We study the behavior of the Wilson loop in the (5+1)-dimensional supersymmetric Yang-Mills theory with the presence of the solitonic object. Using the dual string description of the Yang-Mills theory that is given by the D1/D5 system, we estimate the Wilson loops both in the temporal and spatial cases. For the case of the temporal loop, we obtain the velocity dependent potential. For the spati...

This paper presents the time optimal trajectories for differential drive vehicles in the unobstructed plane. The wheel angular velocities are bounded, but may be discontinuous. The paper proves the existence of optimal controls, derives the structure of optimal trajectories, and develops an algorithm for producing a time optimal trajectory between any two configurations. Every nontrivial optima...

We present a control strategy for a simpliied model of a one-legged running robot which features compliant elements in series with hip and leg actuators. For this model, proper spring selection and initial conditions result in \passive dynamic" operation close to the desired motion, without any actuation. However, this motion is not stable. Our controller is based on online calculations of the ...

The tense and lax vowels of German were compared, based on an analysis of the duration, amplitude and velocity characteristics of lip and tongue movement. This study examined firstly whether they show different patterns of compression over changes in speech rate, and secondly whether velocity profiles would reveal evidence of different underlying control mechanisms. CVC movements were segmented...

An approach for the optimal control of both velocity and torque split of a parallel hybrid electric vehicle with traffic preview is presented in this paper. The optimal controller is analytically derived using Pontryagin’s Minimum Principle. The optimal velocity and torque split trajectories developed are then repeatedly recalculated in a receding horizon fashion over drive cycles to assess the...

A piecewise-aÆne image registration method is proposed to compute the displacement eld in an image sequence of an aerodynamic object experiencing heavy winds in a wind tunnel. Our method is useful for tracking objects whose net 3-D motion is fully characterized by a non-rigid motion and a signi cant component that is common to all parts of the object. A set of control points have been introduce...

Abstract: In this paper, a power assist system of Omni-directional Mobile Wheelchair(OMW) for attendants aiming at the reduction of incidence by operation of attendants is presented. The OMW presented in this paper, has 3 degrees of freedom, so it is important to consider operationality. The control system must be developed considering both operationality and comfort. A Power assist controller ...

In this paper we investigate an optimal control problem in which the objective is to decelerate a simplified vehicle model, subject to input constraints, from a given initial velocity down to zero by minimizing a quadratic cost functional. The problem is of interest because, although it involves apparently simple drift-less dynamics, a minimizing trajectory does not exist. This problem is motiv...

This paper applies Pontryagin’s Maximum Principle to the time optimal control of differential drive mobile robots with velocity bounds. The Maximum Principle gives necessary conditions for time optimality. Extremal trajectories are those which satisfy these conditions, and are thus a superset of the time optimal trajectories. This paper derives a compact geometrical structure for extremal traje...

In this paper we propose system architecture and implementation methodology of walking assistant robot for the elderly. We use shared control system based on sensor feedback. For operation user push or pull handle, than robot sense applied force. It decides velocity and direction of the robot. If obstacles are detected, robot avoids obstacles and plans new path for collision free. It can provid...