The use of Coulomb’s friction law with the principles of classical rigid-body dynamics introduces mathematical inconsistencies. Specifically, the forward dynamics problem can have no solutions or multiple solutions. In these situations, compliant contact models, while increasing the dimensionality of the state vector, can resolve these problems. The simplicity and efficiency of rigid-body model...

The purpose of this paper is to design and analyze feedback control laws achieving output linearization for wheeled mobile robots models taking into account small slipping effects at the wheel/ground contact point. We discuss the existence and attractivity of the slow manifold associated to any feedback control, and we show the existence of a feedback control law that achieves output linearizat...

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cu-mo and cu-ti contact structures were fabricated on multi-crystalline silicon substrates to provide a low resistance ohmic contact. deposition steps are done in an excellent vacuum chamber by means of electron beam evaporation and samples are then annealed for the realization of an efficient alloy layer. the effects of process parameters such as film thickness, annealing duration and temperat...

This paper presents studies of the universal properties of strongly interacting Fermi gases using Bragg spectroscopy. We focus on pair-correlations, their relationship to the contact C introduced by Tan, and their dependence on both the momentum and temperature. We show that short-range pair correlations obey a universal law, first derived by Tan through measurements of the static structure fac...