The optimization of trajectories and actuator torques for a dual arm manipulation system is considered. Given the starting and nal conngurations, we nd the trajectories that minimize (a) the integral of the norm of the vector of derivatives of the actuator forces; and (b) the integral of the norm of the actuator forces. In this way both kinematic and actuator redundancy are resolved. The optimi...

This paper presents a new set of boundary integral equations for three dimensional acoustic shape sensitivity analysis based on the direct differentiation method. A linear combination of the derived equations is used to avoid the fictitious eigenfrequency problem associated with the conventional boundary integral equation method when solving exterior acoustic problems. The strongly singular and...

analysis of aperture-coupled microstrip antennas with a superstrate using space domain closed form greens functions is presented. integral equations are derived from applying the boundary conditions on the radiating patch, across the aperture, and on the microstrip feedline. the computation of space domain greens functions is performed using the closed-form. the solution of the integral equatio...

Some hydromechanical systems are investigated by applying the dual integral equation method. In developing this method we suggest from elementary appropriate solutions of Laplace’s equation, in the domain under consideration, the introduction of a potential function which provides useful combinations in cylindrical and spherical coordinates systems. Since the mixed boundary conditions and the f...

The scattering of SH-waves by a Griffith crack in an infinitely long elastic strip situated at an asymmetric position has been analyzed. Applying Fourier transform, the mixed boundary value problem has been reduced to the solution of dual integral equations which finally has been reduced to the solution of a Fredholm integral equation of second kind. The numerical values of stress intensity fac...