Alternative male morphologies are common in a wide range of organisms and particularly extreme in horned beetles. Here, large males (majors) commonly develop extravagant weaponry such as horns or enlarged mandibles, whereas small males (minors) develop only rudimentary traits. In some taxa, including the genus Onthophagus , the transition from minors to majors occurs over a very small range of ...

The understanding of fish maneuvering and its application to underwater rigid bodies are considered. The goal is to gain insight into stealth. The recent progress made in NUWC is reviewed. Fish morphology suggests that control fins for maneuverability have unique scalar relationships irrespective of their speed type. Maneuvering experiments are carried out with fish that are fast yet maneuverab...

Application of wheeled mobile robots have gradually progressed from the confines of structured indoor environments to rough outdoor terrains. Material transport and exploration are some of the few areas where wheeled robots are required to navigate over uneven terrains. Stable and efficient navigation of wheeled robots over uneven terrains require a framework which can correctly ascertain the s...

in this paper, an innovative mobile platform is presented which is equipped by three new wheels. the core of the new idea is to establish a new design of rigid circular structure which can be implemented as a wheel by variable radius. the structure of wheel includes a circular pattern of a simple two-link mechanism assembled to obtain a wheel shape. each wheel has two degrees of freedom. the fi...

In this paper, the analysis and design of master-slave teleoperation systems are discussed. The goal of this paper is to build a superior master-slave system that can provide good maneuverability. We first analyze a one degree-of-freedom system including operator and object dynamics. Second, some ideal responses of master-slave systems are defined and a quantitative index of maneuverability ...

This paper is concerned with the formulation of a process knowledge based controller (PKBC) for maneuverability improvement of nonlinear processes operation. The capacity for empirical knowledge acquisition from artificial intelligence systems was utilized in the development of the strategy. The PKBC is a neuro-fuzzy system obtained from process data. The GT 5001 type is the selected nonlinear ...