This paper presents the dynamic modeling of a nonholonomic mobile robot and the dynamic stabilization problem. The dynamic model is based on the kinematic one including nonholonomic constraints. The proposed control strategy allows to solve the control problem using linear controllers and only requires the robot localization coordinates. This strategy was tested by simulation using Matlab-Simul...

In this paper, a tight coupling between computer vision and parallel robotics is exhibited through the projective line geometry. Indeed, contrary to the usual methodology where the robot is modeled independently from the control law which will be implemented, we take into account, since the early modeling stage, that vision will be used for control. Hence, kinematic modeling and projective geom...

We study the dynamics of the classical and quantum mechanical scattering of a wave packet from an oscillating barrier. Our main focus is on the dependence of the transmission coefficient on the initial energy of the wave packet for a wide range of oscillation frequencies. The behavior of the quantum transmission coefficient is affected by tunneling phenomena, resonances, and kinematic effects e...

This paper concerns with the modeling and construction of a fifth order method for two dimensional acoustic wave equation in heterogenous media. The method is based on a standard discretization of the problem on smooth regions and a nonstandard method for nonsmooth regions. The construction of the nonstandard method is based on the special treatment of the interface using suitable jump conditio...

earthquake ground-motions show significant variability in both spectral and temporal characteristics. procedures to generalize and predict strong ground motions may be generally divided into three main disciplines: numerical techniques based on a kinematic source description, empirical attenuation models, and semi-empirical stochastic models. numerous studies have shown that, in the near-fault ...

Hyperspherical partial wave theory has been applied here in a new way in the calculation of the triple differential cross sections for the ionization of hydrogen atoms by electron impact at low energies for various equal-energy-sharing kinematic conditions. The agreement of the cross section results with the recent absolute measurements of Röder et al [51] and with the latest theoretical result...