Traveltime calculations amount to solving the nonlinear eikonal equation for a given source location. We analyze the relationship between the eikonal solution and its perturbations with respect to the source location and develop a partial differential equation that relates the traveltime field for one source location to that for a nearby source. This linear first-order equation in one form depe...

in this article, finite element method and ale formulation were used to numerically simulate impact of low-velocity specific projectiles with water surface. for the simulation, ls-dyna finite element code was used. material models which were used to express behavior of air and water included null material model. for the projectile, plastic-kinematics material model was applied. mie-gruneisen eq...

We investigate numerically a recently proposed vorticity based formulation of the incompressible Navier-Stokes equations. The formulation couples a velocity-pressure system with a vorticity-helicity system, and is intended to provide a numerical scheme with enhanced accuracy and superior conservation properties. For a few benchmark problems, we study the performance of a finite element method f...

Typical formulations of the forward and inverse velocity kinematics of wheeled mobile robots assume flat terrain, consistent constraints, and no slip at the wheels. Such assumptions can sometimes permit the wheel constraints to be substituted into the differential equation to produce a compact, apparently unconstrained result. However, in the general case, the terrain is not flat, the wheel con...

In this paper, we propose a new model predictive control (MPC) formulation for autonomous driving. The novelty of our formulation stems from the following new results. Firstly, we adopt an alternating minimization approach wherein linear velocities and angular accelerations are alternately optimized. We show that in contrast to the joint formulation, the alternating minimization better exploits...

the trajectory planning, which is known as a movement from starting to end point by satisfying the constraints along the path is an essential part of robot motion planning. a common way to create trajectories is to deal with polynomials which have independent coefficients. this paper presents a trajectory formulation as well as a procedure to arrange the suitable trajectories for applications. ...

In this paper, we develop and analyze mixed finite element methods for the Stokes and Navier-Stokes equations. Our mixed method is based on the pseudostress-pressure-velocity formulation. The pseudostress is approximated by the Raviart-Thomas, Brezzi-Douglas-Marini, or Brezzi-DouglasFortin-Marini elements, the pressure and the velocity by piecewise discontinuous polynomials of appropriate degre...

This paper is devoted to the study of a stationary problem consisting of the Boussinesq approximation of the Navier–Stokes equations and two convection–diffusion equations for the temperature and concentration, respectively. The equations are considered in 3D and a velocity–pressure formulation of the Navier–Stokes equations is used. The problem is complicated by nonstandard boundary conditions...