On the Design and Test of a Prototype of Biped Actuated by Shape Memory Alloys
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Transcript of On the Design and Test of a Prototype of Biped Actuated by Shape Memory Alloys
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8/17/2019 On the Design and Test of a Prototype of Biped Actuated by Shape Memory Alloys
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Cntfrnetcmneg @murneg mi _momtcks, Ymg.?, Nm.5, (?255)/E. Tmhcdc, L. L.Lmjheddel, E. Hedc
5?
Mn thf Dfscjn end Tfst mi e Rrmtmtypf mi Ocpfd
Ektuetfd oy [hepf Lflmry Eggmys
Elcn Tmhcdce, Le`cd L. Lmjheddel
e end Egcrfze Hedc
o
e- Elcn Tmhcdc0 Lfkhenckeg Fnjcnffrcnj Dfpt., Terocet Lmderfs Vncvfrscty, Tfhren, 54556-555, C_EN Tfg0 +38 ?5 8?8;;681 F-lecg0
elcntmhcdcB lmderfs.ek.cr, end l.lmjhedelB lmderfs.ek.cr
o- Egcrfze Hedc, Rh.D. Jreduetf, Vncvfrscty mi Tfhren, F-lecg0 hrhedcBut.ek.cr
E _ T C K G F C N I M E O [ T _ E K TAfywmrds0 Ocpfd rmomt,
[LE Ektuetmr
6DMIs
Cn thcs pepfr thf dfscjn mi e ocpfd rmomt ektuetfd wcth [hepf Lflmry Eggmy
([LE) sprcnjs wcth lcnclul dfjrffs mi irffdml cs prfsfntfd. [LE sprcnjs erf e
kgess mi slert letfrcegs thet erf anmwn imr thfcr hcjh pmwfr tm less end vmgulf
retcms. Ct wes shmwn thet utcgczcnj sprcnj typf mi [LEs hevf leny edventejfs es
gerjf dfimrletcmn, slmmth lmtcmn, scgfnt end kgfen lmvflfnt kmlperfd tm
mrdcnery typf mi ektuetmrs. Cn thcs wmra e Ocpfd rmomt ektuetfd thrmujh [LE
sprcnjs wcth imur DMIs cs lmdfgfd end dfscjnfd. Zegacnj tre`fktmry cs jfnfretfd
vegcdetcnj thf Pfrm Lmlfnt Rmcnt (PLR) Krctfrce end thf nulofr mi DMIs cs
lmdcicfd ekkmrdcnjgy. Tm vfrciy thf dfscjn, ekmlpgftf lmdfg mi thf ocpfd
ektuetfd wcth [LE cs lmdfgfd thrmujh kmlputfr sclugetcmn cn LETGEO end
Ycsueg Nesteren. Icneggy tm vegcdetf thf rfsugts, e prmtmtypf cs lenuiekturfd end
tfstfd. Fxpfrclfnteg rfsugts shmwfd rfesmneogf ejrfflfnt wcth sclugetcmn rfsugts.
5. Cntrmduktcmn
Lmst mi ocpfd wegacnj rmomts kmnscsts mi ektuetmrs
(hfevy sfrvmlmtmrs), trenslcsscmn systfls (jferomx)
end leny DMIs tm gmkmlmtetf (Q5, ?, ;\), rfsugtcnj cnrfgetcvfgy hfevy (end gerjf) wegacnj rmomts.
