The contributions regarding the conception,designing, modelling and the implementation in a flexible cell of fabrication of a modular serial robot

The authors of the presented paper are propose to relief the calculus, modelling and construction of the translation module of an industrial robot which possess in his cinematic chain five degrees of freedom, type TTRTR. It is propose a choosing variant of the direct current driving engine of the translation module, knowing the output momentum and calculating the input momentum. This is realized by equalize of an equation which results from dynamic modeling of the robot with a designing equation which keep in view the component elements of the structure of the module. The robot is composed by: module of translation on horizontal to the base of the robot (MTB-Sil), module of translation on vertical (MTV-Sil), module of rotation round the vertical axis from the robot's arm, module of translation from the structure of the robot's arm (MT-Sil) and module of orientation assembled with clamping device. In the paper, also is presented an economic study regarding the implementation of the analyzed robot in a manufactural cell concerning the manufacturing and assembling of some types of car radiators. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

The Adaptive Projected Subgradient Method over the Fixed Point Set of Strongly Attracting Nonexpansive Mappings

This paper presents an algorithmic solution, the adaptive projected subgradient method, to the problem of asymptotically minimizing a certain sequence of non-negative continuous convex functions over the fixed point set of a strongly attracting nonexpansive mapping in a real Hilbert space. The method generalizes Polyak's subgradient algorithm for the convexly constrained minimization of a fixed nonsmooth function. By generating a strongly convergent and asymptotically optimal point sequence, the proposed method not only offers unifying principles for many projection-based adaptive filtering algorithms but also enhances the adaptive filtering methods with the set theoretic estimation's armory by allowing a variety of a priori information on the estimandum in the form, for example, of multiple intersecting closed convex sets.     

Numerical Verification of Solutions of Periodic Integral Equations with a Singular Kernel

This paper proposes the method of numerical verification of solutions of a periodic integral equation with a logarithmic singular kernel, which is typically found in some two-dimensional potential problems. The verification method utilizes a property of the singular integral for trigonometric polynomials, the periodic Sobolev space and Schauder's fixed point theorem.     

Half Space and Quarter Space Dirichlet Problems for the Partial Differential Equation

A customary, heuristic, method, by which the Poisson integral formula for the Dirichlet problem, for the half space, for Laplace's equation is obtained, involves Green's function, and Kelvin's method of images. Although this heuristic method leads one to guess the correct result, this Poisson formula still has to be verified directly, independently of the method by which it was arrived at, in order to be absolutely certain that a solution of the Dirichlet problem for the half space, for Laplace's equation, has been actually obtained. A similar heuristic method, as seems to be generally known, could be followed in solving the Dirichlet problem, for the half space, for the equation where is a real constant. However, in Part 1, a different, labor-saving, method is used to study Dirichlet problems for the equation. This method is essentially based on what Hadamard called the method of descent. Indeed, it is shown that he who has solved the half space Dirichlet problem for Laplace's equation has already solved the half space Dirichlet problem for the equation In Part 2, the solution formula for the quarter space Dirichlet problem for Laplace's equation is obtained from the Poisson integral formula for the half space Dirichlet problem for Laplace's equation. A representation theorem for harmonic functions in the quarter space is deduced. The method of descent is used, in Part 3, to obtain the solution formula for the quarter space Dirichlet problem for the equation by means of the solution formula for the quarter space Dirichlet problem for Laplace's equation. So that, indeed, it is also shown that he who has solved the quarter space Dirichlet problem for Laplace's equation has already solved the quarter space Dirichlet problem for the " equation" For the sake of completeness and clarity, and for the convenience of the reader, the appendix, at the end of Part 3, contains a detailed proof that the Poisson integral formula solves the half space Dirichlet problem for Laplace's equation. The Bibliography for Parts 1,2, 3 is to be found at the end of Part 1.     

The Relationships between the Shape of the Workspace and GeometricalDimensions of Parallel Manipulators

In this paper, a new simulation program for the workspace analysis of parallel robots is presented. The system consists of modules, which enable a complex study of the parallel structures. A special method for generating the workspace of the parallel structures is used. The simulation program offers the possibility to generate automatically the virtual model of the parallel robot using the facilities of a 3D modeling software. The structure geometric parameters, which could be modified within the modeling software, influence the simulation environment. These facilities enable to establish the relationships between the workspace shape, elements links and geometrical parameters of the structure. (© 2004 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)     

Shaking table tests of a plate-column structure with semi-active tuned mass damper

This paper presents selected results of experimental tests carried out on the three-storey plate-column structure, which is a physical model of a building. On the top floor the semi-active tuned mass damper (STMD) is installed. That device is a kind of harmonic oscillator with a variable stiffness characteristic. The tuning of STMD is possible in the frequency range from 0 to 5 Hz, which allows to counteract the resonant vibration of plate-column structure for the three basic frequencies. The model's vibration are kinematically excited by using the earthquake simulator. It is assumed that during an experimental tests the plate-column structure's vibration are only excited by horizontal component of base motion (dominant influence on building's vibration). The aim of the experimental analysis presented in this paper is to verify the effectiveness of the semi-active tuned mass damper in vibration's amplitude reduction of the main structure. The tested device is prototype of STMD, which uses a competitive constructional solution of stiffness parameter control. By reason of above, special attention is focused on the testing of vibration eliminator in two aspects: change of stiffness characteristic (the rate of change), and the accuracy of tuning to the resonant frequencies. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

