In this paper, the port Hamiltonian model of a manipulator is presented as the result of the power-conserving interconnection of a set of main components (rigid bodies, flexible links and kinematic pairs). The flexible link model we propose is different from classical approaches because it takes into account the infinite dimensional nature of elasticity, since it does not rely on any finite dim...

background port site complications following elective surgery are rare and port site infections remain the most common short long term complications. objectives the study was conducted to analyze port site complications occurring in patients undergoing laparoscopic cholecystectomy for symptomatic cholelithiasis. patients and methods ninety patients undergoing laparoscopic cholecystectomy were r...

A shared ground radiator with wide angular coverage for mmWave 5G smartphones is proposed in this paper. four-element corporate-fed array conventional impedance matched power divider designed. Stepped transformers are integrated the corner most elements to achieve pattern diversity without significant compromise gain. The three-port conformal commercial antenna could be easily smartphones. All ...

Nowadays, Modeling of component's port is typically based on interfaces, which heavily constrain the definition of an application's architecture. This is mainly due, to the fact that, software architecture imported only the general concepts of its fundamental elements from related fields such as computer and network architecture, and did not show interests on how these concepts are organized an...

We introduce the geometric structure underlying port-Hamiltonian models for distributed parameter systems exhibiting moving material domains. The first part of paper aims at introducing differential tools needed to represent infinite-dimensional on time–varying spatial domains in a port–based framework. A throughout description way we extend presented seminal work [25], where only fixed were co...