In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

The two translational degrees-of-freedom (DOF) and one rotational DOF (2T1R) planar parallel mechanisms (PMs) have the characteristics of simple structures, kinematic dynamic models, ease control allow for a variety application prospects. This paper concentrates on derivations 5-DOF hybrid manipulators based synthesized mechanisms. To understand effect constraint motion rigid body clearly, meth...

In this paper we present a new technique to solve Quantified Boolean Formulas (QBF). Our technique applies the idea of dynamic partitioning to QBF solvers. Dynamic partitioning has previously been utilized in #SAT solvers that count the number of models of a propositional formula. One of the main differences with the #SAT case comes from the solution learning techniques employed in search based...

This paper proposes a software benchmark tool for the Quanser “3 DOF Helicopter” in the Mathworks Simscape environment, based on a multi-body model of the experimental setup. The proposed benchmark tool takes into account a number of implementation features of the experimental setup and aims at providing a tool for simulative validation and performance analysis of control strategies. Along with...

Noise, Vibration and Harshness (NVH) analysis has presented a formidable computational challenge in the last several years. Accurate prediction of automobile frequency response at higher frequencies requires FE models which have millions of DOF. For obtaining frequency response over a broad frequency range, only the modal frequency response approach has been practical, and only vector supercomp...

We present a novel system for propositional Answer-Set Programming (ASP). This system, called dynASP, is based on dynamic programming and thus significantly differs from standard ASP-solvers which implement techniques stemming from SAT or CSP.

Solving dynamic combinatorial problems poses a particular challenge to optimisation algorithms. Optimising a problem that does not notify the solver when a change has been made is very difficult for most well-known algorithms. Extremal Optimisation is a recent addition to the group of biologically inspired optimisation algorithms. Due to its extremely simple functionality, it is likely that the...

The kinematics of a two rotational degrees-of-freedom (DOF) spherical parallel manipulator (SPM) is developed based on the coordinate transformation approach and the cosine rule of a trihedral angle. The angular displacement, angular velocity, and angular acceleration between the actuators and end-effector are thus determined. Moreover, the dynamic model of the 2-DOF SPM is established by using...