Kenneth R. Uren

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This paper introduces a state estimation methodology for a hexapod robot that makes use of proprioceptive sensors and a kinematic model of the robot. The methodology focuses on providing reliable full pose state estimation for a commercially-available hexapod robot platform with the use of only commonly-available sensors. The presented methodology provides(More)
This paper considers the development of a PID control strategy to optimally control the power output of a High Temperature Gas-cooled Reactor (HTGR) power plant. A specific type of HTGR called the Pebble Bed Modular Reactor (PBMR) that utilises a closed recuperative Brayton cycle with helium as working fluid is considered. The power control of this kind of(More)
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