The characteristics of near-fault ground motion are investigated considering heterogeneous slip distribution on the fault plane. Areas on the fault plane with large slip in compare with the average slip on the fault are known as asperity. The characteristics of strong ground motions in near-fault area are strongly affected by faulting parameters such as asperity location, maximum slip of asperi...

The contribution of this paper is the expansion of the range of possibilities in the analysis, planning, and control of contact tasks. The successful execution of any contact task fundamentally requires the application of wrenches (forces and moments) consistent with the task. We develop an algorithm for computing the entire set of external wrenches consistent with achieving a given augmented c...

considering recent developments in earthquake engineering, researchers has detected different effects of earthquakes far and near from the fault. investigations that have been done in this area show that near fault earthquakes have shorter time period comparing far fault earthquakes and in the velocity of near fault earthquakes, there are one or more impacting pulses with a big domain and perio...

Many types of common objects, such as tools and vehicles, usually move in simple ways when they are wielded or driven: the natural axes of the object tend to remain aligned with the local trihedron defined by the object’s trajectory. Based on this observation we use a model called Frenet-Serret motion which corresponds to the motion of a moving trihedron along a space curve. Knowing how the Fre...

Existing penalty-based haptic rendering approaches are based on the penetration depth estimation in strictly translational sense and cannot properly take object rotation into account. We propose a new six-degree-of-freedom (6-DOF) haptic rendering algorithm which is based on determining the closest-point projection of the inadmissible configuration onto the set of admissible configurations. Ene...

this paper presents a new observer design methodology for a time varying actuator fault estimation. a new linear matrix inequality (lmi) design algorithm is developed to tackle the limitations (e.g. equality constraint and robustness problems) of the well known so called fast adaptive fault estimation observer (fafe). the fafe is capable of estimating a wide range of time-varying actuator fault...