Search results for: Space vector pulse wide modulation

Authors: Tamara Nestorović, Jean Lefèvre, Stefan Ringwelski, Ulrich Gabbert

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Two approaches for model development of a smart acoustic box are suggested in this paper: the finite element (FE) approach and the subspace identification. Both approaches result in a state-space model, which can be used for obtaining the frequency responses and for the controller design. In order to validate the developed FE model and to perform the subspace identification, an experimental set-up with the acoustic box and dSPACE system was used. Experimentally obtained frequency responses show good agreement with the frequency responses obtained from the FE model and from the identified model.

Keywords: Acoustic box, experimental verification, finite element model, subspace identification.

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Authors: Harpreet Singh

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Finding relevant information on the World Wide Web is becoming highly challenging day by day. Web usage mining is used for the extraction of relevant and useful knowledge, such as user behaviour patterns, from web access log records. Web access log records all the requests for individual files that the users have requested from the website. Web usage mining is important for Customer Relationship Management (CRM), as it can ensure customer satisfaction as far as the interaction between the customer and the organization is concerned. Web usage mining is helpful in improving website structure or design as per the user’s requirement by analyzing the access log file of a website through a log analyzer tool. The focus of this paper is to enhance the accessibility and usability of a guitar selling web site by analyzing their access log through Deep Log Analyzer tool. The results show that the maximum number of users is from the United States and that they use Opera 9.8 web browser and the Windows XP operating system.

Keywords: Web usage mining, log file, web mining, data mining, deep log analyser.

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Authors: Mehrnoush Shamsfard, Azadeh Nematzadeh, Sarah Motiee

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Increasing growth of information volume in the internet causes an increasing need to develop new (semi)automatic methods for retrieval of documents and ranking them according to their relevance to the user query. In this paper, after a brief review on ranking models, a new ontology based approach for ranking HTML documents is proposed and evaluated in various circumstances. Our approach is a combination of conceptual, statistical and linguistic methods. This combination reserves the precision of ranking without loosing the speed. Our approach exploits natural language processing techniques for extracting phrases and stemming words. Then an ontology based conceptual method will be used to annotate documents and expand the query. To expand a query the spread activation algorithm is improved so that the expansion can be done in various aspects. The annotated documents and the expanded query will be processed to compute the relevance degree exploiting statistical methods. The outstanding features of our approach are (1) combining conceptual, statistical and linguistic features of documents, (2) expanding the query with its related concepts before comparing to documents, (3) extracting and using both words and phrases to compute relevance degree, (4) improving the spread activation algorithm to do the expansion based on weighted combination of different conceptual relationships and (5) allowing variable document vector dimensions. A ranking system called ORank is developed to implement and test the proposed model. The test results will be included at the end of the paper.

Keywords: Document ranking, Ontology, Spread activation algorithm, Annotation.

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Authors: Ahmed ElShafee, Karim Alaa Hamed

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This paper presents a design and prototype implementation of new home automation system that uses WiFi technology as a network infrastructure connecting its parts. The proposed system consists of two main components; the first part is the server (web server), which presents system core that manages, controls, and monitors users- home. Users and system administrator can locally (LAN) or remotely (internet) manage and control system code. Second part is hardware interface module, which provides appropriate interface to sensors and actuator of home automation system. Unlike most of available home automation system in the market the proposed system is scalable that one server can manage many hardware interface modules as long as it exists on WiFi network coverage. System supports a wide range of home automation devices like power management components, and security components. The proposed system is better from the scalability and flexibility point of view than the commercially available home automation systems.

Keywords: Home automation, Wireless LAN, WiFi, MicroControllers

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Authors: Chouvalit Khancome, Veera Boonjing

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This paper proposes a new solution to string matching problem. This solution constructs an inverted list representing a  string pattern to be searched for. It then uses a new algorithm to process an input string in a single pass. The preprocessing phase  takes 1) time complexity O(m) 2) space complexity O(1) where m is  the length of pattern. The searching phase time complexity takes 1)  O(m+α ) in average case 2) O(n/m) in the best case and 3) O(n) in  the worst case, where α is the number of comparing leading to  mismatch and n is the length of input text.

Keywords: String matching, inverted list, inverted index, pattern, algorithm.

