This article proposes a modification of hybrid A* method used for navigation spherical mobile robots with the ability limited partial lateral movement driven by pendulum. For pendulum-driven nonzero minimal turning radius, our helps to find feasible and achievable path, which can be followed in line low time cost. Because shell shape, robot is point contact ground, showing different kinematic m...

Berthing force is a critical dynamic lateral force in the design of berthing structures, having equal relevance when compared to seismic forces. Besides, the construction cost of berthing structures is very high which can be optimized by calculating precise design berthing energy on fender and selecting optimum fender system. In the present study, design berthing energy of bulk carriers having ...

Designing and analyzing controllers for underactuated systems with underactuation degree greater than one is still an open and challenging problem. In this paper, we study an unsolved problem of analyzing energy based swing-up control for a double pendulum on a cart, which has three degrees of freedom and only one control input. We present an original analysis of the convergence of the energy o...

A modified double inverted pendulum – modified by connecting the mass carrying the pendulum with another mass through a spring makes the general inverted pendulum become a more interesting problem. The system is defined as a linear spring connected double inverted pendulum as proposed by Hou et al. [1],[2]. The system is highly nonlinear and unstable. However, the system can be simplified to a ...

a 16-year-old class ii female patient was treated without tooth extraction. the upper first molars were distalized by the pendulum appliance. after six months, the molars tipped significantly to the distal. to correct this side effect, we decided to upright the molars using skeletal anchorage. on each side, a mini-screw was inserted between first and second premolars in the buccal cortical plat...