In this paper, reference trajectory is designed according to minimum energy consumed for multi-robot system, which nonlinear programming and cubic spline interpolation are adopted. The control strategy is composed of two levels, which lower-level is simple PD control and the upper-level is based on the internal average kinetic energy for multi-robot system in the complex environment with veloci...

Delay-locked loop (DLL) and phase-locked loop (PLL) designs based upon self-biased techniques are presented. The DLL and PLL designs achieve process technology independence, fixed damping factor, fixed bandwidth to operating frequency ratio, broad frequency range, input phase offset cancellation, and, most importantly, low input tracking jitter. Both the damping factor and the bandwidth to oper...

A multi-dimensional definition of fragility is developed considering multiple variables such as floor acceleration and interstory drifts. The limit states which have uncertainties are defined as random variables in the calculation of fragility. A random description of the limit state has been adopted to calculate fragility and different cases have been considered. A case study of a Hospital loc...

The minimum-time pointwise motion of two manipu-lators grasping the same exible object is examined in this paper. We model the object as a spring with an associated damping factor. The coordinated motion is accomplished through the speciication of the trajectory for the mid-point between the two manipulators. The separate trajectories for each manipulator are not relevant per se, since they onl...

In quantum mechanics the kinetic energy term for a single particle is usually written in the form of the Laplace-Beltrami operator. This operator is a factor ordering of the classical kinetic energy. We investigate other relatively simple factor orderings and show that the only other solution for a conformally flat metric is the conformally invariant Laplace-Beltrami operator. For non-conformal...

The propagation of light in a disordered waveguide system composed of randomly different cores in size is treated as an initial value problem of the coupled mode equations and the average amplitude of light is theoretically derived using the scattering matrix. The damping factor obtained is compared with the numerical results. Both results are in good agreement with each other.

The influence of physical damping on the numerical stability of time integration analysis is an open question since decades ago. In this paper, it is shown that, under specific very general conditions, physical damping can be disregarded when studying the numerical stability. It is also shown that, provided the specific conditions are met, analysis of structural systems involved in extremely hi...

We consider the problem of uniform stabilization of nonlinear hyperbolic equations, epitomized by the following three canonical dynamics: (1) the wave equation in the natural state space L2(Ω) × H(Ω), under nonlinear (and non-local) boundary dissipation in the Dirichlet B.C., as well as nonlinear internal damping; (2) a corresponding Kirchhoff equation in the natural state space [H(Ω) ∩H1 0 (Ω)...

We study the resonant dynamics of a two-degree-of-freedom system composed a linear oscillator weakly coupled to a strongly nonlinear one, with an essential (nonlinearizable) cubic stiffness nonlinearity. For the undamped system this leads to a series of internal resonances, depending on the level of (conserved) total energy of oscillation. We study in detail the 1:1 internal resonance, and show...