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Authors: Sumit Kumar, Sunil Kumar, Chandan Deep Singh

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This paper presents modeling and simulation of flexible robot in an underwater environment. The underwater environment completely contrasts with ground or space environment. The robot in an underwater situation is subjected to various dynamic forces like buoyancy forces, hydrostatic and hydrodynamic forces. The underwater robot is modeled as Rayleigh beam. The developed model further allows estimating the deflection of tip in two directions. The complete dynamics of the underwater robot is analyzed, which is the main focus of this investigation. The control of robot trajectory is not discussed in this paper. Simulation is performed using Symbol Shakti software.

Keywords: Bond graph modeling, dynamics. modeling, Rayleigh beam, underwater robot.

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Authors: R. Hasanpour, N. Choupani

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This paper studies mixed-mode fracture mechanics in rock based on experimental and numerical analyses. Experiments were performed on sharp-cracked specimens using the modified Arcan specimen test loading device. The modified Arcan specimen test was, in association with a special loading device, an appropriate apparatus for experimental mixed-mode fracture analysis. By varying the loading angle from 0° to 90°, pure mode-I, pure mode-II and a wide range of mixed-mode data were obtained experimentally. Using the finite element results, correction factors applied to the rectangular fracture specimen. By employing experimentally measured critical loads and the aid of the finite element method, mixed-mode fracture toughness for the limestone under consideration determined.

Keywords: Rock Fracture Mechanics, Mixed-mode Loading, Finite Element Analysis, Arcan Test specimen.

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Authors: Hironori Kakuta, Kajiro Watanabe, Yosuke Kurihara

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Water leakage is a serious problem in the maintenance of a waterworks facility. Monitoring the water flow rate is one way to locate leakage. However, conventional flowmeters such as the wet-type flowmeter and the clamp-on type ultrasonic flowmeter require additional construction for their installation and are therefore quite expensive. This paper proposes a novel estimation system for the flow rate in a water pipeline, which employs a vibration sensor. This assembly can be attached to any water pipeline without the need for additional high-cost construction. The vibration sensor is designed based on a condenser microphone. This sensor detects vibration caused by water flowing through a pipeline. It is possible to estimate the water flow rate by measuring the amplitude of the output signal from the vibration sensor. We confirmed the validity of the proposed sensing system experimentally.

Keywords: Condenser microphone, Flow rate estimation, Piping vibration, Water pipe.

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Authors: Piercarlo Dondi, Luca Lombardi, Marco Porta

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In the last years numerous applications of Human- Computer Interaction have exploited the capabilities of Time-of- Flight cameras for achieving more and more comfortable and precise interactions. In particular, gesture recognition is one of the most active fields. This work presents a new method for interacting with a virtual object in a 3D space. Our approach is based on the fusion of depth data, supplied by a ToF camera, with color information, supplied by a HD webcam. The hand detection procedure does not require any learning phase and is able to concurrently manage gestures of two hands. The system is robust to the presence in the scene of other objects or people, thanks to the use of the Kalman filter for maintaining the tracking of the hands.

Keywords: Gesture recognition, human-computer interaction, Time-of-Flight camera.

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Authors: Yeon-kug Moon, Kang-Yoon Lee, Yun-Jae Won, Seung-Ok Lim

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This paper describes a low-voltage and low-power channel selection analog front end with continuous-time low pass filters and highly linear programmable gain amplifier (PGA). The filters were realized as balanced Gm-C biquadratic filters to achieve a low current consumption. High linearity and a constant wide bandwidth are achieved by using a new transconductance (Gm) cell. The PGA has a voltage gain varying from 0 to 65dB, while maintaining a constant bandwidth. A filter tuning circuit that requires an accurate time base but no external components is presented. With a 1-Vrms differential input and output, the filter achieves -85dB THD and a 78dB signal-to-noise ratio. Both the filter and PGA were implemented in a 0.18um 1P6M n-well CMOS process. They consume 3.2mW from a 1.8V power supply and occupy an area of 0.19mm2.

