This paper investigates the problem of efficient computation physically consistent multi-contact behaviors. Recent work showed that under mild assumptions, could be decomposed into simpler kinematic and centroidal dynamic optimization problems. Based on this approach, we propose a general convex relaxation dynamics leading to two computationally algorithms based iterative resolutions second ord...

The major portion of computing time in a computational fluid dynamic (CFD) flow solver is consumed by the solution of the linear equations, the use of an efficient matrix solver is critical to obtain high computing performance. Currently, Algebraic Multi-Grid (AMG) is recognized in CFD community as one of the best choices to achieve high efficiency for solving linear algebraic equations. As AMG...

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

|A closed-form inverse kinematics solver for non-redundant recon gurable robots is developed based on the Product-of-Exponentials (POE) formula. Its novelty lies in the use of POE reduction techniques and subproblems to obtain inverse kinematics solutions of a large number of possible con gurations in a systematic and convenient way. Three reduction techniques are introduced to simplify the POE...

A new robust multi-degree of freedom (multi-DOF) MEMS gyroscope is presented in this paper. The designed gyroscope has its bandwidth and amplification factor of the sense mode adjusted more easily than the previous reported multi-DOF MEMS gyroscopes. Besides, a novel spring system with very small coupling stiffness is proposed, which helps achieve a narrow bandwidth and a high amplification fac...

Serial robot arms have complicated kinematic equations which must be solved to write effective arm planning and control software (the Inverse Kinematics Problem). Existing software packages for inverse kinematics often rely on numerical methods which have significant shortcomings. Here we report a new symbolic inverse kinematics solver which overcomes the limitations of numerical methods, and t...

Locomotion and manipulation optimization is essential for the performance of tetrahedron‐based mobile mecha‐ nism. Most of current optimization methods are constrained to the continuous actuated system with limited degree of freedom (DOF), which is infeasible to the optimization of binary control multi‐DOF system. A novel optimization method using for the locomotion and manipulation of an 18 DO...

In this contribution a numerical study of a turbulent jet flow is presented. The simulation results of two different variants of the Lattice Boltzmann method (LBM) are compared. The first is the well-established D3Q19 MRT model extended by a Smagorinsky Large Eddy Simulation (LES) model. The second is the D3Q27 Factorized Cascaded Lattice Boltzmann (FCLB) model without any additional explicit t...

the vehicle driving comfort has become one of the important factors of vehicle quality and receives increasing attention. in this paper, optimal points of vehicle suspension parameters are generated using modified non-dominated sorting genetic algorithm (nsga-ii) for pareto optimization of 5-degree of freedom vehicle vibration model considering three conflicting functions simultaneously. in thi...

A flow solver based on a mixed mesh paradigm is developed for resolving flows in a high-order accurate manner. The proposed mesh topology involves unstructured tetrahedral/prismatic mesh in the near-body region and adaptive Cartesian-based unstructured mesh in the off-body region. The body-conforming near-body unstructured mesh offers a great flexibility in treating complex geometries, and also...