This paper proposes the formalization and implementation of a novel class of constraints aimed at modeling problems related to placement of multi-body systems in the 3-dimensional space. Each multi-body is a system composed of body elements, connected by joint relationships and constrained by geometric properties. The emphasis of this investigation is the use of multi-body systems to model nati...

Based on the deterministic Maxwellian framework, we investigate the ability of each of the dual fields (electric and magnetic) in carrying independent information in a multi-polarization MIMO system. We quantify the performance by using a well-defined power independent dimensionality (PID) metric. We present numerical results for 3 deterministic scenarios: a canonical free-space (near and far f...

In this paper we present the out-of-core multi-frontal direct solver algorithm for multi-physics problems. The solver is based on the binary elimination tree, with number of leaves equal to the number of finite elements. The solver browses the elimination tree in the post-order, eliminates fully assembled degrees of freedom and merges resulting Schur complement matrices. The solver is intended ...

The dynamic characteristics of deflectable nose missiles with rotary single-channel control were investigated in this paper. Firstly, the effective angle of attack, effective angle of sideslip and quasi-body coordinates were introduced based on the spin characteristics of the missile’s body. Secondly, considering the interaction between the missile’s nose and body, the rigid kinetic model of mi...

This paper characterizes the degrees of freedom (DoF) regions for the multi-user vector broadcast channel with periodic channel state information (CSI) feedback. As a part of the characterization, a new transmission method called spacetime interference alignment is proposed, which exploits both the current and past CSI jointly. Using the proposed alignment technique, an inner bound of the sum-D...

The purpose of this paper is to model and simulate a 6 DOF robotic system with revolute joints in order to optimize the motion law which results in uniform coating deposited by spray pyrolysis. The structure and the complexity of the robotized system are determined by the necessary movements in the spray pyrolysis process. The nozzle (end-effector of the robot manipulator) has two translations,...

The Korea Advanced Institute of Science and Technology (KAIST) humanoid robot 1 (KHR-1) was developed for the purpose of researching the walking action of bipeds. KHR-1, which has no hands or head, has 21 degrees of freedom (DOF): 12 DOF in the legs, 1 DOF in the torso, and 8 DOF in the arms. The second version of this humanoid robot, KHR-2, (which has 41 DOF) can walk on a living-room floor; i...