This paper proposes a design method of a damping path for a cylindrical liquid container transferred with a wheeled mobile robot. The damping path is constructed from the acceleration using the principle of an input shaping method. Although a positional error is occurred by using the input shaping method, it is easy to correct the error with the proposed method. The proposed design method can b...

K 0 –K 0 oscillations are extremely sensitive to the K 0 and K 0 energy at rest. Even assuming m K 0 = m K 0 , the energy is not granted to be the same if gravitational effects on K 0 and K 0 slightly differ. We consider various gravitation fields present and, in particular, galactic fields, which provide a negligible acceleration, but relatively large gravitational potential energy. A constrai...

In this paper we present the continuous and on-going development of datastructures and algorithms underlying the verification engine of the tool Uppaal. In particular, we review the datastructures of Difference Bounded Matrices, Minimal Constraint Representation and Clock Difference Diagrams used in symbolic state-space representation and -analysis for real-time systems. In addition we report o...

In current paper, a constraint-driven gate-level test generator which operates as a low-level part of a hierarchical datapath test generation system is presented. The low-level test generator generates tests for gate-level structural faults taking into account the functional constraints, which have been previously extracted during high-level path activation. Both, the high-level and the low-lev...

The motion of a car is described using a stochastic model in which the driving processes are the steering angle and the tangential acceleration. The model incorporates exactly the kinematic constraint that the wheels do not slip sideways. Two lters based on this model have been implemented, namely the standard EKF, and a new lter (the CUF) in which the expectation and the covariance of the syst...

We discuss a model which gives rise to cosmic self-acceleration due to modified gravity. Improvements introduced by this approach are the following: In the coordinate system commonly used, the metric does not grow in the bulk, and no negative mass states are expected to appear. The spectrum of small perturbations contains a localized massless tensor mode, but does not admit dangerous localized ...

We present a numerical model of two fluid mixing based on hyperbolic equations having complete state variables (velocity, pressure, temperature) for each fluid. The model is designed for the study of acceleration driven mixing layers in a chunk mix regime dominated by large scale coherent mixing structures. The numerical solution of the model is validated by comparison to the incompressible lim...

This paper presents a general necessary condition for singular time optimal control of robotic manipulation moving along specified paths. Early work [l], [7] ignored the issue of singular control, assuming bang-bang acceleration along the path. Recent work [6] has shown that the time optimal control can be singular if one of the equations of motion reduces to a velocity constraint. This paper d...

The optimal solution to the problem of driving the output of a single-input, single-output linear control system close to given waypoints is analyzed. Furthermore, this smooth interpolation is done while the state space is constrained by an infinite dimensional, non-negativity constraint on the derivative of the output spline function. For the case when the acceleration is controlled directly t...

We observe a new type of behavior in a shear-thinning yield stress fluid: freestanding convection rolls driven by vertical oscillation. The convection occurs without the constraint of container boundaries, yet the diameter of the rolls is spontaneously selected for a wide range of parameters. The transition to the convecting state occurs without hysteresis when the amplitude of the plate accele...