cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. during such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. therefore, to design and dev...

data envelopment analysis (dea) has been proven as an efficient technique to evaluate the performance of homogeneous decision making units (dmus) where multiple inputs and outputs exist. in the conventional applications of dea, the data are considered as specific numerical values with explicit designation of being an input or output. however, the observed values of the data are sometimes imprec...

This paper describes a recently introduced vector-valued representation of fundamental frequency variation – the FFV spectrum – which has a number of desirable properties. In particular, it is instantaneous, continuous, distributed, and well-suited to application of standard acoustic modeling techniques. We show what the representation looks like, and how it can be used to model prosodic sequen...

A modeling method for representing belt object deformation is proposed. Deformation of belt objects such as film circuit boards or flexible circuit boards must be estimated for automatic manipulation and assembly. In this paper, we assume that deformation of an inextensible belt object can be described by the shape of its central axis in a longitudinal direction called “the spine line” and line...

this paper presents a gaussian radial basis function neural network based on sliding mode control for trajectory tracking and vibration control of a flexible joint manipulator. to study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. the adaptation laws of designed controller are obtained based on sliding m...

The microtubule (MT)-associated motor protein kinesin utilizes its conserved ATPase head to achieve diverse motility characteristics. Despite considerable knowledge about how its ATPase activity and MT binding are coupled to the motility cycle, the atomic mechanism of the core events remain to be found. To obtain insights into the mechanism, we performed 38.5 microseconds of all-atom molecular ...

A study is presented of the axially symmetric deformation of a non-homogeneous elastic halfspace subjected to torsional shear tractions that are linearly distributed over a circular portion of the otherwise free surface. The problem is formulated in terms of Hankel integral transforms and an inverse procedure is implemented in which the determination of the type of non-homogeneity constitutes p...

This thesis presents the findings of exploratory research in low-cost compliant robotics. The most heavily leveraged trade-off is that of mechanical precision for computational power, with the hope that the price of future computation will continue to fall exponentially while the expected price of precision mechanical parts will remain relatively constant. The most novel contribution of this re...

Interplay between structure and function in atomically thin crystalline nanoribbons is sensitive to their conformations yet the ability to prescribe them is a formidable challenge. Here, we report a novel paradigm for controlled nucleation and growth of scrolled and folded shapes in finite-length nanoribbons. All-atom computations on graphene nanoribbons (GNRs) and experiments on macroscale mag...