This contribution presents the control of a certain kind of mechanical systems based on energy considerations. The plants under investigation are underactuated lumped and distributed parameter systems, which consist of two masses and an elastic element. After a brief introduction of the used mathematical objects, the proposed controller design method is applied to a simple introductory example ...

In this paper we analyse static properties of mass spring models (MSMs) with the focus modelling non crystalline materials, and explore basic improvements, which can be made to MSMs disordered point placement. Presented techniques address problem high variance MSM occur due randomised nature distribution. The is placed on tuning parameters in a way would compensate for local non-uniformity dens...

The medical training systems based on virtual simulation are highly desired since minimally invasive surgical techniques have become popular to patients. The training system helps surgeon trainees to acquire, practice and evaluate their surgical skills, and the key component of such a system is to simulate the dynamic procedure such as 3D biological tissue deformation in surgical operation. In ...

In this paper we propose an e cient technique for the animation of exible objects Mass spring model was employed to represent the exible objects The easiest approach to animation with mass spring model is explicit Euler method but the explicit Euler method has serious disadvantage that it su ers from instability problem The implicit integration method is a possible solution to overcome the inst...

This paper presents a new improved nonlinear tracking differentiator (INTD) with hyperbolic tangent function in the state-space system. The stability and convergence of the INTD are thoroughly investigated and proved. Through the error analysis, the proposed INTD can extract differentiation of any piecewise smooth nonlinear signal to reach a high accuracy. The improved tracking differentiator (...

We present a novel real-time method for geometric displacement mapping on arbitrary 2-manifold triangle meshes. It is independent of the surface resolution and allows very fine geometric details to be added. We first compute a local surface parameterization using barycentric particle tracing and a constrained mass-spring system. This system satisfies the hard constraint of keeping all mass poin...

The Wilberforce pendulum provides an important qualitative demonstration of coupled harmonic oscillators, but quantitative measurements are not typically performed. The present work examines the dynamics of a simple pendulum comprising a steel spring with attached mass using an ultrasonic motion detector. A series of measurements allowed determination of the coupling constant between the longit...

songs of insects may be shrill, raucous or musical, brief or sustained but, whether loud or quiet, they tend to convey information within a narrow band of sound frequencies. The narrow frequency band implies that the sound-producing system is in some way tuned. In this review, I shall address the mechanisms by which sharply tuned sounds are produced by insects and explore the acoustical and bio...