This paper describes an implementation of a behavior-based mobile manipulator capable of autonomously transferring a sample from one drum to a second in unstruc-tured environments. A major contribution of the project was the coherent integration of the arm and base as a cohesive unit, and not just a mobile base with an arm attached. The support for smooth simultaneous operation of all joints on...

We review and extend to the compressible regime an earlier parallelization of an implicit incompressible unstructured Euler code KKS98], and solve for ow over an M6 wing in subsonic, transonic, and supersonic regimes. While the parallelization philosophy of the compressible case is identical to the incompressible, we focus here on the nonlinear and linear convergence rates, which vary in diiere...

In this paper, to effectively solve the joint motion planning of a nine-DOF redundant hybrid boarding system in process ocean wave active compensation, we present multi-task (MTMP) method for system. First, mechanism is disassembled into six-DOF parallel and three-DOF serial kinematic analysis separately obtain Jacobian matrix task space. Then, according configuration characteristics avoid defe...

in this work are studied the jacobians of certain singular transformations and the corresponding measures which support the jacobian computations.

In this work are studied the Jacobians of certain singular transformations and the corresponding measures which support the jacobian computations.

This is the second part of a three-part paper. It extends to the free walking results of a previous work on postural equilibrium of a lower limb exoskeleton for rehabilitation exercises. A classical approach has been adopted to design gait (zero moment point (ZMP), linearized inverted pendulum theory, inverse kinematics obtained through the pseudo-inverse of Jacobian matrices). While several id...

In many contexts, there is a need to construct C maps from a given reference domain to a family of deformed domains. In our case, the motivation comes from the application of the Arbitrary Lagrangian Eulerian (ALE) method and also the reduced basis element method. In these methods, the maps are used to construct the grid-points needed on the deformed domains, and the corresponding Jacobian of t...

We review and extend to the compressible regime an earlier parallelization of an implicit incompressible unstructured Euler code [9], and solve for ow over an M6 wing in subsonic, transonic, and supersonic regimes. While the parallelization philosophy of the compressible case is identical to the incompressible, we focus here on the nonlinear and linear convergence rates, which vary in di erent ...

This paper presents a stability analysis of force-position teleoperation under general end-effector contact. The analysis is based on the finite and infinite zero structure of the multivariable root-locus resulting from modulation of the environment stiffness. The starting point is an analysis of the stability of robot force control, motivated by the observation that the human-operator in a for...