In this paper, we develop an adaptive decentralized compliant control of robot manipulator. The robot manipulator is in contact with the environment and the contact force is normal to the contact plane. When the environment stiffness is given, an adaptive decentralized compliant controller is designed based on a Lyapunov based method such that both the force tracking error and the complementary...

Applying the laws of thermodynamics, a general energy approach is formulated to study delayed fracture structural materials under action force load (static, cyclic, shunting mode its change), high temperatures, hydrogen-corrosive media, neutron irradiation. Based on process, models and forecasting methods residual resource elements in mentioned operating conditions are developed. basic concepts...

In this work we calculate the eigenvalues obtained by preconditioning the discrete Helmholtz operator with Sommerfeld-like boundary conditions on a rectilinear domain, by a related operator with boundary conditions that permit the use of fast solvers. The main innovation is that the eigenvalues for two and three-dimensional domains can be calculated exactly by solving a set of one-dimensional e...

In this paper we show how the properties of integral operators and their approximations are reeected in the performance of the GMRES iteration and how these properties can be used to smooth the GMRES iterates, thereby strengthening the norm in which convergence takes place. The smoothed iteration has very similar properties to Broyden's method and we present some comparisons of the two methods ...

This paper is devoted to the analysis of the behaviour, in nite precision arithmetic, of the quasi-minimal residual method without look ahead for the solution of linear systems Ax = b where A is a real or complex matrix of order n. In exact arithmetic, the behaviour of the method as applied to symmetric deenite matrices is well understood; but results about convergence usually suppose that the ...

In the present paper, we propose the global full orthogonalization method (Gl-FOM) and global generalized minimum residual (Gl-GMRES) method for solving large and sparse general coupled matrix equations

Standard multigrid algorithms have proven ineffective for the solution of discretizations of Helmholtz equations. In this work we modify the standard algorithm by adding GMRES iterations at coarse levels and as an outer iteration. We demonstrate the algorithm’s effectiveness through theoretical analysis of a model problem and experimental results. In particular, we show that the combined use of...