State–of–the–art approaches to optimal control of contact–rich robot dynamics use smooth approximations of value and policy functions and gradient–based algorithms for improving approximator parameters. Unfortunately, the dynamics of mechanical systems subject to unilateral constraints—i.e. robot locomotion and manipulation—are generally nonsmooth. We show that value and policy functions genera...

Non-smooth modal analysis is an extension of to non-smooth systems, prone unilateral contact conditions for instance. The problem a one-dimensional bar subject on its boundary has been previously investigated numerically and the corresponding spectrum vibration could be partially explored. In present work, above system reformulated as set functional equations through use both d’Alembert solutio...

Forme Fruste keratoconus is a keratoectatic condition of that rare, unilateral subclinical, abortive, and unusual syndrome. This case outlined brief discussion moderate cornea deformation due to mechanical form by prolonged contact lens use dominantly in one eye. It showed topography’s efficacy discriminating clinical indices determine corneal mild ecstatic condition, mainly practioner. associa...