this paper presents a parameterization method to optimal trajectory planning and dynamic obstacle avoidance for omni-directional robots. the aim of trajectory planning is minimizing a quadratic cost function while a maximum limitation on velocity and acceleration of robot is considered. first, we parameterize the trajectory using polynomial functions with unknown coefficients which transforms t...

Abstract In this paper, we revisit a model for the contact line problem which has been proposed by Shikhmurzaev (Int. J. Multiph. Flow 19(4):589–610, 1993). first part, in addition to rederiving model, study detail assumptions required obtain isothermal limit of model. We also derive paper several lubrication approximation models, based on Shikhmurzaev’s approach. The two models describe thin f...