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We consider the nonholonomic motion planning problem for a novel class of snakelike modular mobile manipulators, where each module is implemented as a planar parallel manipulator with idler wheels. This assembly is actuated ...

In this dissertation, the concept of transmission lines for topological synthesis of articulated gear mechanisms is introduced. It is shown that the structure matrix, which related input displacements to the joint angles ...

This dissertation addresses issues in the robust control of nonlinear dynamic systems near points of bifurcation, with application to the feedback control of aircraft high angle-of- attack flight dynamics. Specifically, ...

This report discusses the design of a six-legged walking machine during the academic year of 1990-1991. The body design incorporated two pods for stability and ease of turning, The leg design was optimized for performance, ...

Complex engineering system design usually involves multiple objective specifications. Tradeoffs have to be made among these specifications, possibly under constraints, as they oftentimes compete with one another. It has ...

In a previous paper [15], we showed that supervisory control of nondeterministic discrete event systems, in the presence of driven events, can be achieved using prioritized synchronous composition as a mechanism of control, ...

In recent years, smart composites have been introduced in the market that open up new possibilities for controlling or sensing flexible structures. Internal properties of these composite materials which are either embedded ...

Workspace and singularity analysis of a novel three-limbed, six degree-of-freedom (DOF) minimanipulator is presented. The minimanipulator limbs are inextensible and its actuators are base-mounted. The lower ends of the ...

JAKEFSQP is a utility program that allows a user of the FSQP constrains optimization routines to involve the automatic differentiation preprocessor JAKEF with minimal burden.

Feedback control of bifurcation and chaos in nonlinear dynamical systems is discussed. The article summarizes some of the recent work in this area, including both theory and applications. Stabilization of period doubling ...