we design a two-stage scheme to consider trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in presence of static obstacles. within the first stage, regarding the static obstacles we develop a method that searches the workspace for the shortest possible path between start and goal configurations by constructing a graph on a portion of the confi...

Rapid acceleration and deceleration are vital for survival in many predator and prey animals and are important attributes of animal and human athletes. Adaptations for acceleration and deceleration are therefore likely to experience strong selective pressures--both natural and artificial. Here, we explore the mechanical and physiological constraints to acceleration. We examined two elite athlet...

In order to evaluate the efficiency of heave compensation in the Ocean Drilling Program, we developed a device measuring the acceleration of the core barrels. First results show that heave compensation limits bit motion to 10% of the surface heave. We also use the acceleration data to characterize the formation. On rotary corers, acceleration amplitudes decrease with increasing hardness of the ...

The e ect of changing the input goal coordinates to a real vehicle s position control system is examined here Such inputs provide motoring speed torque sig nals based upon local sensor information and the po sition of the global target with little regard for the vehicle dynamics In this article mobile robot path planning parameters are related to the application of correct general control laws ...

The experiments presented in this thesis study several aspects of electron acceleration in a laser-driven plasma wave. High-intensity lasers can efficiently drive a plasma wave that sustains electric fields on the order of 100 GV/m. Electrons that are trapped in this plasma wave can be accelerated to GeV-scale energies. As the accelerating fields in this scheme are 3 − 4 orders of magnitude hig...