_fkfntgy, lcnceturczetcmn end sclpgcicketcmn mi rmomts
hes rfkfcvfd cnkrfescnj ettfntcmn imr lugtc-purpmsf usf.Cn pertckuger, thf sclpgcicketcmn mi ocpfd wegacnj rmomts
cs en cntfrfstcnj end kheggfnjcnj prmogfl. Thf icrst stfp
mi sclpgcicketcmn cs tm dfgftf fxtre perts mr unnfkfssery
DMIs. Es wf anmw, nmnf mi thf fxcstcnj ocpfd wegacnjrmomts cs undfr : DMIs. Cn thcs pepfr, wf prfsfnt e
wegacnj rmomt thet gmkmlmtf thrmujh mngy6 DMIs.Iurthfr, tm rfdukf thf sczf end wfcjht mi thf rmomt, wfdfkcdfd tm usf thf [LE oesfd sprcnj letfrcegs tm
ektuetf thf gfjs mi thf ocpfd.[LE kmlpmsctfs erf kgess
mi slert letfrcegs thet erf anmwn imr thfcr hcjh pmwfr
tm less end vmgulf retcms. Thfsf ektuetmrs hevf lenyedventejfs es gerjf dfimrletcmn, slmmth lmtcmn, scgfnt
end kgfen lmvflfnt. Thfsf typfs mi ektuetmr dmn–t
nffd eny guorcketcmn mr prmtfktcmn irml dust.
[mn end Oul cn ?225 cntrmdukf e quedrupfd rmomt wcth
[LE wcrf ektuetmrs, [LEs cs usfd cn reka end pcncmn
lfkhencsl tm trensifr imrkf tm spffd Q4\. Gcu end Gcemcn ?224 usfd [LEs cn e sneaf rmomt eogf tm khenjf cn
gfnjth wcth sfvfreg lmdugfs Q6\. Ncshcde cn ?229 tfstfd
icrst prmtmtypf mi ocpfd rmomt wcth [LE ektuetmrs. Cn
iekt, thcs rmomt sgcdcnj mn suriekf end ken't tm gmkmletfQ9\. Fsiehenc cn ?22: dfscjnfd `mcnt ektuetfd oy [LEs,
sucteogf imr ocpfd rmomt, out nfvfr lenuiekturcnj e
prmtmtypf Q:\. Vrete end Smshcaec studcfd mn e `mcnt thet
sujjfstfd imr quedrupfd Q8\. Ekkmrdcnj tm prfvcmus
wmras, up tm nmw, nm ocpfd rmomt ektuetf oy [LEs theteogf tm gmkmletf nmt cntrmdukfd. Hmwfvfr, thf kmntrmgs
mi thf [LEs erf e ocj kheggfnjf spfkceggy imr wegacnjrmomt eppgcketcmns. Cn thcs wmra, thf mn/mii (swctkhcnj)
lfthmd cs clpgflfntfd imr thf kmntrmg purpmsfs. Thf
lfthmd utcgczfs thf enjuger pmsctcmn mi thf `mcnts end
kmlpfnsetfs thf frrmrs mi thf [LE pmsctcmn tm lmvfthf gfjs mi thf ocpfd.
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8/17/2019 On the Design and Test of a Prototype of Biped Actuated by Shape Memory Alloys
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Cntfrnetcmneg @murneg mi _momtcks, Ymg.?, Nm.5, (?255)/E. Tmhcdc, L. L.Lmjheddel, E. Hedc
5;
Icj. 50 Lmdugf perts
?. Thf _momt Dfscjn
Thf dfscjn mi thf rmomt kmnscsts mi twm perts0
lfkhenckeg dfscjn end fgfktrckeg dfscjn. Thf
lfkhenckeg dfscjn cs dcvcdfd tm twm perts oy ctsfgi0 thf
lmdugf end thf omdy dfscjn.
Icj. ?0 Thf lenuiekturfd lmdugf
?.5. Thf Lmdugf Dfscjn
Thfrf erf smlf studcfs mn [LE lmdugf (`mcnt), Q6, 3\.
Gcu end Gcem cntrmdukf e lmdugf wcth mnf DMI, Q6\.Thcs lmdugf cs vfry sclpgf out thf dfigfktcmn cs gclctfdend ct hes `ust mnf DMI, out gmkmlmtcmn nffds et gfest
twm DMIs. Scnj end Zenj prfsfntfd e twm DMIs
lmdugf thet rfvmgvfd cn tm pgenf Q3\, thcs lmdugf hes
hcjh gmst mi fnfrjy ofkeusf mi ircktcmn cn kmntekt mi[LE wcndcnj mn dcsa. Tm prmvcdf twm DMIs, gerjf
dfigfktcmn end rfdukf ircktcmn, Hedc dfvfgmpfd thf
Ifgfxcomt whckh cs shmwn cn Icj.5, Q52\. Icj.? shmws
thf lenuiekturfd lmdugf.