Keywords: component ; Channel selection filters, DC offset, programmable gain amplifier, tuning circuit

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Authors: Othman Maklouf, Abdurazag Ghila, Saleh Gashoot, Ahmed Abdulla

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Flight management system (FMS) is a specialized computer system that automates a wide variety of in-flight tasks, reducing the workload on the flight crew to the point that modern aircraft no longer carry flight engineers or navigators. The primary function of FMS is to perform the in-flight management of the flight plan using various sensors (such as GPS and INS often backed up by radio navigation) to determine the aircraft's position. From the cockpit FMS is normally controlled through a Control Display Unit (CDU) which incorporates a small screen and keyboard or touch screen. This paper investigates the performance of GPS/ INS integration techniques in which the data fusion process is done using Kalman filtering. This will include the importance of sensors calibration as well as the alignment of the strap down inertial navigation system. The limitations of the inertial navigation systems are investigated in order to understand why INS sometimes is integrated with other navigation aids and not just operating in standalone mode. Finally, both the loosely coupled and tightly coupled configurations are analyzed for several types of situations and operational conditions.

Keywords: GPS, INS, Kalman Filter.

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Authors: Taweechai Nuntawisuttiwong, Natasha Dejdumrong

Abstract:

Geometric modeling plays an important role in the constructions and manufacturing of curve, surface and solid modeling. Their algorithms are critically important not only in the automobile, ship and aircraft manufacturing business, but are also absolutely necessary in a wide variety of modern applications, e.g., robotics, optimization, computer vision, data analytics and visualization. The calculation and display of geometric objects can be accomplished by these six techniques: Polynomial basis, Recursive, Iterative, Coefficient matrix, Polar form approach and Pyramidal algorithms. In this research, the coefficient matrix (simply called monomial form approach) will be used to model polynomial rectangular patches, i.e., Said-Ball, Wang-Ball, DP, Dejdumrong and NB1 surfaces. Some examples of the monomial forms for these surface modeling are illustrated in many aspects, e.g., construction, derivatives, model transformation, degree elevation and degress reduction.

Keywords: Monomial form, rectangular surfaces, CAGD curves, monomial matrix applications.

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Authors: Clark Van Dam, Gagan Mirchandani

Abstract:

The Continuously Adaptive Mean-Shift (CamShift) algorithm, incorporating scene depth information is combined with the l1-minimization sparse representation based method to form a hybrid kernel and state space-based tracking algorithm. We take advantage of the increased efficiency of the former with the robustness to occlusion property of the latter. A simple interchange scheme transfers control between algorithms based upon drift and occlusion likelihood. It is quantified by the projection of target candidates onto a depth map of the 2D scene obtained with a low cost stereo vision webcam. Results are improved tracking in terms of drift over each algorithm individually, in a challenging practical outdoor multiple occlusion test case.

Keywords: CamShift, l1-minimization, particle filter, stereo vision, video tracking.

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Authors: Shield B. Lin, Sameer Abdali

Abstract:

Computer simulations were performed using MATLAB/Simulink for a vibration isolation system for astronaut’s exercise platform. Simulation parameters initially were based on an on-going experiment in a laboratory at NASA Johnson Space Center. The authors expanded later simulations to include other parameters. A discrete proportional-integral-derivative controller with a low-pass filter commanding a linear actuator served as the active control unit to push and pull a counterweight in balancing the disturbance forces. A spring-damper device is used as an optional passive control unit. Simulation results indicated such design could achieve near complete vibration isolation with small displacements of the exercise platform.

Keywords: Control, counterweight, isolation, vibration.

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Authors: A. I. Alateyah, H. N. Dhakal, Z. Y. Zhang

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The mechanical properties including flexural and tensile of neat vinyl ester and polymer based on layered silicate nanocomposite materials are discussed. The addition of layered silicate into the polymer matrix increased the tensile and flexural modulus up to 1 wt.% clay loading. The incorporation of more clay resulted in decreasing the mechanical properties which was traced to the existence of aggregation layers. Likewise, up to 1 wt.% clay loading, the thermal behaviour showed significant improvements and at higher clay loading the thermal pattern was reduced. The aggregation layers imparted a negative impact on the overall mechanical and thermal properties. Wide Angle X-ray Diffraction, Scanning Electron Microscopy and Transmission Electron Microscopy were utilised in order to characterise the interlamellar structure of nanocomposites.

Keywords: Vinyl ester, nanocomposites, layered silicate, mechanical properties, thermal analysis.

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Authors: T.P. Sharma

Abstract:

Querying a data source and routing data towards sink becomes a serious challenge in static wireless sensor networks if sink and/or data source are mobile. Many a times the event to be observed either moves or spreads across wide area making maintenance of continuous path between source and sink a challenge. Also, sink can move while query is being issued or data is on its way towards sink. In this paper, we extend our already proposed Grid Based Data Dissemination (GBDD) scheme which is a virtual grid based topology management scheme restricting impact of movement of sink(s) and event(s) to some specific cells of a grid. This obviates the need for frequent path modifications and hence maintains continuous flow of data while minimizing the network energy consumptions. Simulation experiments show significant improvements in network energy savings and average packet delay for a packet to reach at sink.

