this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...

Consider a strictly convex bounded regular domain C of R. In this paper we construct complete properly immersed in C minimal surfaces with boundary. Our examples have arbitrary finite topology. We also prove that complete properly immersed in C minimal surfaces with boundary are dense in the space of properly immersed in C minimal surfaces with boundary, endowed with the topology of the Hausdor...

We present a complete study of boundary bound states and related boundary Smatrices for the sine-Gordon model with Dirichlet boundary conditions. Our approach is based partly on the bootstrap procedure, and partly on the explicit solution of the inhomogeneous XXZ model with boundary magnetic field and of the boundary Thirring model. We identify boundary bound states with new “boundary strings” ...

The aim of this paper is to present a numerical method for singularly perturbed convection-diffusion problems with a delay. The method is a combination of the asymptotic expansion technique and the reproducing kernel method (RKM). First an asymptotic expansion for the solution of the given singularly perturbed delayed boundary value problem is constructed. Then the reduced regular delayed diffe...

Because the gravitational Hamiltonian is a pure boundary term on-shell, asymptotic gravitational fields store information in a manner not possible in local field theories. This fact has consequences for both perturbative and non-perturbative quantum gravity. In perturbation theory about an asymptotically flat collapsing black hole, the algebra generated by asymptotic fields on future null infin...

in this paper, two inverse problems of stephen kind with local (dirichlet) boundary conditions are investigated. in the first problem only a part of boundary is unknown and in the second problem, the whole of boundary is unknown. for the both of problems, at first, analytic expressions for unknown boundary are presented, then by using these analytic expressions for unknown boundaries and bounda...

We prove that when a countable group admits a nontrivial Floyd-type boundary, then every nonelementary and metrically proper subgroup contains a noncommutative free subgroup. This generalizes the corresponding well-known results for hyperbolic groups and groups with infinitely many ends. It also shows that no finitely generated amenable group admits a nontrivial boundary of this type. This impr...