Browsing by Issue Date, starting with "1999-05"
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- Using the BS register for capturing and storing n-bit sequences in real- timePublication . Alves, Gustavo R.; Ferreira, J. M.Boundary Scan Test is now widely accepted and used for the structural test of Printed Circuit Boards. However, the more demanding requirements of prototype debug and validation are not sufficiently covered by the mandatory and optional operating modes described in the IEEE 1149.1 Standard. Previous work has focused on this problem, having resulted in a new set of user-defined optional instructions addressing the use of the BS register to store in real-time a sequence of contiguous vectors, captured at its parallel inputs without / until / after a certain condition is found. In this paper we describe the tradeoff between input channels and storage capacity, by proposing a new operating mode where the BS register is used to capture / store an n-bit sequence captured at one single functional pin. We also describe how this operating mode can be further extended into the P1149.4 domain, for capturing / storing the n-bit data stream generated by a SD converter placed in the TBIC.
- Energy analysis during biped walkingPublication . Silva, Filipe M.; Tenreiro Machado, J. A.This paper describes the dynamic analysis of biped locomotion systems. A planar biped is modelled and studied focusing on the problem of energy efficiency. First, the motion of the system is characterised in terms of a set of locomotion variables, namely: step length, hip heiht, hip ripple, hip offset, foot clearance and link lengths. Afterwards, three cost functions related to energy are proposed: absolute power, power dispersion and power lost. The aim is to understand the influence of these locomotion variables on the energy flow. The performance measure are discussed and the results compared with those observed in nature.