This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust contr...

This paper brings into focus a link between the investment and nancing decisions of a rm which has an access to costly debt nancing. Our analysis shows that lump-sum debt issuance costs play a prominent role in a determination of the optimal investment strategy. Faced with larger lump-sum debt issuance costs, a rm will optimally set up a higher-scale investment project in order to "compensate" ...

Abstract In this paper, the shelf structure is discretized, reduced in order, examined, and studied for seismic response by using concentrated mass method, Lagrange transfer function fourth-order Runge-Kutta method based on MATLAB numerical calculation. A simplified model of special equipment including supporting frame proposed, calculation methods equivalent mass, stiffness, damping are given....

ABSTRACT: The problem of lateral load induced on piles under earthquake has been plaguing professional engineers, geo-technical investigators and researchers alike for quite some time. The normal practice is to ensure that the fixed base shear of column does not exceed the static shear load capacity of piles. The inertial and stiffness effect of pile is usually ignored in dynamic earthquake ana...

According to the working characteristics of a 1.5 MW wind turbine planetary gear system under complex and random load, two-parameter Weibull distribution model is used describe speed, time-varying load caused by speed obtained. The nonlinear dynamic transmission established using lumped parameter method, relative relations among various components are derived Lagrange method. Then, relationship...

Aortic wall stiffness, tear size and location and the presence of abdominal side branches arising from the false lumen (FL) are key properties potentially involved in FL enlargement in chronic aortic dissections (ADs). We hypothesize that temporal variations on FL flow patterns, as measured in a cross-section by phase-contrast magnetic resonance imaging (PC-MRI), could be used to infer integrat...