Here u, b describe the flow velocity vector and the magnetic field vector respectively, p is a scalar pressure, ν > 0 is the kinematic viscosity, η > 0 is the magnetic diffusivity, while u0 and b0 are the given initial velocity and initial magnetic field with ∇ · u0 = ∇ · b0 = 0. If ν = η = 0, (1.1) is called the ideal MHD equations. As same as the 3D Navier-Stokes equations, the regularity of ...

Inverse kinematics is computationally expensive and can result in significant control delays in real lime. Fur a redundant robot, additional computations are required for the inversekinematic solution through optimization schemes. Based on h e fact that humans do not compute exact inverse kinematics, but can do precise positioning from heuristics. we developed an inverse kinematic mapping &ugh ...

This paper presents an improved neural computation where scheme for kinematic control of redundant manipulators based on infinity-norm joint velocity minimization. Compared with a previous neural network approach to minimum infinity-non kinematic control, the present approach is less complex in terms of cost of architecture. The recurrent neural network explicitly minimizes the maximum componen...

In this paper, two inverse-kinematic solutions with singularity robustness for a fully parallel robot manipulator are proposed. First, two inverse-kinematic solutions are presented based on the damped leastsquares method, where the first solution (OSVC) is derived using a velocity constraint, and the other (OSFC) uses a force constraint. It can be shown that both solutions are special cases of ...

In this article, the axisymmetric mechanical buckling of thin cylindrical shell made of functionally graded material (FGM) is considered. The governing equations for a thin cylinder based on the first-order shell theory and Timoshenko's assumptions are obtained. The equations are derived using the Sanders simplified kinematic relations and the principle of work and energy. The constituent mater...

In this paper, different approaches to solve the forward kinematics of a three DOF actuator redundant hydraulic parallel manipulator are presented. On the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, which are almost impossible to solve analytically. The proposed methods are using neural networks identification ...

Narrow Corridor 8 iRobot Create2 100 Agents Abstract: Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous, non-anonymous, or organized in groups. Although powerful solvers for this abstract problem exist, they make si...

: Investigations on control and optimization of continuum manipulators have resulted in a number of kinematic and dynamic modeling approaches each having their own advantages and limitations in various applications. In this paper, a comparative study of five main methods in the literature for kinematic, static and dynamic modeling of continuum manipulators is presented in a unified mathematical...

The ability to grasp objects of different size and shape is one of the most important skills of a humanoid robot. There are a lot of different approaches tackling this problem; however, there is no general solution. The complexity and the skill of a possible grasping motion depend hardly on a particular robot. In this paper we analyze the kinematic and sensory grasping abilities of the humanoid...