smartphone only. However, existing PDR approaches are still facing the problem of accumulated localization errors due to low-cost noisy sensors and complicated human movements.ThispaperpresentsanovelPDRindoorlocalizationalgorithmcombinedwithonlinesequential extreme learning machine (OS-ELM). By analyzing the process of PDR localization, this paper first formulatestheprocessofPDRlocalizationasanapproximationfunction,andthen,asliding-window-based scheme is designed to preprocess the obtained inertial sensor data and thus to generate the feature dataset. At last, the OS-ELM-based PDR algorithm is proposed to address the localization problem of pedestrians. Due to the fact of universal approximation capability and extreme learning speed within OS-ELM, our algorithmcanadapttolocalizationenvironmentdynamicallyandreducethelocalizationerrorstoalowscale. Inaddition,bytakingthemovementhabitsofpedestrianintotheprocessofextremelearning,ouralgorithm can predict the position of pedestrian regardless of holding postures. To evaluate the performance of the proposed algorithm, this paper implements OS-ELM-based PDR on a real android-based smartphone and comparesitwiththestate-of-the-artapproaches.Extensiveexperimentresultsdemonstratetheeffectiveness of the proposed algorithm in various different postures and the practicability in indoor localization.
The cubic root unscented kalman filter to estimate the position and orientat...
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Hardware Implementation of Low Cost Inertial Navigation System Using Mems Ine...
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一比一原版(osu毕业证书)美国俄勒冈州立大学毕业证如何办理
原版一模一样【微信：741003700 】【(osu毕业证书)美国俄勒冈州立大学毕业证成绩单】【微信：741003700 】学位证，留信认证（真实可查，永久存档）原件一模一样纸张工艺/offer、雅思、外壳等材料/诚信可靠,可直接看成品样本，帮您解决无法毕业带来的各种难题！外壳，原版制作，诚信可靠，可直接看成品样本。行业标杆！精益求精，诚心合作，真诚制作！多年品质 ,按需精细制作，24小时接单,全套进口原装设备。十五年致力于帮助留学生解决难题，包您满意。
本公司拥有海外各大学样板无数，能完美还原。
1:1完美还原海外各大学毕业材料上的工艺：水印，阴影底纹，钢印LOGO烫金烫银，LOGO烫金烫银复合重叠。文字图案浮雕、激光镭射、紫外荧光、温感、复印防伪等防伪工艺。材料咨询办理、认证咨询办理请加学历顾问Q/微741003700
【主营项目】
一.毕业证【q微741003700】成绩单、使馆认证、教育部认证、雅思托福成绩单、学生卡等！
二.真实使馆公证(即留学回国人员证明,不成功不收费)
三.真实教育部学历学位认证（教育部存档！教育部留服网站永久可查）
四.办理各国各大学文凭(一对一专业服务,可全程监控跟踪进度)
如果您处于以下几种情况：
◇在校期间，因各种原因未能顺利毕业……拿不到官方毕业证【q/微741003700】
◇面对父母的压力，希望尽快拿到；
◇不清楚认证流程以及材料该如何准备；
◇回国时间很长，忘记办理；
◇回国马上就要找工作，办给用人单位看；
◇企事业单位必须要求办理的
◇需要报考公务员、购买免税车、落转户口
◇申请留学生创业基金
留信网认证的作用:
1:该专业认证可证明留学生真实身份
2:同时对留学生所学专业登记给予评定
3:国家专业人才认证中心颁发入库证书
4:这个认证书并且可以归档倒地方
5:凡事获得留信网入网的信息将会逐步更新到个人身份内，将在公安局网内查询个人身份证信息后，同步读取人才网入库信息
6:个人职称评审加20分
7:个人信誉贷款加10分
8:在国家人才网主办的国家网络招聘大会中纳入资料，供国家高端企业选择人才
办理(osu毕业证书)美国俄勒冈州立大学毕业证【微信：741003700 】外观非常简单，由纸质材料制成，上面印有校徽、校名、毕业生姓名、专业等信息。
办理(osu毕业证书)美国俄勒冈州立大学毕业证【微信：741003700 】格式相对统一，各专业都有相应的模板。通常包括以下部分：
校徽：象征着学校的荣誉和传承。
校名:学校英文全称
授予学位：本部分将注明获得的具体学位名称。
