In order to decrease the fluid drag on an underwater robot manipulator, an optimal trajectory method based on the variational method is presented. By introducing the adjoint variables, which are Lagrange multipliers, we formulate a Lagrange function under certain constraints related to the target angle, target angular velocity, and dynamic equation of the robot manipulator. The state equation (...

In this paper, dynamic and stability analysis of a flexible cam-follower system is investigated. Equation of motion is derived considering flexibility of the follower and camshaft. Viscous and Coulomb frictions are considered in the rocker arm pivot. The normalized equation of motion of the system is a 2nd- order differential equation with periodic coefficients.&#10Floquet theory is employed to...

By using dissipative system Lagrange equation, the strongly nonlinear dynamic equation of torsional vibration system is deduced, which contains a class of square and cube nonlinear rigidity and combination harmonic excitations. Bifurcation characteristics of the strongly nonlinear system are analyzed in the autonomous and non-autonomous situations by means of singular point stability theory and...

Recent success in nonlinear control design is applied to the control of Euler–Lagrange systems. It is known that the existence of optimal control depends on solvability of the so-called Hamilton–Jacobi–Isaccs (HJI) partial differential equation. In this article, the associated HJI equation for nonlinear inverse-optimal control problem for Euler–Lagrangian system is solved analytically. The resu...

This paper deals with the dynamic modeling and design optimization of a three Degree-of-Freedom spherical parallel manipulator. Using the method of Lagrange multipliers, the equation of motion is derived by considering its motion characteristics, namely, all the components rotating about the center of rotation. Using the derived dynamic model, a multiobjective optimization problem is formulated...

In this paper, dynamic and stability analysis of a flexible cam-follower system is investigated. Equation of motion is derived considering flexibility of the follower and camshaft. Viscous and Coulomb frictions are considered in the rocker arm pivot. The normalized equation of motion of the system is a 2nd- order differential equation with periodic coefficients. Floquet theory is employed to s...

This article presents alternative Hamiltonian and Lagrangian formalisms for relativistic mechanics using proper time coordinates in 1 + dimensions as parameters of evolution. The a hypothetical particle with without charge are considered based on the equation dynamics integrals motion. A invariant law conservation energy momentum Lorentz representation is given. To select various generalized mo...

The purpose of this study is to investigate tracking of moving objects in a sequence of images by detecting the surface generated by motion boundaries in the space–time domain. Estimation of this spatio-temporal surface is formulated as a Bayesian image partitioning problem. Minimization of the resulting energy functional seeks a solution biased toward smooth closed surfaces which coincide with...

EEective equations that describe both sound wave and void wave propagation for bubbly ows at high Reynolds numbers are derived in this paper. First ideal bubble ows are considered and a new method for solving Laplace's equation for the velocity potential is presented. This approach is based on a generalization of the method of images and also yields a precise deenition of the ambient eld experi...