Abstract Whenrobots physically interact with the environment, compliant behaviors should be imposed to prevent damages all entities involved in interaction. Moreover, during physical interactions, appropriate pose controllers are usually based on robot dynamics, which ill-conditioning of joint-space inertia matrix may lead poor performance or even instability. When control is not precise, large...

Structural flexibility in spacecraft can degrade the accuracy of the attitude control system. With this motivation in mind, we compare the performance of inertia-free attitude control laws for a spacecraft with an undamped discrete flexible mode and demonstrate robustness with respect to unmodeled spacecraft dynamics and actuator saturation. First the equations of motion are derived using Lagra...

We show necessary and sufficient conditions that certain algebraic functions like the rank or the inertia of an integer matrix can be computed in GapL.

Dystocia means difficult birth or inability to expel foetuses through the birth canal. The aetiology of dystocia may be maternal or foetal. Primary uterine inertia is the most common reason for dystocia in the bitch approaching 75% of the cases. The objective of this thesis was to investigate the incidence of dystocia and to find causes of primary uterine inertia. Also the treatment regimes for...

Active-set quadratic programming (QP) methods use a working set to define the search direction and multiplier estimates. In the method proposed by Fletcher in 1971, and in several subsequent mathematically equivalent methods, the working set is chosen to control the inertia of the reduced Hessian, which is never permitted to have more than one nonpositive eigenvalue. (We call such methods inert...

This paper introduced a new design method of Robust LQ regulator, which avoids the inversion of an inertia matrix allowing to use the fullstructure information of structured time-varying parameter uncertainties. The differential equation of system is expressed as a descriptor form to reserve the structure information of parameter uncertainties. Left-hand side matrix that has the uncertain param...