This paper is concerned with the application of the vision control algorithm for robot's point placement task in discontinuous trajectory caused by obstacle. The presented vision control algorithm consists of four models, which are the robot kinematic model, vision system model, parameters estimation model, and robot joint angle estimation model.When the robot moves toward a target along discon...

We propose a novel technique for the large-scale synthesis of aligned-plate nanostructures that are self-assembled and self-supporting. The synthesis technique involves developing nanoscale two-phase microstructures through discontinuous precipitation followed by selective etching to remove one of the phases. The method may be applied to any alloy system in which the discontinuous precipitation...

The well known Brockett condition a topological obstruction to the existence of smooth stabilizing feedback laws has engendered a large body of work on discontinuous feedback stabilization. The purpose of this paper is to introduce a class of control-Lyapunov function from which it is possible to specify a (possibly discontinuous) stabilizing feedback law. For control-affine systems with unboun...

In this paper we will extend the input-to-state stability (ISS) framework to continuous-time discontinuous dynamical systems adopting Filippov’s solution concept and using non-smooth ISS Lyapunov functions. The main motivation for adopting non-smooth ISS Lyapunov functions is that “multiple Lyapunov functions” are commonly used in the stability theory for hybrid systems. We will show that the e...

Abstract. Balancing Neumann-Neumann methods are extented to mixed formulations of the linear elasticity system with discontinuous coeÆcients, discretized with mixed nite or spectral elements with discontinuous pressures. These domain decomposition methods implicitly eliminate the degrees of freedom associated with the interior of each subdomain and solve iteratively the resulting saddle point S...

We develop a Hamiltonian discontinuous finite element discretization of a generalized Hamiltonian system for linear hyperbolic systems, which include the rotating shallow water equations, the acoustic and Maxwell equations. These equations have a Hamiltonian structure with a bilinear Poisson bracket, and as a consequence the phase-space structure, “mass” and energy are preserved. We discretize ...

biosorption of acidic dyes using the live fern azolla filliculoides was studied in a discontinuous system. dye parameters, dye initial concentration and contact time were studied in temperature range of 25-30 ?c and ph=7. it was shown that increasing the 23initial concentration of dye and its contact time resulted in decreasing the dye taking quantity by the absorbent. also, type of dye has an ...

Finite element methods for acoustic wave propagation problems at higher frequency result in very large matrices due to the need to resolve the wave. This problem is made worse by discontinuous Galerkin methods that typically have more degrees of freedom than similar conforming methods. However hybridizable discontinuous Galerkin methods offer an attractive alternative because degrees of freedom...

In this paper, we investigate the number of limit cycles for a class of discontinuous planar differential systems with multiple sectors separated by many rays originating from the origin. In each sector, it is a smooth generalized Liénard polynomial differential system x′ = −y + g1(x) + f1(x)y and y′ = x + g2(x) + f2(x)y, where fi(x) and gi(x) for i = 1, 2 are polynomials of variable x with any...

In this paper, we propose a new multi-rate state estimator for seeking control of hard disk drives, which has a proportional, integral, and discontinuous error feedback structure to improve robustness. Conventional state estimators do not have enough accuracy under the existence of external disturbances and model uncertainty. With the proposed estimator, the seeking control system of hard disk ...