We wish to navigate across complicated three-dimensional structures. We describe a robot that can propel itself on a web of surfaces oriented around arbitrary directions in three-space. This robot is an inchworm-like robot with a simple, modular, and exi-ble design. We present control algorithms for the task-level skills that allow the robot to walk vertically, horizontally , and inverted, and ...

We investigate the characteristics of constant-amplitude input shapers for robust time-optimal maneuvers of exi-ble structures. Trends in the timing of the shaper impulses are shown as a function of the system damping constant and move distance. The insensitivity to modeling errors, time-optimality, amount of vibration caused during maneuvers, and high frequency excitation of these shapers are ...

From the viewpoint of multilingual generation, the common underlying knowledge base should be kept clear of language-speciic concepts. This goal presupposes that lexical items of various languages cannot map one-to-one onto concepts all the time. We propose a more exi-ble way of attaching lexical items to conngurations of concepts and roles, and a lexical option nder that determines the set of ...

In this paper, the problem under consideration is multiobjective non-linear fractional programming problem involving semilocally convex and related functions. We have discussed the interrelation between the solution sets involving properly efficient solutions of multiobjective fractional programming and corresponding scalar fractional programming problem. Necessary and sufficient optimality...

tripropylammonium fluorochromate(vi) (tpafc), is an efficient and new reagent, which isprepared easily and oxidizes thiols to the corresponding disulfides, quickly. the reactions areperformed cleanly and are controlled to stop at the disulfide stage, without over-oxidation andside products. coupling of thiols to their corresponding disulfides, are studied in solution atroom temperature and in s...

in this paper, we introduce the new class of implicit l-stable generalized hybrid methods forthe numerical solution of first order initial value problems. we generalize the hybrid methodswith utilize ynv directly in the right hand side of classical hybrid methods. the numericalexperimentation showed that our method is considerably more efficient compared to wellknown methods used for the numer...

A mild and efficient method for the oxidative coupling of thiols by trimethylammonium fluorochromate(TriMFC) in solution is reported. Trimethylammonium fluorochromate is efficient and new reagent, whichprepares easily and oxidizes thiols to the corresponding disulfides quickly. The reactions perform cleanly andcontrolled to stop at the disulfide stage without over-oxidation side products.

in this paper, newton harmonic balance method (nhbm) is applied to obtain the analytical solution for an electron beam injected into a plasma tube where the magnetic field is cylindrical and increases towards the axis in inverse proportion to the radius. periodic solution is analytically verified and consequently the relation between the natural frequency and the amplitude is obtained in an ana...

In this paper,  a heuristic algorithm is proposed in order to solve a nonlinear lexicography goal programming (NLGP) by using an efficient initial point. Some numerical experiments showed that the search quality by the proposed heuristic in a multiple objectives problem depends on the initial point features, so in the proposed approach the initial point is retrieved by Data Envelopment Analysis...