Thcs lmdugf kmnscst mi : perts, twm iget pgetf, twm V
perts thet leaf uncvfrseg lmtcmn, twm enjuger sfnsmr tmdftfkt pmsctcmn, [LE kmnnfktcmns end rfsfrvfd spekf
imr fgfktrckeg omerds. Thcs lmdugf hes spekf wmra
oftwffn + ;2 dfj tm -;2 dfj cn fekh rfvmgutcmn pgen.
Dmuogf kmupgf mi Hedc–s lmdugf wes usfd cn thcs ocpfdes hcp m̀cnts. Fekh `mcnt hes ? DMIs end 9 [LEs.
?.5.Thf Omdy Dfscjn
Et icrst e lfkhencsl mi gmkmlmtcmn wcth `ust imur
DMIs wes prmpmsfd, out ct wes imund thet e lfkhencsl
wcth gfss then icvf DMIs cs nmt epprmprcetf tm gmkmletfthf systfl . Eddcnj e sgcdcnj pert mn tmp mi thf 4DMIs
rmomt, thf drewoekas mi thf lmtcmn wes smgvfd. Thf
rmomt kmnscsts mi scx perts, twm lmdugfs, twm gfjskmnnfktfd tm thf lmdugfs, e sgcdfr end ifw [LEs. Thf
sgcdfr wfcjht cs usfd tm trensifr thf kfntfr mi thf jrevcty
mi thf ocpfd. E rcjcd ogmka sgcdcnj mn e oer cs usfd imr
thcs kesf, hmwfvfr, cn prektckf ct ken of rfpgekfd wcthkelfre, oettfry peka, end mthfr dfvckfs. Icj. ; shmws
thf ocpfd cnkgudcnj thf ektuetmr lmdugfs end thf sgcdcnj
wfcjht KMJ kmlpfnsetmr.
Icj. ;0 _momt dfscjn
?.; Thf Fgfktrckeg DfscjnThf ogmka dcejrel mi thf lmdugf–s fgfktrckeg herdwerf
cs shmwn cn Icj. 4. Ct cnkgudfs e lckrmkmntrmggfr
(ETLFJE;?), [LE drcvfrs (Dergcnjtmn trenscstmrs,
TCR5??), pmsctcmn sfnsmrs, end kmlluncketcmn drcvfs.
Thf lckrmkmntrmggfr cs usfd tm lenejf thf drcvcnj mi
thf [LEs, tm hendgf thf kmlluncketcmn rfqucrflfnts,
end tm prmvcdf E/D kmnvfrscmn.
[LE [prcnj
Fgfktrmnck
Omerd
Enjuger
[fnsmr
Fgfktrmnck
Omerd
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Cntfrnetcmneg @murneg mi _momtcks, Ymg.?, Nm.5, (?255)/E. Tmhcdc, L. L.Lmjheddel, E. Hedc
54
Icj. 40 Fgfktrckeg omerd mvfrvcfw
;. Lmdfgcnj
Tm lmdfg rmomt lmtcmn, wf shmugd dfvfgmp acnfletck
lmdfg mi rmomt omdy end lmdfg mi [LEs ektuetmr
ofhevcmr.
Icj. 60 _momt gcnas end `mcnt dfifnctcmn
;.5. Acnfletck Lmdfg
Ekkmrdcnj tm Icj. 6, rmomt cs dcvcdfd cntm 4 gcnas end 6
`mcnts. _fifr tm gmw rfektcmn mi [LEs ektuetmrs end
PLR krctfrce, ekkfgfretcmn tfrls cs cjnmrfd, sm PLR
krctfrce rfdukfd tm fq.5, dfskrcof acnfletck lmdfg mi
rmomt end cts steocgcty rfjcmn.
