Abstract
This paper studies quasi-periodic gaits of multi-legged robot locomotion systems based on the analysis of the dynamic model. The purpose is to determine the system performance during walking and the best strategy to overcome an obstacle. For that objective the robot prescribed motion is characterized in terms of several locomotion and obstacle variables. In this perspective, we formulate three performance measures of the walking robot namely, the mean absolute power, the mean power lost in the joint actuators and the mean force of the interface body-legs per walking distance. A set of model-based experiments reveals the influence of the obstacle position and dimensions in the proposed indices.

Abstract
This paper studies periodic gaits of multi-legged robot locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, foot clearance, legs link lengths, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate four performance measures of the walking robot namely, the locomobility of the foot, the mean absolute power, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model-based experiments reveals the influence of the locomotion variables in the proposed indices.

Abstract

Abstract
This study introduces a technique for the design of multivariable decentralized proportional-integral controllers (Pl). This problem is addressed by first analyzing the pairing possibilities of the manipulated and controlled variables, which result in minor interaction between the loops; controller tuning is then performed by using the particle swarm optimization algorithm. The control objective is to design the multivariable controller for the several viable pairing possibilities, minimizing the error between the controller outputs and the set-point variables. Simulation results presented allow the conclusion that the proposed technique can tune the controller with all the loops closed, reducing the interaction effect. It is also shown that for this problem the particle swarm algorithm is faster in converging than a genetic algorithm.

Abstract
The MatPLC is an international project to create and distribute a program similar to a PLC (Programmable Logic Controller) for POSIX Operating Systems, and licensed under the GNU Public License. Considerable effort has been put into designing a robust and scalable system, which includes novel features and capabilities not found in standard PLCs.

Abstract
In this paper an alternative technique for differential gain and phase testing of video ADCs based on the use of joint time-frequency analysis is presented. This technique can lead to a significant improvement in ADC testing time and in the amount of information provided by these specific tests.