This paper deals with the analytical modeling and control of rectilinear snake robots. During recent times snake robots have created much interest among researchers. The rectilinear pattern gait is one of the four biological snake locomotion modes. Rectilinear snakes have been widely used in rescue operations especially in rough terrains especially in narrow spaces where human intervention is n...

The rectilinear Steiner tree problem is to nd a minimum-length rectilinear interconnection of a set of points in the plane. A reduction from the rectilinear Steiner tree problem to the graph Steiner tree problem allows the use of exact algorithms for the graph Steiner tree problem to solve the rectilinear problem. Furthermore, a number of more direct, geometric algorithms have been devised for ...

Smallest rectilinear paths are rectilinear paths with a minimum number of bends and with a minimum length, simultaneously. In this paper, given two pairs of terminals within a rectilinear polygon, we derive an algorithm to find a pair of noncrossing rectilinear paths within the polygon such that the total number of bends and the total length are both minimized. Although a smallest rectilinear p...

Let G be a graph on n vertices; let S be a set of n points in general position (no three of them collinear) in the plane. A rectilinear drawing of G is a drawing of G in the plane that satisfies the following. Its vertices are points in general position and its edges are drawn as straight line segments. The number of crossings of a rectilinear drawing is the number of pairs of its edges that cr...

The application of convolution potential voh.ammetry to questions of metal complexation is described. Theoretical relations are derived to show that the stability constants may be directly related to the shift in the peak potential of the semiderivative wave, provided the complexes are labile. Equations are also given for inert and quasilabile complexes. Stability constants for the PbCI, and Cd...

JACKSON, LAURA ELIZABETH. The Directional p-Median Problem with Applications to Traffic Quantization and Multiprocessor Scheduling. (Under the direction of George N. Rouskas and Matthias F.M. Stallmann.) An instance of a p-median problem gives n demand points. The objective is to locate p supply points in order to minimize the total distance of the demand points to their nearest supply point. P...

Title of Document: DESIGN AND ANALYSIS OF EXAGGERATED RECTILINEAR GAIT-BASED SNAKE-INSPIRED ROBOTS James Kendrick Hopkins Doctor of Philosophy, 2014 Dissertation directed by: Professor S. K. Gupta Department of Mechanical Engineering Snake-inspired locomotion is much more maneuverable compared to conventional locomotion concepts and it enables a robot to navigate through rough terrain. A rectil...