Most challenging aspects in the control of complex parallel mechanisms or robotic manipulators is how to deal with the high system nonlinearity and with the coupled dynamics. These aspects can be satisfied by integrating the pose dependent inertia or mass matrix into the control scheme. To satisfy the requirements of real-time application, this paper presents a high efficient method to compute ...

in this paper a new algorithm based on phasor measurements for estimating the thévenin equivalent (te) and system inertia constant is proposed. the method estimates the network te seen from a generator terminal and equivalent system inertia constant by means of phasor data that is available at phasor data concentrator (pdc) center. it is shown that the parameters of the te could be estimated at...

The virtual synchronous generator (VSG) technique is used to simulate the external characteristics of a (SG) provide certain damping and inertia power systems. However, it may easily cause low-frequency oscillation system. We studied small-signal stability grid-connected generator. Firstly, models single-VSG multi-VSG systems were established. Subsequently, system eigenvalues obtained by solvin...

The Finite Element (FE) method has been used to study full-scale oblique impacts of a motorcycle helmet. For these impacts, an elaborate FE model of the human body was employed. The results were compared to the results of the same impacts but by using the detached head of the body. It has been found that the presence of the body influences the head rotational acceleration components (up to 40% ...

1. The inertia of a square matrix A with complex elements is defined to be the integer triple In A = (ir(A), V(A), 8(4)), where ir(A) {v(A)} equals the number of eigenvalues in the open right {left} half plane, and 8(A) equals the number of eigenvalues on the imaginary axis. The best known classical inertia theorem is that of Sylvester : If P > 0 (positive definite) and H is Hermitian, then In ...

The refined inertia of a matrix is a quadruple specifying its inertia and additionally the number of its eigenvalues equal to zero. Spectral properties, especially the refined inertias, of real matrices with a given zero-nonzero pattern are investigated. It is shown that every zero-nonzero refined inertially arbitrary pattern of order 4 or less is also spectrally arbitrary. Irreducible and redu...

The refined inertia (n+, n−, nz, 2np) of a real matrix is the ordered 4-tuple that subdivides the number n0 of eigenvalues with zero real part in the inertia (n+, n−, n0) into those that are exactly zero (nz) and those that are nonzero (2np). For n ≥ 2, the set of refined inertias Hn = {(0, n, 0, 0), (0, n − 2, 0, 2), (2, n − 2, 0, 0)} is important for the onset of Hopf bifurcation in dynamical...

For positive real numbers $r$, $p\_0$, and $p\_1 < \cdots p\_n,$ let $K\_r$ be the $n \times n$ Kraus matrix whose $(i,j)$ entry is equal to $$ \frac{1}{p\_i - p\_j} \Bigl( \frac{p\_i^r p\_0^r}{p\_i -p\_0} \frac{p\_j^r p\_0^r}{p\_j \Bigr). We determine inertia of this matrix.

The refined inertia (n+, n−, nz, 2np) of a real matrix is the ordered 4-tuple that subdivides the number n0 of eigenvalues with zero real part in the inertia (n+, n−, n0) into those that are exactly zero (nz) and those that are nonzero (2np). For n ≥ 2, the set of refined inertias Hn = {(0, n, 0, 0), (0, n − 2, 0, 2), (2, n − 2, 0, 0)} is important for the onset of Hopf bifurcation in dynamical...

We apply retrospective cost adaptive control (RCAC) to spacecraft attitude control with magnetic actuators. We compare two approaches to address the rank deficiency and time-varying nature of the input matrix. The first approach utilizes an average of the magnetic field based on a-priori knowledge, whereas the second approach uses three multi-input, single-output controllers. RCAC uses no infor...