We have modelled 38 barred galaxies by using near-IR and optical data from the Ohio State University Bright Spiral Galaxy Survey. We constructed the gravitational potentials of the galaxies from H-band photometry, assuming constant mass-to-light ratio. The halo component we chose corresponds to the so called universal rotation curve. In each case, we used the response of gaseous and stellar par...

Simulations predict that the dark matter halos of galaxies should have central cusps, while those inferred from observed galaxies do not have cusps. We demonstrate, using both linear perturbation theory and n-body simulations, that a disk bar, which should be ubiquitous in forming galaxies, can produce cores in cuspy CDM dark matter profiles within five bar orbital times. Simulations of forming...

In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...

The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. Both forward and inverse kinematics solutions for the TR 4000 educational robot arm are presented. The closed form solution of the inverse kinematics problem is of utmost importance in controlling robotic manipulator. In this paper, a closed form solution to the inverse kinematics...

A hopping robot can jump over the barrier several times higher than its own height. The combination of the hopping movement and the wheeling movement can greatly enhance the scope of robot’s activities. In this paper, a novel five-shank hopping mechanism was employed to build the wheelinghopping combination scout robot. The nonlinear character of the five-shank hopping mechanism was analyzed an...

A distributed variant of multi-objective particle swarm optimization called multi-objective parallel asynchronous particle swarm optimization (MOPAPSO) was used to develop a new optimization-based synthesis routine for Grashof mechanisms. By using a formal multi-objective handling scheme based on Pareto dominance criteria, the need to pre-weight competing objective functions is removed and the ...

The major control problems for robot debuning mainly arise from uncertainty of the robot manipulators and complex deburring process. In this paper, a new design of hybrid force/position control of robot manipulators via adaptive fuzzy approach is proposed to solve these problems. The control architecture consists of an outer-loop command generator which can automatically determine the desired r...

To explore pipelines is one of various bio-mimetic robot applications. The robot may work in common buildings such as between ceilings and ducts, in addition to complicated and massive pipeline systems of large industrial plants. The bio-mimetic robot finds any troubled area or malfunction and then reports its data. Importantly, it can not only prepare for but also react to any abnormal routes ...

This paper addresses the problem of base placement for mobile robots, and proposes a simple off-line solution to determine the appropriate base locations from which the robot can reach a target point. For robots with one degr~of-mobility, the feasible base locations consists of a region on the x-axis the boundaries of which are derived in the paper. The results are used to obtain the base locat...