Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...

An approach is presented for imposing generic hard constraints on deformable models at a low computational cost, while preserving the good convergence properties of snake-like models. We believe this capability to be essential not only for the accurate modeling of individual objects that obey known geometric and semantic constraints but also for the consistent modeling of sets of objects. Many ...

Abstract: Technical processes, notably in the power transforming industries, generate a wealth of process data, commonly organized in a file with M records and 1 + n + m fields, i.e. a time stamp, followed by n independent and m dependent variables, summarized in the vectors x and y, respectively. Regardless of the availability of physical models it is interesting and often necessary to generat...

This paper proposes an effective numerical methodology to analyze the mechanism of the separation of an inserted type of solid rocket booster from a supersonic air breathing engine vehicle having a conical intake. Unlike the previous computational fluid dynamic (CFD) approach, present work constructs a compacted model capable to reduce the computational time definitely. The dynamics of vehicle ...

Integral equation theory is used for extrapolating free energy data from molecular simulations of a reference state with respect to a modification of the interaction potential. The methodology is applied to the correction of artefacts arising from potential shifting and truncation. Corrective contributions for the hydration free energy with respect to the full potential are analysed for the cas...

Abstract Boundary constraint induced inhomogeneous effects are important for mechanical responses of nano/micro-devices. For microcantilever sensors, the clamped-end effect static deformation, so called effect, has great influence on detection signals. This paper is devoted to developing an alternative model characterize signals DNA-microcantilever. Different from previous concentrated load mod...

The highly nonlinear responses of compliant ocean structures characterized by a large-geometry restoring force and a coupled fluid-structure interaction excitation are of great interest to ocean engineers. Practical modeling, parameter identification, and incorporation of the inherent nonlinear dynamics in the design of these systems are essential and challenging. An experimental mooring system...

It is known that the unit-norm constraint for equation-error based system identification is superior to the monic constraint since it produces consistent estimates for white measurement noise and also presents better approximation properties in reduced-order cases. Here, a new algorithm for unit-norm equation-error adaptive filtering is proposed. This scheme is inspired by the constrained optim...

The quadratic constraint equation error (QCEE) method was proposed by Ho and Chan to achieve bias removal for the equation error adaptive IIR filters. However, this approach is limited to slow convergence in estimation when a small step size is used; large step sizes lead to significant misadjustment. This correspondence presents a variable step size (VSS) technique to greatly improve the QCEE ...