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Pathological basal ganglia oscillations with time delays: a memoryless feedback control strategy
Pathological basal ganglia oscillations are associated with the hypokinetic motor symptoms of Parkinson’s disease. In this paper, a memoryless...
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Conserving integration of multibody systems with singular and non-constant mass matrix including quaternion-based rigid body dynamics
Mechanical systems with singular and/or configuration-dependent mass matrix can pose difficulties to Hamiltonian formulations, which are the standard...
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Robust current control of single-phase PWM rectifier based on generalized internal model control
Faults in traction system rectifiers can cause deterioration in system performance, robustness, and continuity. A single fault may propagate and...
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Local coordinates on Lie groups for half-explicit time integration of Cosserat-rod models with constraints
Explicit Runge–Kutta methods are the gold standard of time-integration methods for nonstiff problems in system dynamics since they combine a small...
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Quaternion-based finite-element computation of nonlinear modes and frequency responses of geometrically exact beam structures in three dimensions
In this paper, a novel method for computing the nonlinear dynamics of highly flexible slender structures in three dimensions (3D) is proposed. It is...
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Rope–sheave contact transient analysis in hoisting operations with a bristle model and an arbitrary Lagrangian–Eulerian approach
This paper describes the development of a computational model for the rope–sheave contact interaction in reeving systems when the ropes are modeled...
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Stable underactuated biped locomotion on various geometrical surfaces
This paper presents a study of locomotion of a four-link underactuated biped mechanism containing passive knee and actuated hip joints. It is shown...
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The optimal control methodology based on normalized Gaussian functions for vibration-driven locomotion robots
The earthworm-like robot excels in navigating confined spaces for tasks like pipeline inspection and post-disaster rescue, owing to its wheel- and...
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A method to determine local aerodynamic force coefficients from fiber-resolved 3D flow simulations around a staple fiber yarn
Even though air-jet weaving looms have become one of the most important weaving machines, the interactions between the air jets and fuzzy, flexible...
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State observer of multibody systems formulated using differential algebraic equations
Multibody dynamics comprises methodologies for the design and analysis of mechanical systems, with Kalman filters being the principal state...
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Anomalously acting agents: the deployment problem
Detecting intentionally antagonistic behavior in robot swarms brings challenges that exceed identifying merely erroneous behavior. We investigate a...
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Benchmark and validation of state-of-the-art muscle recruitment strategies in shoulder modelling
Shoulder muscle forces estimated via modelling are typically indirectly validated against measurements of glenohumeral joint reaction forces...
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On an objective, geometrically exact coupling element for a director-based multi-body finite element framework
In multi-body systems, flexible components and couplings between them can be subject to large displacements and rotations. This contribution presents...
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Use of a path-following method for finding static equilibria of multibody systems modeled by the reduced transfer matrix method
Finding the stable static equilibrium position of multibody systems is a well-known problem. Dynamic relaxation methods are frequently utilized in...
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Precise trajectory tracking of mecanum-wheeled omnidirectional mobile robots via a novel fixed-time sliding mode control approach
This paper proposes a novel fixed-time sliding mode control approach for trajectory-tracking tasks of a mecanum-wheeled omnidirectional mobile robot....
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Online control for pressure regulation of oxygen mask based on neural network
The aviation oxygen mask, which has a small volume of less than 1 L and strong air tightness, imposes extremely high requirements on control...
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Distributed algorithm for solving variational inequalities over time-varying unbalanced digraphs
In this paper, we study a distributed model to cooperatively compute variational inequalities over time-varying directed graphs. Here, each agent has...
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Reduction of data amount in data-driven design of linear quadratic regulators
This paper discusses the data-driven design of linear quadratic regulators, i.e., to obtain the regulators directly from experimental data without...
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Flexible multibody approaches for simulating the deflection and contact mechanics of toothbrush bristles: modelling and testing
Brushing represents a specific procedure that aims to remove biofilms from the vertical and occlusal surfaces of the teeth, as well as from...