4
5
4
5
2
2
c c
c KJcc
KJ
l
_l _ (5)
Zhfrf,2 _KJ cs pmsctcmn letrcx, cn oesf kmmrdcnetf
systfl.
;.?. [LEs Ofhevcmr Lmdfg
Ekkmrdcnj tm Q55\0Dfigfktcmn mi shepf lflmry eggmys es iunktcmn mi imrkf
end thf lertfnsctf irektcmn ken of fxprfssfd es0
sJd
D N I
Jd
N D y
;
?
4
;8
(?)
Zhckh y cs dfigfktcmn, I cs imrkf, J cs thf fgestck shfer
lmdugus, thf phesf trensimrletcmn tfnsmr (whckh ken
of kegkugetfd irml G
F whfrf F cs thf fgestck
lmdugus end G thf lexclul rfkmvfreogf strecn),
s
cs thf strfss cndukfd lertfnsctf, D cs mutfr dcelftfr mishepf lflmry eggmys sprcnj kmcg, d cs wcrf dcelftfr end
N cs nulofr mi wcndcnj.Cn eddctcmn tm thf [LE sprcnj lmdfg, thf hfet trensifrlmdfg mi thf [LE cs dficnfd es0
)(?
T T k
Ek
h _ C
dt
dT
plk (;)
Ek
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8/17/2019 On the Design and Test of a Prototype of Biped Actuated by Shape Memory Alloys
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Cntfrnetcmneg @murneg mi _momtcks, Ymg.?, Nm.5, (?255)/E. Tmhcdc, L. L.Lmjheddel, E. Hedc
56
5
Imrkf
T
dT/dt
fq
dfq
/dt
s
Rhesf Trensimrletcmn
Y
T
T
dT/dt
Hfet Trensifr
du/dt
Dfrcvetcvf
S
s
I
Kmnstctutcvf Lmdfg
-A-
Kmnstent
?
Dfigfktcmn
5
Ymgtejf
Icj. 90 [LE lmdfgcnj cn LETGEO smitwerf
4. [clugetcmn
LETGEO end Ycsueg Nestren smitwerf erf usfd tm
sclugetf thf gmkmlmtcmn mi thf rmomt. Ektuetmrs wes erf
lmdfgfd cn LETGEO fnvcrmnlfnt end thfcr ektcmns
erf trensimrlfd tm thf Ycsueg Nestren smitwerf tmjfnfretf thf ocpfd omdy lmtcmn.
Omth smitwerf erf gcnafd tmjfthfr cn e renjf mi 2.25s
pfrcmd. Cn dmcnj sm, cnputs end mutputs erf dficnfd cnfekh smitwerf ekkmrdcnjgy end thf dete cn trensifrrfd
thrmujh thfsf imr thf kmlluncketcmn purpmsfs Thf
cnput tm thf Letgeo cs thf [LE–s pmsctcmns erf cnput
end thf rfsugtcnj imrkfs mi thf [LE–s oesfd mn thfcr
lmdfgs erf mutputs tm thf Y.N. smitwerf. [clugetcmns
erf pfrimrlfd imr e typckeg ocpfd lmdfg end thf rfsugts
erf shmwn cn icj .:.
Icj. :0 Gmkmlmtcmn stfps
Es ct shmws, thf gmkmlmtcmn kmnscsts mi tfnth perts0
icrst, lmvf thf sgcdfr tm gfit, sfkmnd, teaf mii thf rcjht
gfj mi thf jrmund, thcrd, swcnj imrwerd thf suspfndfd
gfj, imurth, put thf rcjht gfj tm thf jrmund, icith, lmvf
thf sgcdfr tm thf rcjht, scxth, teaf imrwerd rmomt wcth jft
oeka rcjht gft tm icrst pmsctcmn end rmomt rfpfets eomvf
stfps out suppmrt mn rcjht gfj, thus kmntcnufs tre`fktmry
leafs wegacnj imrwerd.
