Now showing items 1-10 of 85
DYNAMAN: A Tool for Manipulator Design and Analysis.
This report describes a method to formulate the dynamic equations of a robot manipulator with N links and with either revolute or prismatic joints using a Newton-Euler formulation. A general- purpose tool for analysis and ...
Relative Equilibria for Two Rigid Bodies.
For simple mechanical systems with symmetry, a variational principle on configuration space determines relative equilibria. Here, this principle of symmetric criticality is applied to a problem of coupled rigid bodies. ...
Fast Evaluation of Demagnetizing Field in Three Dimensional Micromagnetics using Multipole Approximation
Computational micromagnetics in three dimensions is of increasing interest with the development of magnetostrictivesensors and actuators. <p>In solving the Landau-Lifshitz-Gilbert (LLG) equation, the governing equation of ...
The Dynamics of Coupled Planar Rigid Bodies.
This paper studies the dynamics of coupled planar rigid bodies, concentrating on the case of two bodies coupled with a hinge joint. The Hamiltonian structure is non-canonical and is obtained using the methods of reduction, ...
A Simple Control Law for UAV Formation Flying
This paper presents a Lie group setting for the problem of control of formations, as a natural outcome of the analysis of a planar two-vehicle formation control law. <p>The vehicle trajectories are described using planar ...
Eulerian Many-Body Problems.
The hamiltonian dynamics of coupled structures is discussed. There are geometric parallels in earlier work on the Newtonian (gravitational) many-body problem. In the study of relative equilibria, a theorem due to Smale has ...
Neural Network Solutions to Problems in 'Early Taction'.
In this paper we examine the application of artificial neural networks to low level processing of tactile sensory data. In analogy to the term early msion, we call the first level of processing required in tactile sensing ...
Adaptive Wavefront Control using a Nonlinear Zernike Filter
A conventional Zernike filter measures wavefront phase by superimposing the aberrated input beam with a phase-shifted version of its zero-orderspectral component. The Fourier-domain phase-shifting is performed by afixed ...
The Second Synthetic Microstructures in Biological Research Conference.
Hamiltonian Dynamics of a Rigid Body in a Central Gravitational Field
This paper concerns the dynamics of a rigid body moving under the influence of a central gravitational field. Explicit account is taken of effects arising because of the finite extent of the body. The hamiltonian framework ...