Service robotics, as it has been intended so far, views the accomplishment of a service mission mainly as the result of the action of a single robot. Swarm robotics tackles the very same problem from a different stance, i.e., as the result of a team effort of simple units. The project described here shows this particular approach. It defines first one simple unit (s-bot) capable of independentl...

Seismic assessments of historical masonry buildings are affected by several sources epistemic uncertainty. These mainly the material and modelling parameters displacement capacity elements. Additional uncertainty lie in non-linear connections, such as wall-to-wall floor-to-wall connections. Latin Hypercube Sampling was performed to create 400 sets 11 parameters. The proposed approach is applied...

The following work presents a way to simulate the nano-particle behavior in a flow by coupling the Lattice Boltzmann Method to a rigid body physics engine. By extending the basic fluid simulation for the treatment of curved particle surfaces and by a force interaction method, the fluid forces acting on the nano-particles can be calculated. With this force interaction between the fluid and the p...

Surface operators in gauge theory are analogous to Wilson and ’t Hooft line operators except that they are supported on a two-dimensional surface rather than a one-dimensional curve. In a previous paper, we constructed a certain class of half-BPS surface operators in N = 4 super Yang-Mills theory, and determined how they transform under S-duality. Those surface operators depend on a relatively ...

This paper aims to provide support for the view that individual concepts are basic to natural language semantics. First, the use of constant individual concepts allows us to maintain Kripke’s view of proper names as nondescriptional rigid designators in the face of problems created by so-called “empty names.” And second, the distinction between constant and variable individual concepts can func...

We give a partial positive answer to a conjecture of Tyurin ([28]). Indeed we prove that on a general quintic hypersurface of P every arithmetically Cohen–Macaulay rank 2 vector bundle is infinitesimally rigid.

The stiiness of a rigid body subject to conservative forces and moments is described by a tensor, whose components are best described by a 6 6 Cartesian stiiness matrix. We derive an expression that is independent of the parameterization of the motion of the rigid body using methods of diierential geometry. The components of the tensor with respect to a basis of twists are given by evaluating t...

In this paper, we provide a graph theoretical framework that allows us to formally define formations of multiple vehicles and the issues arising in graph realizations and unicity and their connections to stability of formations. The notion of graph rigidity is crucial in identifying the shape variables of a formation. This eventually leads to tools for formation stabilization, tacking, and form...

The research subject is the rotational stiffness of modular building metal frame nodal connection. connections has a significant impact on results calculating load-bearing building. It known that absolutely rigid exist only in theory. In practice, each connection finite stiffness, as evidenced by numerous studies researchers. When designing real objects, certain design should be carried out. As...