On the existence of positive solution for second-order multi-points boundary value problems

Here we are concerned with the existence of positive solution for autonomous and nonautonomous second-order systems with multi-points boundary conditions. For nonautonomous systems we use the Schauder's fixed point theorem in a suitable Banach space, while for autonomous ones using fixed point theorems is usually useless because of the existence of trivial solution and for this we employed a method based on the implicit function theorem and topological degree. In order to verify the obtained results, we have considered some definite systems to verify the results numerically.     

Convergence Theorems for Pointwise Asymptotically Strict Pseudo-Contractions in Hilbert Spaces

A new class of contractive mappings called pointwise asymptotically ?-strict pseudo-contractions in Hilbert spaces is introduced and weak convergence of the sequence generated by Mann's iterative scheme to a fixed point of a uniformly Lipschitzian and pointwise asymptotically ?-strict pseudo-contractive mapping T in a Hilbert space is established. Also, a new kind of monotone hybrid method which is a modification of Mann's iterative scheme for finding a common fixed point of an infinitely countable family of uniformly Lipschitzian and pointwise asymptotically ?-strict pseudo-contractive mappings is proposed. Strong convergence of the sequence generated by the proposedmonotone hybrid method for an infinitely countable family of uniformly Lipschitzian and pointwise asymptotically ?-strict pseudo-contractive mappings in a Hilbert space is also shown. The results presented in this article extend and improve some known results in the literature.     

Curvature properties of 6-parametric robot manipulators

The Lie group C₆ of all orientation preserving congruences of the Euclidean space E₃ has a natural invariant pseudo-Riemannian structure determined by the Klein quadratical form of its Lie algebra.In the paper we connect the acceleration properties of a 6-parametric robot manipulator with the properties of the Levi-Civita connection and its curvature tensor of the pseudo-Riemannian structure of C₆.The paper is a continuation of [3].     

A Prediction Model for State Observation and Model Predictive Control of Biped Robots

Biped walking robots present a class of mechanical systems with many different challenges such as nonlinear multi-body dynamics, a large number of degrees of freedom and unilateral contacts. The latter impose constraints for physically feasible motions and in stabilization methods as the robot can only interact due to pressure forces with the environment. This limitation can cause the system to fall under unknown disturbances such as pushing or uneven terrain. In order to face such problems, an accurate and fast model of the robot to observe the current state and predict the state evolution into the future has to be used. This work presents a nonlinear prediction model with two passive degrees of freedom (dof), point masses and compliant unilateral contacts. We show that the model is applicable for real-time model predictive optimization of the robot's motion. Experiments on the biped robot LOLA [1] underline the effectiveness of the proposed model to increase the system's long term stability under large unknown disturbances. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

The Cayley Transform as a Time Discretization Scheme

We interpret the Cayley transform of linear (finite- or infinite-dimensional) state space systems as a numerical integration scheme of Crank–Nicolson type. The scheme is known as Tustin's method in the engineering literature, and it has the following important Hamiltonian integrator property: if Tustin's method is applied to a conservative (continuous time) linear system, then the resulting (discrete time) linear system is conservative in the discrete time sense. The purpose of this paper is to study the convergence of this integration scheme from the input/output point of view.     

空间机器人组装超大型结构的动力学分析北大核心CSCD

超大型航天结构具有超大柔性、超低固有频率的特点,空间机器人在轨组装时应尽可能避免激起超大型结构的柔性振动.空间机器人组装超大型结构模块的过程分成抓捕阶段、位姿调整与稳定阶段、安装阶段和爬行阶段.通过对安装阶段的动力学与控制研究,提出共线安装的轨迹规划方法,有效避免了柔性结构振动.首先,采用自然坐标法和绝对节点坐标法建立主结构-空间机器人-待组装结构的在轨组装系统动力学模型.然后,将共线安装的要求转化为空间机器人的轨迹规划约束,要求空间机器人质心到主结构/待组装结构的距离保持不变,实现共线安装的轨迹规划.数值仿真表明:提出的组装方法在组装过程中可有效避免超大型结构的横向运动,降低夹持力矩.最后,分析了系统参数对组装过程动力学响应的影响,为超大型航天器的在轨组装提供了参考.     