Keywords: Mobility in WSNs, virtual grid, GBDD, clustering.

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Authors: Jagadish H. Pujar, Pallavi S. Gurjal, Shambhavi D. S, Kiran S. Kunnur

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Medical image segmentation based on image smoothing followed by edge detection assumes a great degree of importance in the field of Image Processing. In this regard, this paper proposes a novel algorithm for medical image segmentation based on vigorous smoothening by identifying the type of noise and edge diction ideology which seems to be a boom in medical image diagnosis. The main objective of this algorithm is to consider a particular medical image as input and make the preprocessing to remove the noise content by employing suitable filter after identifying the type of noise and finally carrying out edge detection for image segmentation. The algorithm consists of three parts. First, identifying the type of noise present in the medical image as additive, multiplicative or impulsive by analysis of local histograms and denoising it by employing Median, Gaussian or Frost filter. Second, edge detection of the filtered medical image is carried out using Canny edge detection technique. And third part is about the segmentation of edge detected medical image by the method of Normalized Cut Eigen Vectors. The method is validated through experiments on real images. The proposed algorithm has been simulated on MATLAB platform. The results obtained by the simulation shows that the proposed algorithm is very effective which can deal with low quality or marginal vague images which has high spatial redundancy, low contrast and biggish noise, and has a potential of certain practical use of medical image diagnosis.

Keywords: Image Segmentation, Image smoothing, Edge Detection, Impulsive noise, Gaussian noise, Median filter, Canny edge, Eigen values, Eigen vector.

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Authors: H. Sezgin, S. Kursun Bahadır, Y. E. Boke, F. Kalaoğlu

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By textile science incorporating with electronic industry, developed textile products start to take part in different areas such as industry, military, space, medical etc. for health, protection, defense, communication and automation. Electronic textiles (e-textiles) are fabrics that contain electronics and interconnections with them. In this study, two types of base yarns (cotton and acrylic) and three types of conductive steel yarns with different linear resistance values (14Ω/m, 30Ω/m, 70Ω/m) were used to investigate the effect of base yarn type and linear resistance of conductive yarns on thermal behavior of e-textile structures. Thermal behavior of samples was examined by thermal camera.

Keywords: Conductive yarn, e-textiles, smart textiles, thermal analysis.

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Authors: Yuhong Lu

Abstract:

Graves’ Disease (GD), an autoimmune health condition caused by the over reactiveness of the thyroid, affects about 1 in 200 people worldwide. GD is not caused by one specific single nucleotide polymorphism (SNP) or gene mutation, but rather determined by multiple factors, each differing from each other. Malfunction of the genes in Human Leukocyte Antigen (HLA) family tend to play a major role in autoimmune diseases, but other genes, such as LOC101929163, have functions that still remain ambiguous. Currently, little studies were done to study GD, resulting in inconclusive results. This study serves not only to introduce background knowledge about GD, but also to organize and pinpoint the major SNPs and genes that are potentially related to the occurrence of GD in humans. Collected from multiple sources from genome-wide association studies (GWAS) Central, the potential SNPs related to the causes of GD are included in this study. This study has located the genes that are related to those SNPs and closely examines a selected sample. Using the data from this study, scientists will then be able to focus on the most expressed genes in GD patients and develop a treatment for GD.

Keywords: CTLA4, Graves’ Disease, HLA, single nucleotide polymorphism, SNP.

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Authors: Nasim Daemi, Gholam Hossein Majzoobi

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In this work, bending fatigue life of notched specimens with various notch geometries and dimensions is investigated by experiment and Manson-Caffin theoretical method. In this theoretical method, fatigue life of notched specimens is calculated using the fatigue life obtained from the experiments for plain specimens (without notch). Three notch geometries including ∪-shape, ∨-shape and C -shape notches are considered in this investigation. The experiments are conducted on a rotary bending Moore machine. The specimens are made of a low carbon steel alloy, which has wide application in industry. The stress- life curves are captured for all notched specimen by experiment. The results indicate that Manson-Caffin analytical method cannot adequately predict the fatigue life of notched specimen. However, it seems that the difference between the experiments and Manson-Caffin predictions can be compensated by a proportional factor.

