This paper uses variational inequalities to model an oligopolistic closed-loop supply chain engaged in a Cournot pricing game. The manufacturers produce a homogenous product for a set of customer markets. The product can be comprised of both virgin materials and recycled materials obtained from used products returned by the customers. Society is modelled as an additional player whose objective ...

We study chains in an H-closed topological partially ordered space. We give sufficient conditions for a maximal chain L in an H-closed topological partially ordered space such that L contains a maximal (minimal) element. Also we give sufficient conditions for a linearly ordered topological partially ordered space to be H-closed. We prove that any H-closed topological semilattice contains a zero...

An essential need for many model-based robot control algorithms is the ability to quickly and accurately compute partial derivatives of equations motion. State art approaches this problem often use analytical methods based on chain rule applied existing dynamics algorithms. Although these are an improvement over finite differences in terms accuracy, they not always most efficient. In paper, we ...

This work proposes a solution for the longitudinal and lateral control problem of urban autonomous vehicles using a gain scheduling LPV control approach. Using the kinematic and dynamic vehicle models, a linear parameter varying (LPV) representation is adopted and a cascade control methodology is proposed for controlling both vehicle behaviours. In particular, for the control design, the use of...

The author has derived the closed-form dynamic equations for a planar musculoskeletal chain composed of generic number n rigid links connected by ideal revolute joints. Single-joint and multi-joint muscles have been modeled as linear force actuators that can span from one joint to all joints chain. shape size each individual link accounts different alignments among center mass link, centers rot...

Motion planning for mechanisms with closed chains has received substantial interest in recent years. Most efforts focus on characterizing the geometry and topology of the closure set and on inverse kinematics. In this paper, we show that efficient sampling-based motion planning is possible without having either of these. In particular, we develop a variant of the RRT that uses a kd-tree to acti...

Real-time simulation is an essential component of hardwareand operator-in-theloop applications, such as driving simulators, and can greatly facilitate the design, implementation, and testing of dynamic controllers. Such applications may involve multibody systems containing closed kinematic chains, which are most readily modeled using a set of redundant generalized coordinates. The governing dyn...

A novel dimensional synthesis technique for solving the mixed exact and approximate motion synthesis problem for planar RR kinematic chains is presented. The methodology uses an analytic representation of the planar RR dyads rigid body constraint equation in combination with an algebraic geometry formulation of the exact synthesis for three prescribed locations to yield designs that exactly rea...

Parallel manipulators (PMs) have been the subject of study, of much robotic research during the past three decades. A parallel manipulator (PM) is a closed loop kinematic chain mechanism, that is connected to the base via multiple independent chains. The scope of this research work is to perform the position analyses of the three degrees of freedom PMs (TRIPOD and TRI-GLIDE). The present work h...