6. Tre`fktmry Jfnfretcmn
Thrmujh sclugetcmn, wegacnj tre`fktmrcfs erf jfnfretfd.
Thfn, thrmujh acnfletck lmdfgcnj mi thf ocpfd, dfscrfd
lmtcmns mi thf rmomt–s gfjs erf kegkugetfd. Ct rfqucrfs
thf lmtcmn mi thf lmdugfs thet cs ektuetfd thrmujh
[LE–s. Thf [LE–s erf ektcvetfd thrmujh twm
cndcvcdueg drcvfrs. Icj .8 shmws thf sclugetcmn rfsugt.
Icj.80 [clugetcmn rfsugts
Thcs kurvfd shmws pmsctcmn mi fekh `mcnt es iunktcmn mi
tclf, kgfergy thf peth mi `mcnt 5 cn lmdugf 5 cs sclcger tm
`mcnt 5 lmdugf ?, ùst `mcnt 5 cn lmdugf ? hes tclf shcit.
Mthfr twm `mcnts erf self es thmsf mnfs. Oy uscnj thcs
rfsugt, thf prmtmtypf mi rmomt ken lmvf. _momt
lckrmkmntrmggfr shmugd imggmw thf kurvfs end affp
`mcnts cn kmrrfkt pmsctcmn cn tclf.
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Cntfrnetcmneg @murneg mi _momtcks, Ymg.?, Nm.5, (?255)/E. Tmhcdc, L. L.Lmjheddel, E. Hedc
59
9. Fxpfrclfnts
E skegfd vfrscmn mi thf ocpfd cs dfscjnfd end
lenuiekturfd tm vfrciy thf sclugetcmn rfsugts cn
prektckf. Icj.3 shmws thf fxpfrclfnteg sftup.[pfkcicketcmn perelftfr mi essflogy rmomt cs kmggfktfd
tm Teogf ?.
Icj. 30 Fxpfrclfnteg sftup
Teogf ?0 _momt spfkcicketcmn
quentcty perelftfr
548; jrless
;2 klTmteg Hfcjht
?? klGfj Gfnjth
52 klZcdth
[LEEktuetmr
54 Nulofr Mi Ektuetmrs
6DMI
:2*82 kl?
Immt Dclfnscmn9 Elp- DK[uppgy
EgulcnulLetfrceg
ETLFJE;?Lckrmkmntrmggfr
;; ll pfr lcn.Gmkmlmtcmn [pffd
Icj.52 shmws [LEs sprcnj errenjflfnt cn lmdugf
end rmomt. Tm teaf mii rmomt wfcjht, shmugd usf dmuogf
[LEs sprcnj cn kmrnfr mi fekh lmdugf.
Icj. 520 [LE sprcnjs errenjflfnt
Icj. 550 Fxpfrclfnteg rfsugts
E sclpgf out kmlpgftf wegacnj pettfrn cs dfscjnfd end
cs ifd tm thf systfl thrmujh e kmlputfr prmjrel. Ct cs
shmwn thet thf fxpfrclfnteg rfsugts erf kgmsf tm thf
sclugetcmn rfsugts. Tfn stfps mi lmtcmn pettfrn wfrf
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Cntfrnetcmneg @murneg mi _momtcks, Ymg.?, Nm.5, (?255)/E. Tmhcdc, L. L.Lmjheddel, E. Hedc
5:
jfnfretfd eutmletckeggy, end erf rfpfetfd imr e nulofr
mi wegacnj stfps. Icj. 55 shmws gmkmlmtcmn stfps. Ct
wes imund thet thf rmomt ofhevfs steogy, out duf tm thf
sgmw rfektcmns mi thf [LE–s thf mvfregg spffd mi thf
rmomt wes vfry sgmw. Hmwfvfr, thf [LE–s wfrf shmwn
tm of prmpfrgy strmnj tm push thf ocpfd imrwerd. Fvfn
thmujh, thf wegacnj pettfrn wes nmt vfry slmmth cn
prektckf, out ct prmvfd thet thf lmtcmn ken of jfnfretfd
thrmujh mngy 6 DMIs lfkhencsls.
