This thesis is about force controlled compliant robot motion, with the emphasis on: 1) modelling of arbitrary and time-varying contact situations between a rigid manipulated object and rigid objects in its environment, 2) motion speci cation in terms of allowed velocities and accelerations for the manipulated object, maintaining the contact with the physical constraints but without generating t...

The efficiency of the automatic execution of complex assembly tasks can be enhanced by the identification of the contact state. In this paper we derive a new method for testing a hypothesized contact state using force sensing in the presence of sensing and control uncertainty. The hypothesized contact state is represented as a collection of elementary contacts. The feasibility of the elementary...

nonlinear analyses allow simulating, in a more realistic way, the behaviour of structuressubjected to several types of complex loading conditions such as earthquakes. however, it isrecognized that these analyses normally generate a considerable amount of results, a factorthat difficult its interpretation. over the last years, considerable progresses have been made instructural nonlinear behavio...

Wind is one of the deadliest and most expensive hazards in United States. cause significant damage to buildings economic losses homeowners. Economic average approximately $3.8 billion annually from hurricane winds are not decreasing, even despite enhanced construction practices reduce wind damage. Thus, effectiveness mitigation strategies should be evaluated order lower cost incurred by this ha...

Ostrovsky’s equation with time- and space-dependent forcing is studied. This model for long waves in a rotating fluid non-constant depth (topography). A classification of Lie point symmetries low-order conservation laws presented. Generalized travelling wave solutions are obtained through symmetry reduction. These exhibit profile that stationary moving reference frame whose speed can be constan...