Rotary Inverted Pendulum Model C&DSP Lab. EE@MJU which implies that 1 ¨ ˙ θ= −bc sin(α)α2 − cGθ ˙ ac − b2 cos2 (α) ηm ηg Kt Kg + bd sin(α) cos(α) + c V Rm 1 ˙ b2 sin(α) cos(α)α2 − b cos(α)Gθ ˙ α= ¨ 2 cos2 (α) ac − b η m η g Kt Kg + ad sin(α) + b cos(α) V Rm where a = J + mr2 ‚ b = mLr‚ c = 4 mL2 ‚ d = mgL‚ and 3 Fig. 1. A schematic diagram of the rotary inverted pendulum 2 ηm ηg Kt Km Kg . Rm G=B+ Using the Lagrangian method‚ the equation of motion of rotary inverted pendulum can be derived
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John Gemmer Professor Solomon English 10100 6 March 2012 Section 1 World Civilization Chapter 4 Summary Iran is a land located in Central Asia which is surrounded by the Zagros mountains‚ Caspian Sea and Caucasus Mountains. The geography of Iran features deserts‚ mountains‚ streams‚ and plateaus. The people of Iran relied on irrigation in order to gain resources and move further down the land. Iran also featured a number of resources such as copper‚ tin‚ gold‚ and silver which served as goods
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known as an acropolis. The Acropolis in Athens is one example. Over time‚ towns grew around these defensible areas‚ and developed into the polis. The poleis were situated well inland to avoid raids by sea. With time‚ the agora‚ or marketplace‚ began to appear within the polis. The agora was not only a marketplace but the heart of Greek intellectual life and discourse. The word polis means city‚ but it was much more than that to the Greek citizen. It was the central focus of a citizen ’s political‚ religious
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Lord of the Flies Lord of The Flies by William Golding focuses on the most obvious topic‚ which would be how greed leads to the end of what was good. Alought that maybe to main topic there are other themes that could be found throughout the book such as‚ the corruption of innocence or the use of symbolism to compare to the stories of the Bible to the book. Golding shows the similarities of the characters and island in Lord of the Flies to the characters and locations within the Bible. The
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most of the land was occupied by private homes. However there were also many temples and workshops. In a typical workshop a craftsman worked with one or two assistants and perhaps a slave. In the middle of each city was a marketplace called the agora. Around it were rows of shops and colonnaded walkways called stoa. Methods of government varied among the Ancient Greek city-states. However Athens is famous for democracy. The word democracy comes from the Greek words demos‚ meaning people and
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Capacitive C iti Bezel Touch Sensor >> REFER TO T1~T2 Published by SOEM Design TSUNAGU ‚ Tel :04-3836857 P2A >> REFER TO T3~T5 Wed 25th April 2012 The SOEM DESIGN STAR Technical T1 Internal Use Only Capacitive Touch Sensor In BD Player Pla er Introduction Today‚ in the world of globalization‚ Mechanical Tactile Switch have evolved and started to change to more advance technology which is Capacitive Touch Sensor. C S Capacitive T iti Touch S h Sensor currently is widely use
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Centro Escolar University COLLEGE OF OPTOMETRY CLINIC 1 S.Y. 2011 – 2012 Clinician’s Name: Year & Section: ODP3A Patient’s Name: CASE # 1 EVALUATION SUBJECTIVE The patient is a 19year-old male Information Technology student of Centro Escolar University. His Gait and Facial Symmetry were good and the head position and speech is normal. He talks clearly and has no unpleasant odor. His reason for visit is to have an eye check up. He complains of constant blurring
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ABCD 1234 AND COMPANY WLL Corporate Office | To: Head – Procurement & StoresCC: | From : Head – Internal Audit | Report No | Date : | * Subject: Audit Report on Operations of ABCD 1234 AND COMPANY WLL. We have done general operations audit of ABCD 1234 AND company WLL from 1.11.2012 to 20.11.2012 and submitting the draft audit report below.. Executive Summary: * There is no ABC analysis of the suppliers have been done by the company ( Refer finding # 1). The Purchasing Department
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Polytehnic College from Chisinau Report On theme: There are many beautiful places on the Earth but the best are in Moldova. Made by : Pușcașu Denis
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Chapter Four! Greece and Iran 1000 – 30 B.C.E. ⅠAncient Iran 1000 - 500 B.C.E • Also known as the Persian Empire. • Little written materials are left. A. Geography and Resources • Northwest Iran was more open to attacks by the nomads of Central Asia. • Irrigation in the first millennium B.C.E. enabled people to move to open plains so they could plant. • Under ground irrigation channels. • Human survival depended on a delicate ecological balance. B. the Rise of the Persian Empire • “Iranians”
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