Symbolic Trajectory Evaluation (STE) is a formal verification technique for hardware. The current STE semantics is not faithful to the proving power of existing STE tools, which obscures the STE theory unnecessarily. In this paper, we present a new closure semantics for STE which does match the proving power of STE model-checkers, and makes STE easier to understand.

Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...

there have been a number of developments in screw design and implantation techniques over recent years, including proposal of an alternative trajectory entitled as cortical bone trajectory (cbt). cortical bone trajectory has been investigated in recent medical treatments as an alternative for screw fixation aimed at increasing purchase of pedicle screws in higher density bone. cbt screw inserti...

in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...

This article provides an introduction to some recent results in billiard dynamics. We present results that follow from a study of compact Riemann surfaces (equipped with a holomorphic 1-form) and an SL2R action on the moduli spaces of these surfaces. We concentrate on the progress toward classification of “optimal” billiard tables, those with the simplest trajectory structure.

Excellent physical performance of soccer players is inevitable for the success of a team. Despite of this, a large-scale, quantitative analysis of the maximal speed of the players is missing due to the sensitive nature of trajectory datasets. We propose a novel method to derive the in-game speed profile of soccer players from event-based datasets, which are widely accessible. We show that eight...