Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

We present a variational technique for finding low curvature smooth approximations to trajectories in the plane. The method is applied to short segments of a vehicle trajectory in a known ground plane. Estimates of the speed and steering angle are obtained for each segment and the motion during the segment is assigned to one of the four classes: ahead, left, right, stop. A hidden Markov model f...

The trajectory HMM has been shown to be useful for model-based speech synthesis where a smoothed trajectory is generated using temporal constraints imposed by dynamic features. To evaluate the performance of such model on an ASR task, we present a trajectory decoder based on tree search with delayed path merging. Experiment on a speaker-dependent phone recognition task using the MOCHA-TIMIT dat...

This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...

Determination of the borehole and fracture initiation positions is the main aim of a borehole stability analysis. A wellbore trajectory optimization with the help of the mud pressure may be unreasonable since the mud pressure can only reflect the degree of difficulty for the initial damage to occur at the wellbore rather than the extent of the wellbore damage. In this work, we investigate...

The multilevel model of change and the latent growth model are flexible means to describe all sorts of population heterogeneity with respect to growth and development, including the presence of sub-populations. The growth mixture model is a natural extension of these models. It comes at hand when information about sub-populations is missing and researchers nevertheless want to retrieve developm...

In this paper, we solve higher index differential algebraic equations (DAEs) by transforming them into integral algebraic equations (IAEs). We apply collocation methods on continuous piece-wise polynomials space to solve the obtained higher index IAEs. The efficiency of the given method is improved by using a recursive formula for computing the integral part. Finally, we apply the obtained algo...

this paper studies the dynamic behavior of price elasticity and its effects on the overall profit. although price elasticity has a significant effect on sales, its dynamics have not been examined so far in pricing models. in this paper, a simple pricing model is suggested in which, price elasticity is considered dynamic. the suggested pricing model is concerned with a monopolist that its object...

Trajectory of an under-actuated manipulator is usually generated according to both kinematics and dynamics of the manipulator, different to that of conventional manipulator. For this reason, another important problem in trajectory generation for the real system of an under-actuated manipulator is the realizablity of trajectory. That is, the real trajectory by real system may differ greatly from...