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A new approach to optimal decoupling for multi-input multi-output (MIMO), linear, time-invariant control systems, is presented. This general optimal decoupling method is based on the minimization of componentwise performance ...

The motion of an autonomous underwater vehicle (AUV) is controllable even with reduced control authority such as in the event of an actuator failure. In this paper we describe a technique for synthesizing controls for ...

The transfer of electricity across a continuously rotating joint is especially important in robot joints and brush-type motors. In this paper, the shortfalls of present technologies, such as electric brushes, are discussed. ...

In this paper we present sufficient conditions for controllability of Lie-Poisson reduced dynamics of a class of mechanical systems with symmetry. We prove conditions (boundedness of coadjoint orbits and existence of a ...

A numerical solution procedure combining several weighted residual methods and based on global trial function expansion is developed to solve a model for the steady state gas flow field and temperature distribution in a ...

The method of classification of mechanisms according to kinematic structure and function is used to systematically enumerate gearless differential mechanisms. The method adopted here is to first enumerate 1:-1 constant-velocity ...

Design and optimization of planar leg mechanisms featuring symmetrical foot-point paths are presented in this study. These leg mechanisms are designed in such a way that a corresponding walking machine has the flexibility ...

Notes of a graduate course given in Venice, Italy, during June 1996 organized by CIME, directed to graduate students to show the interplay of different kinds of Radon transforms and medical and material science problems

In this paper we consider the problem of controlling the orientation of a satellite with thrusters which provide two control torques. We derive open loop steering control laws for steering the satellite from one orientation ...

Lecture presented at Taniguchi Symposium, Katata, June 1995. Deals with new kind of differential equations for multivalued functions. The monodromy operator is allowed to enter into the equation. Related to resurgence and ...