Unconstrained Optimization Techniques for the Acceleration of Alternating Projection Methods

Alternating projection methods have been extensively used to find the closest point, to a given point, in the intersection of several given sets that belong to a Hilbert space. One of the characteristics of these schemes is the slow convergence that can be observed in practical applications. To overcome this difficulty, several techniques, based on different ideas, have been developed to accelerate their convergence. Recently, a successful acceleration scheme was developed specially for Cimmino's method when applied to the solution of large-scale saddle point problems. This specialized acceleration scheme is based on the use of the well-known conjugate gradient method for minimizing a related convex quadratic map. In this work, we extend and further analyze this optimization approach for several alternating projection methods on different scenarios. In particular, we include a specialized analysis and treatment for the acceleration of von Neumann-Halperin's method and Cimmino's method on subspaces, and Kaczmarz method on linear varieties. For some specific applications we illustrate the advantages of our acceleration schemes with encouraging numerical experiments.     

Line congruences as surfaces in the space of lines

The space of lines in R³ can be viewed as a four dimensional homogeneous space of the group of Euclidean motions, E(3). Line congruences arise in the classical method of transforming one surface to another by lines. These transformations are particularly interesting if some geometric property of the original surface is preserved. Line congruences, then, are two parameter families of lines and can be studied as surfaces in the space of lines. In this paper, we use the method of moving frames to study line congruences. We calculate the first order invariants of line congruences for which there are two real focal surfaces, and give the geometric meaning of these invariants. We look specifically at the case where the two first order invariants are constant and give a simple proof of Bäcklund's Theorem which relates to the transformation of one pseudospherical surface, a surface of constant negative Gaussian curvature, to another. These transformations are of interest since pseudospherical surfaces correspond to solutions to the sine-Gordon equation. We also give a proof of Bianchi's permutability theorem for pseudospherical surfaces in this context. Finally, we use the results of these theorems to generate some pseudospherical surfaces. All of these concepts and results are understood in terms of the structure equations of the line congruence.     

Connectivity graphs on two-dimensional surfaces and their application in robotics

The problem of robot motion planning in an environment with obstacles can often be reduced to the study of connectivity of the robot's free configuration space. In turn, space connectivity can be analysed via the corresponding connectivity graph. For two-degree-of-freedom robots, the free configuration space presents a two-dimensional (2D) surface—a compact subspace of a 2D orientable compact manifold. This paper addresses the following abstract problem: given a compact 2D surface bounded by simple closed curves and lying in an orientable 2D manifold (a sphere, a torus, etc.) and given two points in the subspace, suggest a systematic way of defining the connectivity graph in the subspace, based on its topological properties. The use of space topology results in powerful, from the robotics standpoint, provable algorithms capable of on-line motion planning in an environment with unknown obstacles of arbitrary shapes. This makes the method distinct from other techniques, which require complete information, algebraic representation of space geometry, and off-line computation.     

Existence,uniqueness, and multiplicity results on positive solutions for a class of Hadamard-type fractional boundary value problem on an infinite interval

This paper focuses on a class of Hadamard-type fractional differential equation with nonlocal boundary conditions on an infinite interval. New existence, uniqueness, and multiplicity results of positive solutions are obtained by using Schauder's fixed point theorem, Banach's contraction mapping principle, the monotone iterative method, and the Avery-Peterson fixed point theorem. Examples are included to illustrate our main results.     

具有脉冲的分数阶Bagley-Torvik 模型边值问题

将具有脉冲的分数阶Bagley-Torvik微分方程边值问题巧妙地转化为积分方程,定义加权Banach空间及全连续算子,运用不动点定理获得该边值问题解的存在性定理.举例说明了定理的应用.最后提出有趣的研究问题.     

Approximate controllability of fractional neutral stochastic evolution equations in Hilbert spaces with fractional Brownian motion

In this paper, the approximate controllability for Sobolev-type fractional neutral stochastic evolution equations with fractional stochastic nonlocal conditions and fractional Brownian motion in a Hilbert space are studied. The results are obtained by using semigroup theory, fractional calculus, stochastic integrals for fractional Brownian motion, Banach's fixed point theorem, and methods adopted directly from deterministic control problems for the main results. Finally, an example is given to illustrate the application of our result.     

Comparison of two Eulerian solvers for the four-dimensional Vlasov equation: Part I

This paper presents two methods for solving the four-dimensional Vlasov equation on a grid of the phase space. The two methods are based on the semi-Lagrangian method which consists in computing the distribution function at each grid point by following the characteristic curves ending there. The first method reconstructs the distribution function using local splines which are well suited for a parallel implementation. The second method is adaptive using wavelets interpolation: only a subset of the grid points are conserved to manage data locality. Numerical results are presented in the second part.     

Optimal Coarse Grid Size in Domain Decomposition

1.IntroductionDomaindecomposition(DD)isaclassoftechniquesforsolvingellipticboundaryvalueproblemsinwhichthesolutionisobtainedbyiterstivelysolvingsmallersub-domainproblems.Thesemethodshavereceivedalotofstudyinrecentyears(see[6,1,2,7,1o]).TheyareattractivebecauseoftheirinherentpaxallelismandtheirOPtimalconvergencerates(i.e.independentofthemeshsize).TheoptimalityoftheconvergenceraterequiresthesolutionofacoarsegridproblemateaChiteration.ThestudyofhowtoincorporatesuchacoarsegridsolveinaDDmethodh…