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The authors have studied a motion generation by a wobbling mass attached in the center of a semicircular-shaped body, and showed that generation of a downward motion on a downhill is possible through 4-DOF 1-input underactuated-system with 1-DOF linkage inside the body. The system is, however, difficult to generate a forward motion on level surface. Currently, the authors set the trajectory of the...
A mathematical model of electrically charged plastic particles movement in the free-fall electrostatic separator is discussed based on the theoretical analysis and experimental observation. The formulated model considers both field-to-particle and also particle-to-particle interactions and takes into account stochastic characteristics of the model parameters. Simulation of particle motion, therefore,...
We studied the force and potential for the vortex around moat corner as an example of the concave edge of the superconducting film by the numerical calculation method. Vortex behavior is one of the significant factors that determine the characteristics of superconducting devices. In some simple cases, such as a straight line with a constant width, the potential for the vortex can be calculated analytically...
In this study, a collision avoidance method with model predictive control is proposed for a nonlinear model of a four-wheeled vehicle. The C/GMRES algorithm is used for solving the nonlinear model predictive control (NMPC) problem within a short sampling period. A nonlinear tire model is employed to represent the realistic behavior of a vehicle. Here, to consider whether it is possible to avoid an...
Brachytherapy is a validate treatment for certain stage,prostate cancer.Large deformation characteristic of soft tissue and force loaded on the tip of insertion needle will cause some unexpectable results, such as imprecise implant of radioactive seeds and extra injury to other tissues. Apparently, improved implant accuracy can not only improve the local control but also reduce global toxicity. As...
In this paper, coordinated motion control of underwater vehicle-manipulator system (UVMS) is addressed. In order for UVMS to carry out manipulation tasks alone, motion planning with consideration of redundancy and tracking control under disturbances are required. We propose redundancy resolution with optimization of restoring moments as motion planning and inverse optimal nonlinear Hinfin control...
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