A new causal dynamic end-effector inversion method for a single flexible link manipulator is introduced. Contrary to the available non-causal inversion technique, this method does not lead to pre-actuation and works even in the presence of the purely imaginary zeros for the transfer function. Based on this approach, the desired end-effector trajectory is divided into a finite number of segments...

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This study is concerned with the solution of the time domain Maxwell’s equations in a dispersive propagation media by a Discontinuous Galerkin Time Domain (DGTD) method. The Debye model is used to describe the dispersive behaviour of the media. The resulting system of equations is solved using a centered flux discontinuous Galerkin formulation for the discretization in space and a second order ...

The B-spline basis-set method is applied to determining the rovibrational eigenspectrum of diatomic molecules. Particular attention is paid to a challenging numerical task of an accurate and efficient description of the vibrational levels near the dissociation limit (halo-state and Feshbach molecules). Advantages of using B-splines are highlighted by comparing the performance of the method with...

The tree mortality model plays an important role in simulating stand dynamic processes. Past work has shown that the disaggregation method was successful in improving tree survival prediction. This method was used in this study to forecast tree survival probability of Chinese pine (Pinus tabulaeformis Carrière) in Beijing. Outputs from the tree survival model were adjusted from either the stand...

In this paper we propose a new and original approach to solve the Inverse Kinematics problem. Our approach has the advantages to avoid the classical pitfalls of numerical inversion methods such as singularities, accept arbitrary types of constraints and exhibit a linear complexity with respect to degrees of freedom which makes it far more efficient for articulated figures with a high number of ...

Intégrer les personnes intimidatrices dans la résolution des situations de harcèlement-intimidation* entre élèves plutôt que sanctionner? C’est le fondement méthode préoccupation partagée introduite en 2015 canton Vaud.