We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component of the controller to enforce contact and the unconstrained controller to accomplish the task with a desired 6DOF impedance behaviour. Furthermore, the propose...

The elasticity mixed boundary values problems dealing with half-space contact are generally well resolved. A large number of these solutions are obtained by using the integral transformation method and methods based the integral equations. However, the problems of finite layer thicknesses are less investigated, despite their practical interests. This study resolves a quasi-stationary problem of...

in this work, we study a unilateral contact problem with non local friction of coulombbetween a locking material and a rigid foundation. in the first step , we present the mathematicalmodel for a static process, we establish the variational formulation in the form of a variationalinequality and we prove the existence and uniqueness of the solution. in the second step, usingthe penalty method we...

Microwave detection of the Shubnikov-de Haas (SdH) effect as a contact-free characterization technique for different types of two-dimensional semiconductor structures is explored in the low magnetic field region. The detection technique and the data analysis are described. The character and relevance of the single-particle relaxation time that can be detected by this technique are distinguished...