A methodology for the formulation of dynamic equations of motion of a serial flexible-link manipulator using the decoupled natural orthogonal complement (DeNOC) matrices, introduced elsewhere for rigid bodies, is presented in this paper. First, the Euler Lagrange (EL) equations of motion of the system are written. Then using the equivalence of EL and Newton–Euler (NE) equations, and the DeNOC m...

This paper describes the conceptual design of a micro coaxial unmanned aerial vehicle (MCR UAV v3.0) based on its flight dynamics and simple aerodynamic analysis using computational fluid (CFD). In addition, linear control is proposed with pole assignment technique. The methodology in this involves standardized path for designing novel UAV. begins by selecting avionics to create primary dimensi...

This work presents a Differential Dynamic Programming (DDP) approach for systems characterized by implicit dynamics using sensitivity analysis, such as those modelled via inverse dynamics, variational, and integrators. It leads to more general formulation of DDP, enabling the use faster recursive Newton-Euler dynamics. We leverage precise exact contact modelling in where we focus on two contrib...

In this article, a novel yet simple step climbing robot is proposed and comprised of two front wheels, rear-wheel an actuator to vary the center distance between rear wheels. When climbs stair, huge variance in inclination angle may result its toppling. Hence, mechanism compensate for change angle. An inertial measuring unit (IMU) used sense which then fed microcontroller order actuate connecti...

In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control base...

This expository paper traces the development of the Newton-Raphson method for solving nonlinear algebraic equations through the extant notes, letters, and publications of Isaac Newton, Joseph Raphson, and Thomas Simpson. It is shown how Newton's formulation differed from the iterative process of Raphson, and that Simpson was the first o give a general formulation, interms of fluxional calculus,...

We derive Newton-type solution algorithms for a Bernoulli-type freeboundary problem at the continuous level. The Newton schemes are obtained by applying Hadamard shape derivatives to a suitable weak formulation of the freeboundary problem. At each Newton iteration, an updated free boundary position is obtained by solving a boundary-value problem at the current approximate domain. Since the boun...

In this paper, a size-dependent formulation for the Bernoulli-Euler beam is developed based on a new model of couple stress theory presented by Hadjesfandiari and Dargush. The constitutive equation obtained in this new model, consists of only one length scale parameter that is capable of capturing the micro-structural size effect in predicting the mechanical behavior of the structure. Having on...

A stabilized, mixed nite element formulation for modelling viscoplastic ow, which can be used to model approximately steady-state metal-forming processes, is presented. The mixed formulation is expressed in terms of the velocity, pressure and state variable elds, where the state variable is used to describe the evolution of the material’s resistance to plastic ow. The resulting system of equati...

We present an approximate Jacobian approach for solving nonlinear, multiphase flow and transport problems in porous media. A backward Euler time discretization scheme is used; prior to spatial discretization with a lowest order mixed finite element method (MFEM). This results in a fully implicit nonlinear algebraic system of equations. Conventionally, an exact Jacobian construction is employed ...