Omnimagnet: An Omnidirectional Electromagnet for Controlled Dipole-Field Generation

Path Following and Velocity Optimizing for an Omnidirectional Mobile Robot

In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...

Noncommutative Dipole Field Theories

Assigning an intrinsic constant dipole moment to any field, we present a new kind of associative star product, the dipole star product, which was first introduced in [hepth/0008030]. We develop the mathematics necessary to study the corresponding noncommutative dipole field theories. These theories are sensible non-local field theories with no IR/UV mixing. In addition we discuss that the Loren...

Parameters That Affect the Accuracy and Setability of a Magnetic Field in an Iron Core Electromagnet*

Optimization of the Shape of an Electromagnet: Regularity

In this paper we study the regularity of the solution of an elliptic partial di erential equation with discontinuous coe cients. This result is used to establish the continuous Fr echet di erentiability of a shape functional arising in the optimal shape design of an electromagnet.

Trajectory generation and control for four wheeled omnidirectional vehicles

This paper describes an algorithm to calculate near-optimal minimum time trajectories for four wheeled omnidirectional vehicles, which can be used as part of a high-level path planner. The algorithm is based on a relaxed optimal control problem. It takes limited friction and vehicle dynamics into account, as encountered in high-performance omnidirectional vehicles. The low computational complex...