Initial transient oscillations inhibited in the dynamic simulations responses of multibody systems can lead to inaccurate results, unrealistic load prediction, or simulation failure. These transients could result from incompatible initial conditions, initial constraints violation, and inadequate kinematic assembly. Performing static equilibrium analysis before the dynamic simulation can elimina...

This paper presents dynamic analysis studies of planar parallel flexible 3-RRR manipulator with and without considering the flexibility of mobile platform. Initially, by treating all the members of the manipulator as flexible, the joint displacements, reaction forces and stresses are obtained during a specified trajectory tracking in Cartesian space. A comparative study is conducted with manipu...

We propose a time discretization of the Navier-Stokes equations inspired by the theory of gradient flows. This discretization produces Leray/Hopf solutions in any dimension and suitable solutions in dimension 3. We also show that in dimension 3 and for initial datum in H, the scheme converges to strong solutions in some interval [0, T ) and, if the datum satisfies the classical smallness condit...

Automatic writer identification and writer verification has recently received significant attention in the field of historical analysis. In this work a short overview of current approaches for writer identification is given. Current state-of-the-art results on contemporary data are related to different approaches for writer verification on a small dataset of datum lines extracted from papal cha...

he first realization of NAD 83 was introduced in 1986 by a group of institutions re p resenting the various North American countries to upgrade the previous reference system; that is, the North American Datum of 1927 or NAD 27. In particular, the National Geodetic Survey (NGS) represented the United States, and this federal institution officially refers to the first NAD 83 realization as NAD 83...

This paper presents an experimental study on impedance control in both Cartesian and object level with adaptive friction compensation for dexterous robot hand based on joint torque feedback. To adaptively decrease the effects of high friction caused by complex transmission systems and joint coupling, a friction observer is proposed based on the extended Kalman filter (EKF) in this paper. A Cart...

The paper presents a new generation of torque-controlled lightweight robots (LWR) developed at the Institute of Robotics and Mechatronics of the German Aerospace Center. In order to act in unstructured environments and interact with humans, the robots have design features and control/software functionalities which distinguish them from classical robots, such as: load-to-weight ratio of 1:1, tor...

A block lower-upper symmetric Gauss-Seidel (BLU-SGS) implicit dual time-stepping method is developed for moving body problems with hybrid dynamic grids. To simulate flows over complex configurations, a hybrid grid method is adopted in this paper. Body-fitted quadrilateral (quad) grids are generated first near solid bodies. An adaptive Cartesian mesh is then generated to cover the entire computa...