In the present paper we address a state feedback H 1 suboptimal control problem for a rigid spacecraft with three control torques and disturbances. The state feedback H 1 suboptimal control problem on T SO(3) is transferred to a corresponding state feedback H 1 suboptimal control problem on T S 3 , and the Hamilton-Jacobi inequality associated with this problem is solved. We obtain a state feed...

Abstract. The mathematical model of industrial robot is well known for example in the form of Lagrange-Euler equations, Newton-Euler equations or generalized d’Alambert equations. However, these equations require the physical parameters of robot like masses, inertia momentums, etc. that are very hard to measure. In the paper, the method for calculation of Lagrange-Euler robot model using neural...

We describe an empirical investigation into some of the layout criteria that may facilitate the comprehension of Euler diagrams. The three criteria under investigation were: smoothness, zone area equality and edge closeness. Subjects were asked to interpret diagrams that had good and bad levels of each criterion. The goal of this research is an initial step into using empirical evidence to supp...

This paper presents algorithms for identifying parameters of an N degrees-of-freedom robotic manipulator. First, we outline the fundamental properties of the Newton-Euler formulation of robot dynamics from the view point of parameter identification. We then show that the Newton-Euler model which is nonlinear in the dynamic parameters can be transformed into an equivalent modified model which is...

We are developing a visually-guided autonomous underwater vehicle. We have achieved a position-based visual servo control of fixed and slow moving targets using visual position feedback and sensor-based orientation feedback. The visual position feedback has been implemented on a stereo camera system. We use a compass and an inclinometer for orientation feedback. We have also implemented a compu...

We group triangles into families based on three parameters: the distance between the circumcenter O and the centroid G , the circumradius, and the measure of angle ∠GOA where A is one vertex. We focus on the family of triangles which allows ∠GOA to vary and fixes the other two parameters. By construction, this grouping produces triangles which share the same Euler line. Perhaps unexpectedly, if...

A recursive dynamic modeling of a three-DOF parallel robot, namely, threeRevolute-Prismatic-Spherical (3-RPS) parallel manipulator is reported in this work. Euler parameters are utilized to define the 3-DOF orientation of its moving platform, because the coordinates are free of singularity. For the dynamic modeling, the concept of the Decoupled Natural Orthogonal complement (DeNOC) matrices is ...

This paper estimates an Euler equation for per capita consumption to investigate whether social security increases consumption ceteris paribus in seventeen countries. Following the seminal work of Martin Feldstein, the literature has estimated consumption functions to address this question. Unfortunately, consumption functions confound structural and expectational parameters, making their inter...

The econometric implementation of rational addiction theory has been highly influenced by Becker, Grossman and Murphy (BGM). They specify an Euler equation where current consumption is determined by current price and past and future consumption. This model is claimed to be able to discriminate between rational addictive, myopic addictive, and non-addictive behavior. However, as demonstrated in ...