In this study, the dynamics and control aspects of a spherical robot rolling without slipping on an inclined plane are investigated. The planar dynamic model of the robot rolling ahead on an inclined plane is derived using Lagrangian dynamics. Based on the equivalent control method and Lyapunov stability theorem, a decoupled sliding mode control approach is presented for stable control of the p...

This paper proposes the modeling and simulation of the incident solar radiation on a horizontal and inclined plane in the city of Agadir. To do, we adopt the Kasten model which takes the atmospheric turbidity into consideration in order to estimate the incidental solar radiation on a horizontal plane. In addition we determine the incident solar radiation on an inclined plane from the global hor...

The plane strain deformation of an isotropic, homogeneous, poroelastic medium caused by an inclined line-load is studied using the Biot linearized theory for fluid saturated porous materials. The analytical expressions for the displacements and stresses in the medium are obtained by applying suitable boundary conditions. The solutions are obtained analytically for the limiting case of undrained...

snake robots are hyper-redundant robots that are connected with one or two dof joints. they offer a number of potential advantages beyond the capabilities of most wheeled and legged robots. in this paper, kinematics and dynamics of a planar multi-link snake robot in worm-like locomotion on an inclined surface is investigated. in this locomotion, snake robot is able to move in the vertical plane...

In 1926, Crozier and Pincus first reported that 2-week-old rats placed head-down on an inclined plane orient in a head-up direction; this response is called negative geotaxis. In Experiment 1, we replicated this finding by testing 12- to 14-day-old rats on an inclined plane covered with wire mesh. Pups oriented in a head-up direction and avoided the head-down direction at inclines of 45 degrees...