Browsing by Issue Date, starting with "2007-08"
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- An easy procedure for calibrating data acquisition systems using interleavingPublication . Clemêncio, Filomena; Loureiro, Custódio F. M.; Correia, Carlos M. B. A.Interleaving data acquisition channels is a well-known and interesting technique to achieve higher acquisition rates. However, to obtain the expected benefits, a careful look at the interleaving technique and to mismatches that can lead to unwanted harmonic distortion and noise is essential. In this paper we discuss the methods used to interleave existing high-speed, 250 MSPS 8-bit acquisition channels, and the results obtained. The methods presented allowed a good relative channel calibration in amplitude (amplitude mismatch under 0.1 lsb) and in time (time mismatch between acquisition channels in the ps range, under the specified maximum jitter for the ADC used). A dynamic, by software, amplitude level signal-dependent adjustment procedure is also suggested for signals with rich frequency content that can substantially improve the quality of the acquired signal when using interleaved channels. The techniques presented provide good results even in the presence of noise.
- Optimal energy gaits for quadrupeds under variable locomotion conditionsPublication . Silva, Manuel; Tenreiro Machado, J. A.This paper studies the adoption of periodic gaits of quadruped animals by multilegged artificial locomotion exercise. The purpose is to determine the gait to adopt at different velocities, under distinct robot and locomotion conditions, based on two performance measures. A set of experiments reveals the influence of the gait and the body and ground parameters upon the proposed indices. It is verified that the gait should be adapted to the robot forward velocity and to the conditions under which the robot is moving. The experiments also reveal that a gait that decreases the energy consumption generally implies an increase in the trajectory following errors.