Keywords: fatigue life, Mason-Caffin method, notchedspecimen, stress-life curve.

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Authors: S.Baskar, P.S.Ramkumar, R.Kesavan

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This paper presents a new heuristic algorithm useful for long-term planning of survivable WDM networks. A multi-period model is formulated that combines network topology design and capacity expansion. The ability to determine network expansion schedules of this type becomes increasingly important to the telecommunications industry and to its customers. The solution technique consists of a Genetic Algorithm that allows generating several network alternatives for each time period simultaneously and shortest-path techniques to deduce from these alternatives a least-cost network expansion plan over all time periods. The multi-period planning approach is illustrated on a realistic network example. Extensive simulations on a wide range of problem instances are carried out to assess the cost savings that can be expected by choosing a multi-period planning approach instead of an iterative network expansion design method.

Keywords: Wavelength Division Multiplexing, Genetic Algorithm, Network topology, Multi-period reliable network planning

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Authors: Yoshimoto Kurihara, Tad Gonsalves

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Currently, in the field of object posture estimation, there is research on estimating the position and angle of an object by storing a 3D model of the object to be estimated in advance in a computer and matching it with the model. However, in this research, we have succeeded in creating a module that is much simpler, smaller in scale, and faster in operation. Our 6D pose estimation model consists of two different networks – a classification network and a regression network. From a single RGB image, the trained model estimates the class of the object in the image, the coordinates of the object, and its rotation angle in 3D space. In addition, we compared the estimation accuracy of each camera position, i.e., the angle from which the object was captured. The highest accuracy was recorded when the camera position was 75°, the accuracy of the classification was about 87.3%, and that of regression was about 98.9%.

Keywords: AlexNet, Deep learning, image recognition, 6D posture estimation.

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Authors: Hisham A. Elfergani, Ayad A. Abdalla, Ahmed R. Ballil

Abstract:

Acoustic Emission (AE) is one of the most effective non-destructive tests that can be used to detect the defect process as it is occurring. AE techniques can be used to monitor a wide range of structures and materials such as metals, non-metals and combinations of these when load is applied. The current work investigates the effectiveness and accuracy of TOA method in AE tests involving reinforced composite concrete-mortar structures. A series of experimental tests were performed using the Hsu-Neilson (H-N) source to study 2-D location accuracy using this method on concrete-mortar (400×400 mm) specimens. Four AE sensors (R3I – resonant frequency 30 kHz) were mounted to the mortar surface and six sources were performed at each point of preselected locations on the upper surface of the mortar. Results show that the TOA method can be used effectively to locate signals on composite concrete/mortar specimen and has high accuracy.

Keywords: Acoustic emission, time of arrival, composite materials, reinforced concrete.

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Authors: Deepak Mohan, Sushma Sharma

Abstract:

Diclofenac sodium, a member of the acetic acid family of non-steroidal anti-inflammatory drugs, is used to retard inflammation, arthritis pain and ankylosing spondylitis. The drug is known to cause severe injury in different tissues due to formation of reactive oxygen species. The present study is focused on the effect of different doses of diclofenac (4 mg/kg/body weight and 14 mg/kg/body weight on histoarchitecture of the liver from 7-28 days of the investigation. Diclofenac administration resulted in distorted hepatic degeneration and formation of wide areas in the form of sinusoidal gaps. Hepatic fibrosis noticed in different stages of investigation could be attributed to chronic inflammation and reactive oxygen species which results in deposition of extracellular matrix proteins. The abrupt degenerative changes observed during later stages of the experiment showed maximum damage to the liver, and there was enlargement of sinusoidal gaps accompanied by maximum necrosis in the tissues.

Keywords: Arthritis, diclofenac, histoarchitecture, sinusoidal.

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Authors: Zhenhuan Zhu, David Mulvaney, Vassilios Chouliaras

Abstract:

This paper presents a novel genetic algorithm, termed the Optimum Individual Monogenetic Algorithm (OIMGA) and describes its hardware implementation. As the monogenetic strategy retains only the optimum individual, the memory requirement is dramatically reduced and no crossover circuitry is needed, thereby ensuring the requisite silicon area is kept to a minimum. Consequently, depending on application requirements, OIMGA allows the investigation of solutions that warrant either larger GA populations or individuals of greater length. The results given in this paper demonstrate that both the performance of OIMGA and its convergence time are superior to those of existing hardware GA implementations. Local convergence is achieved in OIMGA by retaining elite individuals, while population diversity is ensured by continually searching for the best individuals in fresh regions of the search space.

