Time-optimal trajectories with bounded velocities and accelerations are known to be parabolic, i.e., piecewise constant in acceleration. An important characteristic of this class of trajectories is the distribution of the switch points, i.e., the time instants when the acceleration of any robot joint changes. When integrating parabolic trajectory generation into a motion planning pipeline, espe...

car body acceleration is an important factor affecting track safety and ride comfort, which are two primary aspects of railway systems. though track level is an important source of wagon body acceleration, no quantitative relation between them is available and the aim of this paper is to propose a method to address this issue. to do so, car body acceleration is determined using a 10 dof simulat...

in this paper, chebyshev acceleration technique is used to solve the fuzzy linear system (fls). this method is discussed in details and followed by summary of some other acceleration techniques. moreover, we show that in some situations that the methods such as jacobi, gauss-sidel, sor and conjugate gradient is divergent, our proposed method is applicable and the acquired results are illustrate...

Iterative solution of the Levermore-Pomraning equations for transport in binary statistical mixtures can be extremely slow in certain limits. We propose an iterative method that improves convergence by utilizing a combination of inner iterations, synthetic acceleration schemes and Krylov iterative methods. Spectral analysis and numerical results show that our new scheme outperforms simpler iter...

This paper investigates trajectory generation for curvature continuous paths. A car-like wheeled robot platform is considered. Planning is performed using a single B-spline curve that maintains continuity through the path. Constraints such as bounded curvature, velocity, and acceleration limits are considered. We minimize the traversal time while maintaining continuity and obeying the robot’s c...

Assuming hydrogen is charge neutral, CPT invariance demands that antihydrogen also be charge neutral. Quantum anomaly cancellation also demands that antihydrogen be charge neutral. Standard techniques based on measurements of macroscopic quantities of atoms cannot be used to measure the charge of antihydrogen. In this paper, we describe how the application of randomly oscillating electric field...

This paper reviews the methods and techniques developed to simulate dislocation dynamics on a mesoscopic scale. Attention is given to techniques of acceleration and to the implementation of special boundary conditions. Typical results concerning the deformation of a bulk crystal, the effect of image forces and the combination with a finite-element code to simulate the indentation test are prese...

According to the general theory of relativity, kinetic energy contributes to gravitational mass. Surprisingly, the observational evidence for this prediction does not seem to be discussed in the literature. I reanalyze existing experimental data to test the equivalence principle for the kinetic energy of atomic electrons, and show that fairly strong limits on possible violations can be obtained...

An important question for human balance control concerns how the differential equations for the neural control of balance should be formulated. In this paper, we consider a discrete-time and a continuous-time delayed proportional-derivative-acceleration controller and establish the transition between them by means of the semi-discretization. We show that the critical delay, which limits stabili...

on the circular curve, lateral acceleration affects comfort. on the spiral, both lateral acceleration and jerk affect comfort.  the determination of maximum curving speed on the basis of lateral acceleration only is not critical because the lateral acceleration is proportional to the square of speed whereas jerk is proportional to cubic power of speed. the maximum speed on a curve is thus signi...