This paper presents an anlysis based on the momentum conservation equations of a redundant free-flying spacecraft/manipulator system, acting in zero-gravity environment. In order to follow a predefined end-effector path, the inverse kinematics at velocity level is considered. The redundancy i solved alternatively in terms of pseudoinverses and null-space components of the manipulator inertia ma...

Rezumat. În această lucrare est e propusă o arhitectură de control cu structură vari abilă pentru comanda unui robot redundant. Cooperarea actuatorilor robotului, pentru efectuarea unei sarcini robotice, se realizează prin alocarea dinamică de sub-sarcini robot, pentru fiecare sub-controler al arhitecturii. Algoritmul de control al unui sub-controler autonom se bazează pe matricea Jacobian a ro...

– Moisture detection inside pillars using electrical resistivity tomography (ERT). Three-dimensional ERT modeling non-conventional arrays. Jacobian matrix optimization method.

A new nonlinear solution method is developed and applied to a non-equilibrium radiation di!usion problem. With this new method, Newton-like super-linear convergence is achieved in the nonlinear iteration, without the complexity of forming or inverting the Jacobian from a standard Newton method. The method is a unique combination of an outer Newton-based iteration and and inner conjugate gradien...

The inverse problem in 3D eddy current imaging is ill-posed and non-linear. The most commonly used image reconstruction algorithms for electrical imaging are based on a linear approximation (the Jacobian Matrix). We start with an initial conductivity distribution. The forward problem is solved and the predicted voltages compared with the calculated voltages from the Finite Element model. The co...

The local kinematic properties of a robotic manipulator’s configuration can be described by its corresponding Jacobian matrix. Conversely, one can determine a manipulator that possesses certain desirable kinematic properties by specifying the required Jacobian. In this work, design criteria that require a manipulator to function in a configuration that is optimal under normal operation and afte...

We investigate the stability of a dynamic brain model using conventional techniques of linearization of the state space equations of motion for two nearby solutions followed by solution via expansion in the eigenvectors of the Jacobian matrix with eigenvalues λ1, λ2, ..., λn. The fundamental stability condition for brains is then |λk| ≅ 1. By equating terms in two versions of the characteristic...

In this paper, we present a linear transformation (LT) to obtain warped features from unwarped features during vocal-tract length normalisation (VTLN). This LT between the warped and unwarped features is obtained within the conventional MFCC framework without any modification in the signal processing steps involved during the feature extraction stage. Further using the proposed LT, we study the...

Global dynamics of a non-linear Cellular Automaton (CA), is, in general irregular, asymmetric and unpredictable as opposed to that of a linear CA, which is highly systematic and tractable. In this paper, efforts have beenmade to systematize non-linear CA evolutions in the light of Boolean derivatives and Jacobianmatrices. A few new theorems onHamming Distance between Boolean functions as well a...

Abstract For many problems, the correct behavior of a model depends not only on its input-output mapping but also on properties of its Jacobian matrix, the matrix of partial derivatives of the model’s outputs with respect to its inputs. We introduce the J-prop algorithm, an efficient general method for computing the exact partial derivatives of a variety of simple functions of the Jacobian of a...