Quasi variational inequalities can be viewed as novel generalizations of the and principles, origin which traced back to Euler, Lagrange, Newton Bernoulli's brothers. It is well known that quasi-variational are equivalent implicit fixed point problems. We consider this alternative formulation suggest some new iterative methods for solving related optimization problems using projection methods, ...

An alternative to the Iterative Newton-Euler or linked segment model was developed to compute lower extremity joint moments using the mechanics of the double pendulum. The double pendulum model equations were applied to both the swing and stance phases of locomotion. Both the Iterative Newton-Euler and double pendulum models computed virtually identical joint moment data over the entire stridec...

  A new computational technique is presented to find the optimal base position of dual arm robots in order to carry maximum allowable load. The maximum allowable load on a desired trajectory is limited by the number of factors such as; actuators torque limits, kinematic constraints, and kinematic redundancy of cooperative manipulators. For a dual arm robot mounted on a rail or table, load works...

The identification of dynamical systems from data is a powerful tool in robotics [3]. Learned analytic models may be used for control synthesis and can utilized gravitational inertial compensation [75]. When as simulators, these reduce the sample complexity data-driven methods such RL [15, 11, 28, 46]. For applications, where out-of-distribution prediction typically required, ability to general...

This article focuses on the modeling and controlling of Unmanned Aerial Manipulators (UAMs) in a leader/follower configuration performing cooperative manipulation task. Each UAM consists an Vehicle (UAV) with attached serial-link robotic manipulator. The Recursive Newton-Euler dynamics formulation is employed to account for interaction between UAV its overall system couple UAMs carrying load. c...

This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...

Newton, in an unauthorized textbook, described a process for solving simultaneous equations that later authors applied specifically to linear equations. This method — that Newton did not want to publish, that Euler did not recommend, that Legendre called “ordinary,” and that Gauss called “common” — is now named after Gauss: “Gaussian” elimination. (One suspects, he would not be amused.) Gauss’s...

An efficient formulation for the robust shape optimization of aerodynamic objects is introduced in this paper. The formulation has three essential features. First, an Euler solver based on a second-order Godunov scheme is used for the flow calculations. Second, a genetic algorithm with binary number encoding is implemented for the optimization procedure. The third ingredient of the procedure is...

In this work, the nonlinear buckling and post-buckling behavior of shallow arches made of Shape Memory Alloy (SMA) is investigated. Arches are susceptible to large deflections, due to their slenderness, especially when the external load exceeds the serviceability limit point. Beyond this, loss of stability may occur, the famous snap-through buckling. For this reason, curved beams can be used in...