毕业生姓名：这是最重要的信息之一，标志着该证书是由特定人员获得的。
颁发日期：这是毕业正式生效的时间，也代表着毕业生学业的结束。
其他信息：根据不同的专业和学位，可能会有一些特定的信息或章节。
办理(osu毕业证书)美国俄勒冈州立大学毕业证【微信：741003700 】价值很高，需要妥善保管。一般来说，应放置在安全、干燥、防潮的地方，避免长时间暴露在阳光下。如需使用，最好使用复印件而不是原件，以免丢失。
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(诚招代理)办理国外高校毕业证成绩单文凭学位证,真实使馆公证（留学回国人员证明）真实留信网认证国外学历学位认证雅思代考国外学校代申请名校保录开请假条改GPA改成绩ID卡
1.高仿业务:【本科硕士】毕业证,成绩单（GPA修改）,学历认证（教育部认证）,大学Offer,,ID,留信认证,使馆认证,雅思,语言证书等高仿类证书；
2.认证服务: 学历认证（教育部认证）,大使馆认证（回国人员证明）,留信认证（可查有编号证书）,大学保录取,雅思保分成绩单。
3.技术服务：钢印水印烫金激光防伪凹凸版设计印刷激凸温感光标底纹镭射速度快。
办理加利福尼亚艺术学院加利福尼亚艺术学院毕业证文凭证书流程：
1客户提供办理信息：姓名生日专业学位毕业时间等（如信息不确定可以咨询顾问：我们有专业老师帮你查询）；
2开始安排制作毕业证成绩单电子图；
3毕业证成绩单电子版做好以后发送给您确认；
4毕业证成绩单电子版您确认信息无误之后安排制作成品；
5成品做好拍照或者视频给您确认；
6快递给客户（国内顺丰国外DHLUPS等快读邮寄）
-办理真实使馆公证（即留学回国人员证明）
-办理各国各大学文凭（世界名校一对一专业服务,可全程监控跟踪进度）
-全套服务：毕业证成绩单真实使馆公证真实教育部认证。让您回国发展信心十足！
（详情请加一下 文凭顾问+微信:95270640）欢迎咨询！子小伍玩小伍比山娃小一岁虎头虎脑的很霸气父亲让山娃跟小伍去夏令营听课山娃很高兴夏令营就设在附近一所小学山娃发现那所小学比自己的学校更大更美操场上还铺有塑胶跑道呢里面很多小朋友一班一班的快快乐乐原来城里娃都藏这儿来了怪不得平时见不到他们山娃恍然大悟起来吹拉弹唱琴棋书画山娃都不懂却什么都想学山娃怨自己太笨什么都不会斟酌再三山娃终于选定了学美术当听说每月要交元时父亲犹豫了山娃也说爸算了吧咱学校一学期才转
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原版一模一样【微信：741003700 】【(爱大毕业证书)爱荷华大学毕业证成绩单】【微信：741003700 】学位证，留信认证（真实可查，永久存档）原件一模一样纸张工艺/offer、雅思、外壳等材料/诚信可靠,可直接看成品样本，帮您解决无法毕业带来的各种难题！外壳，原版制作，诚信可靠，可直接看成品样本。行业标杆！精益求精，诚心合作，真诚制作！多年品质 ,按需精细制作，24小时接单,全套进口原装设备。十五年致力于帮助留学生解决难题，包您满意。
本公司拥有海外各大学样板无数，能完美还原。
1:1完美还原海外各大学毕业材料上的工艺：水印，阴影底纹，钢印LOGO烫金烫银，LOGO烫金烫银复合重叠。文字图案浮雕、激光镭射、紫外荧光、温感、复印防伪等防伪工艺。材料咨询办理、认证咨询办理请加学历顾问Q/微741003700
【主营项目】
一.毕业证【q微741003700】成绩单、使馆认证、教育部认证、雅思托福成绩单、学生卡等！
二.真实使馆公证(即留学回国人员证明,不成功不收费)
三.真实教育部学历学位认证（教育部存档！教育部留服网站永久可查）
四.办理各国各大学文凭(一对一专业服务,可全程监控跟踪进度)
如果您处于以下几种情况：
◇在校期间，因各种原因未能顺利毕业……拿不到官方毕业证【q/微741003700】
◇面对父母的压力，希望尽快拿到；
◇不清楚认证流程以及材料该如何准备；
◇回国时间很长，忘记办理；
◇回国马上就要找工作，办给用人单位看；
◇企事业单位必须要求办理的
◇需要报考公务员、购买免税车、落转户口
◇申请留学生创业基金
留信网认证的作用:
1:该专业认证可证明留学生真实身份
2:同时对留学生所学专业登记给予评定
3:国家专业人才认证中心颁发入库证书
4:这个认证书并且可以归档倒地方
5:凡事获得留信网入网的信息将会逐步更新到个人身份内，将在公安局网内查询个人身份证信息后，同步读取人才网入库信息
6:个人职称评审加20分
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Cinemática en coordenadas normal-tangencial_ Bravo Montenegro Angie
- 1. Diseño y construcción del juego Mecánico “Sillas Voladoras” Cinética de partícula en coordenadas normal tangencial UNIVERSIDAD DE LAS FUERZAS ARMADAS “ESPE-L” Nombre: Bravo Montenegro Angie Beatriz NRC: 8174 Docente: Ingeniero Diego Proaño
- 2. Objetivo General Diseñar prototipo mecánico para analizar la cinemática en coordenadas normal-tangencial. Objetivos Específicos Diseñar un prototipo a escala del juego mecánico de las sillas voladoras, para aprovechar su movimiento curvilíneo Analizar el sistema intrínseco en el movimiento proporcionado por la maqueta. Utilizar los datos obtenidos en la experimentación para encontrar las magnitudes físicas y vectoriales que afectan a la partícula en movimiento.
