A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...

This paper investigates the strategies used during the human sit to stand movement. The analysis was carried out by means of the 3D videographic examination methods and a posturographic platform. The joint trajectories corresponding to the motion were reconstructed using the Humanoid Motion Analysis and Simulation (HuMAnS) toolbox developed at INRIA-Grenoble. The reliability of the dynamic mode...

Process types – a kind of behavioral types – specify constraints on message acceptance for the purpose of synchronization and to determine object usage and component behavior in object-oriented languages. So far process types have been regarded as a purely static concept for Actor languages incompatible with inherently dynamic programming techniques. We propose solutions of related problems cau...

In recent years energy shortage and environmental impacts due to consuming fossil fuels have led to developing renewable energy sources systems. Since these sources are not reliable and are usually time dependent, an energy storing system like hydrogen production is required. In this regard, PEM electrolyzer can be efficiently used to decompose liquid water into hydrogen and oxygen. Because of ...

Companies and firms, nowadays, due to mounting competition and product diversity, seek to apply virtual cellular manufacturing systems to reduce production costs and improve quality of the products. In addition, as a result of rapid advancement of technology and the reduction of product life cycle, production systems have turned towards dynamic production environments. Dynamic cellular manufact...

This paper describes the CHAIn system, which is designed to facilitate data sharing between disparate organisations during emergency response situations by resolving mismatches in their data. It uses structured data matching to reformulate failed queries in cases where these failed because of incompatibilities between the query (derived from the source schema) and the schema of the queried data...

The objective of the project is to build a dynamic model of the UK population which is richly specified and spatially disaggregate. In other words, both individuals and households are represented in great detail, being accorded characteristics such as age, income, family membership, and health status; and are assigned to geographical locations at least to the level of census output areas (i.e. ...

data envelopment analysis (dea) measures the relative efficiency of decision making units (dmus) with multiple inputs and multiple outputs. dea-based malmquist productivity index measures the productivity change over time. we propose a dynamic dea model involving network structure in each period within the framework a dea. we have previously published the network dea (ndea) and the dynamic dea ...

In this article, we develop a dynamic programming model for a periodic review inventory system in which emergency orders can be placed at the start of each period, while regular orders are placed at the beginning of an order cycle (which consists of a number of periods). We assume that the regular and emergency supply lead times di!er by one period. We devise a simple algorithm of computing the...

This paper presents the Real-Time Recursive Dynamics (RTRD) model that is developed for driving simulators. The model could be implemented in the Driving Simulator. The RTRD can also be used for off-line high-speed dynamics analysis, compared with commercial multibody dynamics codes, to speed up mechanical design process. An overview of RTRD is presented in the paper. Basic models for specific ...