Constrained multibody systems typically feature multiple closed kinematic loops that constrain the relative motions and forces within the system. Typically, such systems possess far more articulated degrees-of-freedom (within the chains) than overall end-effector degrees-of-freedom. Thus, actuation of a subset of the articulations creates mixture of active and passive joints within the chain. T...

This paper deals with the problem of identifying the inertia parameters of a manipulator. We begin by introducing the terminology of minimal linear combinations of the inertia parameters (MLC’s) that are liiearly independent of one another and determine the manipulator dynamics while keeping the number of linear combinations of the inertia parameters to a minimum. The problem is then to find an...

Manual derivation of the dynamic model of a modular robot is almost impossible because it may have very different geometries and DOFS through module reconfiguration. This paper presents an algorithm to automatically generate the closed-form equation of motion of a modular robot from a kinematic graph based representation of the assembly configuration. We consider modular robots with the more ge...

A recursive formulation of the dynamical equations of an articulated multibody system with flexible components is given in terms of efficient motion variables for elastic motion and hinge rotation about revolute, Hooke and spherical joints. We treat motion under external forces, as well as prescribed motion with internal loads calculation, and show computational efficiency of the formulation wi...

It is shown that the 0-1 Law for recursive logics on nite structures admits an equivalent formulation in terms of Kolmogorov complexity. The new formulation opens the possibility of using the Kolmogorov complexity apparatus to easily derive various properties for nite structures satisfying a given properties. Examples that illustrate this point are provided.

A new scheduling formulation for data independent recursive algorithms is proposed. This formulation is intuitive and finds a static rate optimal schedules. Processing elements may be non-preemptive and non-homogenous. Comparisons with some other common scheduling methods to increase throughput is made.

Recent years witnessed continuous development of database query languages and object relational mappers. One of the research fields of interest are recursive queries. The first implementations of such queries for SQL has been introduced by Oracle in 1985. However, it was the introduction of recursive Common Table Expressions into the SQL:99 standard that made the research on this topic more pop...

A recursive method that eliminates $n+1$ harmonics and their respective multiples from the output voltage of a cascaded H-bridge (CHB) multilevel inverters with notation="LaTeX">$s=2^{n}$ dc sources notation="LaTeX">$(n=1,2,3,\ldots)$...