- 3. MARCO TEÓRICO 𝑦 𝑥 𝑤𝑟 Ԧ 𝑟 𝑃 𝑐. 𝑐. 𝑤𝜌 Ԧ 𝑣 Ԧ 𝜌 𝑡𝑟𝑎𝑦𝑒𝑐𝑡𝑜𝑟𝑖𝑎 Vector posición Se define como el vector que conecta el lugar que ocupa el cuerpo con el origen del marco de referencia Radio de curvatura El radio de curvatura es una cantidad que mide la curvatura de un objeto geométrico y una variedad reconocible incrustada en el espacio euclidiano Velocidad En función de la velocidad angular y el radio de curvatura, al ser evaluados en un mismo instante resultan perpendiculares cumpliéndose lo que en cualquier movimiento circular. Ԧ 𝑟 = 𝑟𝑥Ԧ 𝑖 , 𝑟𝑦Ԧ 𝑗 𝑚 𝜌 = 1 + 𝑦′ 2 Τ 3 2 𝑦′′ Ԧ 𝑣 = 𝑤𝜌 × Ԧ 𝜌 𝑤𝜌 = 𝑣 𝜌
- 4. Aceleración Normal También denominada centrípeta da el cambio en la dirección del vector de velocidad de la partícula en cada punto. Unitario normal Aceleración total 𝑎𝑁 𝑎𝑡 Ԧ 𝑎 Ԧ 𝑣 𝑅 𝜃 𝑤 𝑎𝑁 𝑎𝑐 𝑡 𝑁 Coordenadas Normal-Tangencial Aceleración Tangencial El numerador es un cambio infinitesimal en el módulo de la velocidad dv y el denominador es el tiempo dt que tarda la partícula en efectuar dicho cambio. Unitario tangencial 𝑎𝑁 = 𝑣2 𝜌 = 𝑤𝜌 2𝜌 𝑎𝑡 = 𝑑𝑣 𝑑𝑡 = ∆𝑣 ∆𝑡 𝑢𝑁 = −𝑐𝑜𝑠𝜃 Ԧ 𝑖 + 𝑠𝑒𝑛𝜃 Ԧ 𝑗 𝑢𝑡 = 𝑐𝑜𝑠𝜃 Ԧ 𝑖 + 𝑠𝑒𝑛𝜃 Ԧ 𝑗 𝒂 = 𝒂𝒖𝒏 + 𝒂𝒖𝒕
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- 6. CÁLCULO DE ERRORES Nº de ejecuciones Tiempo Rpm 1 14,11 10 2 14,58 10 3 14,49 10 4 14,58 10 5 14,16 10 6 14,60 10 7 14,58 10 8 14,38 10 9 14,60 10 10 14,59 10 Tabla N°2 medidas del cuerpo de prueba Tiempo ҧ 𝑥 𝐸𝑎𝑏𝑠𝑖 14,11 14,47 0,36 14,58 14,47 0,11 14,49 14,47 0,02 14,58 14,47 0,11 14,16 14,47 0,31 14,60 14,47 0,13 14,58 14,47 0,11 14,38 14,47 0,09 14,60 14,47 0,13 14,59 14,47 0,12 Tabla N° 4 Cálculo del error absoluto Tiempo 𝐸𝑟 = 𝐸𝑎𝑏𝑠 ҧ 𝑥 𝐸𝑟 = 0,2 14,47 𝐸𝑟 = 0,010382 Tabla N° 6 Cálculo Error Relativo Tiempo 𝑬% = 𝑬𝒓 ∗ 𝟏𝟎𝟎% 𝐸% = 0,010382 ∗ 100% 𝐸% = 1,0382 Tabla N° 7 Cálculo Error Porcentual
- 7. Magnitudes físicas obtenidas a partir del tiempo Parámetro físico Dimensión Símbolo Valor Unidades Tiempo M 𝑡 14,47 S Velocidad L3 𝑣 0,3665 m/s Desplazamiento angular L ∆𝜃 75,7634 m Aceleración angular T-2 ∝ 0 rad/s2 Velocidad angular T-1 𝜔 5,2359 rad/s Período T 𝑇 17,1437 s Frecuencia T-1 𝑓 0,0583 hz Aceleración normal LT-2 𝑎𝑁 1,9190 m/ s2 Arco L ∆𝑠 5,3032 m
- 8. Bibliografía [1] C. Córdova, «Física 1,» de Posición, radio de curvatura y rapidez angular, Quito-Ecuador, EPN, 2016, pp. 87-107. [2] J. Martínez, «Aprende física en el parque de atracciones,» 2001. [En línea]. Available: http://www.madrid.org/bvirtual/BVCM001144.pdf. [Último acceso: 29 noviembre 2021]. [3]J. Victoria, «Movimiento circular,» 2018. [En línea]. Available: https://itscv.edu.ec/wp- content/uploads/2018/10/FISICA-BASICA-UNIVERSIDAD-RICARDO-PALMA.pdf. [Último acceso: 30 noviembre 2021].