We have designed a two-stage scheme to consider the trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in the presence of static obstacles. In the first stage, with regard to the static obstacles, we develop a method that searches the workspace for the shortest possible path between the start and goal configurations, by constructing a graph on ...

We provide an approximate analysis of the transient sojourn time for a processor sharing queue with time varying arrival and service rates, where the load can vary over time, including periods of overload. Using the same asymptotic technique as uniform acceleration as demonstrated in [12] and [13], we obtain fluid and diffusion limits for the sojourn time of the Mt/Mt/1 processor-sharing queue....

Common robotic tracking tasks consist of motions along predefined paths. The design of time-optimal path-constrained trajectories for robotic applications is discussed in this paper. To increase industrial applicability, the proposed method accounts for robot kinematics together with actuator velocity, acceleration and jerk limits instead of accounting for the generally more complex dynamic equ...

It has recently been observed by Ho et al. (Ho SYW, Phillips MJ, Cooper A, Drummond AJ. 2005. Time dependency of molecular rate estimates and systematic overestimation of recent divergence times. Mol Biol Evol. 22(7):1561-1568) that apparent rates of molecular evolution increase when measured over short timespans. I investigate whether the data are explainable purely by deleterious mutations. I...

Many financial markets impose limits on the amount asset prices can change within a trading day to prevent the market from overreacting and, hence, to dampen volatility. Using intraday data from Taiwan Stock Exchange (TSE), we document a statistically and economically significant tendency for stock prices to accelerate toward the upper bound and weak evidence of acceleration toward the lower bo...

We prove generating function identities producing fast convergent series for the sequences β(2n + 1), β(2n + 2) and β(2n+3), where β is Dirichlet's beta function. In particular, we obtain a new accelerated series for Catalan's constant convergent at a geometric rate with ratio 2 −10 , which can be considered as an analog of Amdeberhan-Zeilberger's series for ζ(3).

Recently, Sidi [Sidi, A. (1995): Acceleration of convergence of (generalized) Fourier series by the d-transformation. Ann. Numer. Math. 2, 381–406] proposed a method for the convergence acceleration of certain orthogonal expansions. The present contribution shows that it is possible to extend the method proposed by Sidi to a wider class of problems by simple means. The extended method is both s...

Car body acceleration is an important factor affecting track safety and ride comfort, which are two primary aspects of railway systems. Though track level is an important source of wagon body acceleration, no quantitative relation between them is available and the aim of this paper is to propose a method to address this issue. To do so, car body acceleration is determined using a 10 DOF simulat...

Previous works (Daubech et al., 2019) were dedicated to gaseous flame acceleration along long pipes with a set of cases studied both experimentally and numerically. In these cases, the flammable mixture was initially quiescent homogenously distributed. The impact tube diameter material trough approaches for rather slow flames, fuel being methane. While main features real recovered by chosen CFD...