Empirical observations indicate striking similarities among locomotion in terrestrial animals, birds, and fish, but unifying physical grounds are lacking. When applied to efficient locomotion, the analytical mechanics principle of minimum action yields two patterns of mechanical similarity via two explicit spatiotemporal coherent states. In steady locomotory modes, the slow muscles determining ...

Hierarchical matrices provide a technique to efficiently compute and store explicit approximations to the inverses of stiffness matrices computed in the discretization of partial differential equations. In a previous paper, Le Borne [2003], it was shown how standard H-matrices must be modified in order to obtain good approximations in the case of a convection dominant equation with a constant c...

This paper presents a simplified simulation technique for orthotropic viscoelastic films. Wrinkling is detected by a combined stress-strain criterion and an iterative scheme searches for the wrinkle angle using a pseudo-elastic material stiffness matrix based on a nonlinear viscoelastic constitutive model. This simplified model has been implemented in ABAQUS/Explicit and is able to compute the ...

The nonlinearity of the position equations of most parallel manipulators burdens the control and is a serious drawback for industrial applications. In this paper the authors have developed a 5 degrees of freedom parallel manipulator 3T2R whose position equations are explicit and partially decoupled. In order to get that, several platforms, partially actuated by limbs joined to the base, have be...

We present a simplified approach for animation of geometrically complex deformable objects represented as tetrahedral meshes. Our prototype system detects and responds to collisions of objects subject to elastic deformations of variable stiffness. The proposed approach combines several techniques, namely, collision detection using a spatial hashed grid [6], consistent penetration depth using pr...

In this paper, for an object grasped by a robot hand to work in compliance control domain, we first analyze necessary condition for successful stiffness modulation in the operational space. Next, we propose a new compliance control method for robot hands which consist of two steps. R IFDS(Reso l ved In ter -Finger Decoupiing Solver) is to decompose the desired compliance characteristic specifie...

Although explicit and implicit knowledge of language learners are essential to theoretical and pedagogical debates in second language acquisition (SLA), little research has addressed the effects of instructional interventions on the two knowledge types (R. Ellis, 2005).This study examined the relative effectiveness of explicit and implicit types of form-focused instruction (FFI) on the acquisit...

Abstract Seismic waves can be an effective probe to retrieve fracture properties particularly when measurements are coupled with forward and inverse modelling. These seismic models then need appropriate representation of the fracturing. The fractures modelled either explicitly, considering zero thickness frictional slip surfaces, or by medium which incorporates effect into medium, creating anis...

I propose that stiffness may be defined and quantified for nonlinear systems using Lyapunov exponents, and demonstrate the relationship that exists between stiffness and the fractal dimension of a strange attractor: that stiff chaos is thin chaos. What constitutes a stiff dynamical system? Stiffness is closely related to numerical methods [1]: the signature of stiffness in a problem is that, up...