A random graph order, also known as a transitive percolation process, is defined by taking a random graph on the vertex set {0, . . . , n− 1}, and putting i below j if there is a path i = i1 · · · ik = j in the graph with i1 < · · · < ik. In [15], Rideout and Sorkin provide computational evidence that suitably normalised sequences of random graph orders have a “continuum limit”. We confirm that...

A feedforward design methodology to compensate unstable zeros in linear discrete-time systems with tracking objectives is reviewed. An experimental study for end-point tracking of a flexible beam was performed to validate the effectiveness of the proposed scheme. Results are presented and comparisons with zero-phase error tracking (ZPET) are discussed. The methodology exploits the fact that the...

This paper uses spatial operator techniques to develop a new algorithm for the dynamics of multibody systems with hinges undergoing prescribed motion. This algorithm is spatially recursive and its computational complexity grows only linearly with the number of degrees of freedom in the system. Its structure is a hybrid of known recursive forward and inverse dynamics algorithms for regular multi...

This paper addresses the problem of electronic emulation of both linear and nonlinear mechanical loads using a vector-controlled induction machine dynamometer. It is shown that a basic emulation scheme where the dynamometer torque demand is derived from the inverse dynamics of the emulated load is not generally viable, especially if the emulated load is part of a closed-loop speed control syste...

Efficient drive cycle simulation of longitudinal vehicle propulsion models is an important aid for design and analysis of power trains. Tools on the market today mainly use two different methods for such simulations, forward dynamic or quasi-static inverse simulation. Here known theory for stable inversion of non linear systems is used in order to combine the fast simulation times of the quasi-...

non-linear characteristic of tire forces is the main cause of vehicle lateral dynamics instability, while direct yaw moment control is an effective method to recover the vehicle stability. in this paper, an optimal linear quadratic regulator (lqr) controller for roll-yaw dynamics to articulated heavy vehicles is developed. for this purpose, the equations of motion obtained by the matlab softwar...

Comparing with traditional fixed formation for a group of dynamical systems, time-varying formation can produce the following benefits: i) covering the greater part of complex environments; ii) collision avoidance. This paper studies the time-varying formation tracking for multiple manipulator systems (MMSs) under fixed and switching directed graphs with a dynamic leader, whose acceleration can...

Background Unstable shoe designs should support the muscle activity and promise the treatment of leg, back and foot problems. According to manufacturers, they should activate additional muscles and reduce joint reaction forces. Goal of this study is to investigate the effect of an unstable shoe design to gait patterns of healthy volunteers and by the means of inverse dynamic multi-body simulation.

We present a method of reconstructing the region of origin and trajectories for particles given impact directions and positions. This method works for nonlinear trajectories, such as parabolic motion or motion with drag if given drag parameters. Our method works if given the impact speeds as well, or they can be estimated using a similar total initial energy prior. We apply our algorithm to the...

This paper deals with the inverse dynamics problem of underactuated mechanical systems subjected to execute partly specified motions. The modeling methodology focuses on a special class of differentially flat systems, represented by a group of relevant technical examples. The governing equations are obtained as index three differential-algebraic equations, and a simple numerical code for their ...