Keywords: Genetic algorithms, hardware-based machinelearning.

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Authors: Sattam Allahawiah, Haroon Altarawneh, Sameer Alamro

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Because of its global reach, reduction of time restraints, and ability to reduce costs and increase sales, use of the Internet, the World Wide Web (WWW), and related technologies can be a competitive tool in the arsenal of small and medium-sized enterprises (SMEs). Countries the world over are interested in the successful adoption of the Internet by SMEs. Because a vast majority of jobs come from that sector, greater financial success of SMEs translates into greater job growth and, subsequently, higher tax revenue to the government. This research investigated the level of Internet usage for business solutions by small and medium enterprises in Jordan. Through the survey of a random sample of 100 firms with less than 500 employees and from data obtained from this survey that formed the basis for our study, we found that a majority of respondents use the Internet in business activities , the adoption of the Internet as a business tool is limited to a brochure where Web site which primarily provides one way. As such, there wasn't interactive information about the company and its products and services.

Keywords: Internet, SMEs, e-commerce, website, e-business, IT.

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Authors: D. H. Kim, Y. H. Kim, T. Kim

Abstract:

A new method identifies coupled fluid-structure system with a reduced set of state variables is presented. Assuming that the structural model is known a priori either from an analysis or a test and using linear transformations between structural and aeroelastic states, it is possible to deduce aerodynamic information from sampled time histories of the aeroelastic system. More specifically given a finite set of structural modes the method extracts generalized aerodynamic force matrix corresponding to these mode shapes. Once the aerodynamic forces are known, an aeroelastic reduced-order model can be constructed in discrete-time, state-space format by coupling the structural model and the aerodynamic system. The resulting reduced-order model is suitable for constant Mach, varying density analysis.

Keywords: ROM (Reduced-Order Model), aero elasticity, AGARD 445.6 wing.

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Authors: Blesson Varghese, Gerard McKee

Abstract:

The work reported in this paper proposes Swarm-Array computing, a novel technique inspired by swarm robotics, and built on the foundations of autonomic and parallel computing. The approach aims to apply autonomic computing constructs to parallel computing systems and in effect achieve the self-ware objectives that describe self-managing systems. The constitution of swarm-array computing comprising four constituents, namely the computing system, the problem/task, the swarm and the landscape is considered. Approaches that bind these constituents together are proposed. Space applications employing FPGAs are identified as a potential area for applying swarm-array computing for building reliable systems. The feasibility of a proposed approach is validated on the SeSAm multi-agent simulator and landscapes are generated using the MATLAB toolkit.

Keywords: Swarm-Array computing, Autonomic computing, landscapes.

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Authors: Yang-Keun Ahn, Min-Wook Kim, Young-Choong Park, Kwang-Soon Choi, Woo-Chool Park, Hae-Moon Seo, Kwang-Mo Jung

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Active research is underway on virtual touch screens that complement the physical limitations of conventional touch screens. This paper discusses a virtual touch screen that uses a multi-layer perceptron to recognize and control three-dimensional (3D) depth information from a time of flight (TOF) camera. This system extracts an object-s area from the image input and compares it with the trajectory of the object, which is learned in advance, to recognize gestures. The system enables the maneuvering of content in virtual space by utilizing human actions.

Keywords: Gesture Recognition, Depth Sensor, Virtual Touch Screen

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Authors: H. Siswoyo Jo, N. Mir-Nasiri, E. Jayamani

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This paper presents a new type of mechanism and trajectory planning strategy for bipedal walking robot. The newly designed mechanism is able to improve the performance of bipedal walking robot in terms of energy efficiency and weight reduction by utilizing minimum number of actuators. The usage of parallelogram mechanism eliminates the needs of having an extra actuator at the knee joint. This mechanism works together with the joint space trajectory planning in order to realize straight legged walking which cannot be achieved by conventional inverse kinematics trajectory planning due to the singularity. The effectiveness of the proposed strategy is confirmed by computer simulation results.

Keywords: Bipedal robot, Energy efficiency, Straight legged walking, Trajectory planning.

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