:. Dcskusscmns
Thcs pepfr prfsfnts thf dfscjn mi e ocpfd rmomt ektuetfdwcth [hepf Lflmry Eggmy ([LE) sprcnjs wcth
lcnclul dfjrffs mi irffdml. Lmdfgcnj mi [LEs end
lmdfgcnj mi rmomt wes shmwn, end thf kurvfd rfsugt
usfd imr fxpfrclfnteg lmtcmn. [m tm sclpgciy ocpfd,fxtre DMI wes dfgftfd, thfrfimrf thf ocpfd lmvfd wcth
`ust 6 DMIs end ektuetfd oy [LEs. Icneggy e prmtmtypf
mi ocpfd lenuiekturfd end gmkmletf gcaf sclugetcmnrfsugt. Fxpfrclfnteg shmws thet [LE ektuetmrs cn ocpfd
rmomt cs usfiug, out eppgy thcs rmomt cn kmrrmscmn
surrmund, whfrf mthfr ektuetmr wcgg kmrrmdfd, cssujjfstfd. Mthfr edventejf mi thcs rmomt ektuetfd oy[LEs cs lecntfnenkf irff. Thcs ektuetmrs wmra undfr
wetfr end cn hcjh duty kmndctcmns wfgg.
_fifrfnkfs
Q5\
L. Yuamoretmvck end D. @urckck, ‗Kmntrcoutcmn tm thf
[ynthfscs mi Ocpfd Ject“, CFFF Trens. mn Ocm-Lfdckeg
Fnjcnffrcnj, 59, nm.5,5393,5-9.
Q?\
A. Hcrec, ‗Kurrfnt end Iuturf Rfrspfkcvf mi Hmnde
Hulenmcd _momt“, CFFF/_[@ Cntfrnetcmneg Kmnifrfnkf
mn Cntfggcjfnt _momts end [ystfls, ?, 533:, 622-628.
Q;\
S. Aurmac, ‗E slegg ocpfd fntfrtecnlfnt rmomt“,
Cntfrnetcmneg [ylpmscul mn Lckrmlfkhetrmncks end
Hulen [kcfnkf, ?225, ;-4.
Q4\
Hyunj-Lcn [mn, @un-Oul Jug, [f-Hmmn Rera, Sun-@unjGff, Tef-Hyun, ‗ Dfscjn mi nfw quedrupfd rmomt wcth
[LE ektuetmrs imr dynelck wegacnj“, [CKF-CKE[F
Cntfrnetcmneg @mcnt Kmnifrfnkf, Ofxkm, Ousen,
Amrfe,?229.Q6\
K. S. Gcu, Z. H. Gcem,“ E [neaf _momt Vscnj [hepf
Lflmry Eggmys“, Cntfrnetcmneg Kmnifrfnkf mi CFFF mn
_momtcks end Ocmlclftcks, [hfnyenj, Khcne, Eujust
?224, 925 ‛ 926.
Q9\ Lelc Ncshcde, Aezum Teneae, Hue M. Zenj,“Dfvfgmplfnt end Kmntrmg mi e Lckrm Ocpfd Zegacnj
_momt uscnj [hepf Lflmry Eggmys“, CntfrnetcmnegKmnifrfnkf mi CFFF mn _momtcks end
Eutmletcmn,Mrgendm, Igmrcde , Ley ?229, 5924 ‛ 5923.
Q:\
Fhsen Terafsh Fsiehenc, Lmhelled H. Fgehcnce,“ [teogf
Zegacnj Rettfrn imr en [LE-Ektuetfd Ocpfd“
, CFFF/E[LF Trensektcmn mn Lfkhetrmncks,5?(6),Mktmofr ?22:.
Q8\
@unckhc Vrete, Tmlmeac Smshcaec, Caum Lczuukhc end
Leseyuac Cneoe,“ Dfscjn mi Hcjh D.M.I. Lmocgf Lckrm
_momt Vscnj Fgfktrckeg _fscstenkf Kmntrmg mi [hepfLflmry Eggmy“, Cntfrnetcmneg Kmnifrfnkf mi CFFF/_[@
mn Cntfggcjfnt _momts end [ystfls,[en Dcfjm, KE, V[E,
Mkt ?3 - Nmv ?, ?22:, ;8?8 ‛ ;8;;.
Q3\
[hfnshun Scnj, Xcenshfn Ucn end Ucmnj Gcu,“ Dfscjnend _fsferkh mi _momt @mcnt Ektuetfd oy [LE Zcrf“,
Rrmkffdcnjs mi thf CFFF Cntfrnetcmneg Kmnifrfnkf mn
_momtcks end Ocmlclftcks ,senye,khcne, Dfkflofr
?22:.Q52\
E. Hedc, E. Smusfic-Amle, L. L. Lmjhedel,
L.Fgehcnce ,E. Jhezevc, ‗Dfvfgmpcnj e Nmvfg [LE-
Ektuetfd _momtck Lmdugf,“ [fnsmrs end Ektuetmrs E0
Rhysckeg, 59?0:?-85, ?252.
Q55\
G. K. Orcnsmn, ‗Mnf-dclfnscmneg kmnstctutcvf ofhevcmrmi shepf lflmry eggmys0 Thfrlm-lfkhenckeg dfrcvetcmn
wcth nmn-kmnstent letfrceg iunktcmns end rfdficnfd
lertfnsctf cntfrneg verceogf,“ @murneg mi cntfggcjfnt
letfrceg systfls end strukturfs, 4, Eprcg 533;, ??3‛?4?.
Ocmjrephy mi Euthmrs
Le`cd L. Lmjheddel rfkfcvfd hcs
O.[k. dfjrff cn Lfkhenckeg
Fnjcnffrcnj cn 5388 irml [herciVncvfrscty mi Tfkhnmgmjy, Cren, end
L. Fnj. dfjrff cn Lfkhenckeg
Fnjcnffrcnj cn 533; irml LkJcggVncvfrscty, Kenede, end Rh.D. dfjrff
cn Lfkhenckeg Fnjcnffrcnj cn 5339 irml Vncvfrscty mi
Tmrmntm, Kenede. Hf cs e prmifssmr mi lfkhenckeg
fnjcnffrcnj et Terocet Lmderfs Vncvfrscty, Tfhren,Cren. Hcs kurrfnt rfsferkh, whckh imkusfs mn eppgcfd
rmomtcks end rmoust H∞ kmntrmg, cs kmnkfrnfd wcth heptck
rmomtcks, rfheocgctetcmn rmomtcks, cnspfktcmn rmomtck send
rmujh tfrrecn lmocgf rmomt dfscjn. Hf cs e lflofr mithf Edlcncstretcvf Kmllcttff mi Lfkhetrmncks [mkcfty
mi Cren. Hf hes sfrvfd es km-khecr imr leny
netcmneg/cntfrnetcmneg kmnifrfnkfs cn Cren.
Egcrfze Hedc rfkfcvfd e O.[. dfjrff
cn Lfkhenckeg Fnjcnffrcnj cn ?22?
irml Csiehen Vncvfrscty miTfkhnmgmjy, Cren. Hf rfkfcvfd hcs
L.[. dfjrff cn Lfkhenckeg
Fnjcnffrcnj cn ?224 irml Terocet
Lmderfs Vncvfrscty, Cren. Hf
cskurrfntgy kmlpgftcnj hcs Rh.D.dfjrff cn Lfkhenckeg Fnjcnffrcnj cn Vncvfrscty mi
Tfhren. Hf cs e rfkcpcfnt mi Ahwerczlc Smunj Ewerd
?224. Hcs rfsferkh cntfrfst cs cn thf erfe mi cnspfktcmnrmomtcks, lmduger rmomtck systfls end shepf lflmry
eggmy oesfd rmomts end lfkhencsls.