Готові списки джерел за темами / Semi-holonomic

Добірка наукової літератури з теми "Semi-holonomic"

Автор: Grafiati
Опубліковано: 10 грудня 2022
Оновлено: 28 січня 2023

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Статті в журналах з теми "Semi-holonomic"

1

EL-Nabulsi, Ahmad Rami. "Fractional action-like variational problems in holonomic, non-holonomic and semi-holonomic constrained and dissipative dynamical systems." Chaos, Solitons & Fractals 42, no. 1 (October 2009): 52–61. http://dx.doi.org/10.1016/j.chaos.2008.10.022.

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2

MARTÍN MÉNDEZ, A. "CANONICAL FORM IN SECOND-ORDER FRAME BUNDLES IN A NATURAL WAY." International Journal of Mathematics 25, no. 01 (January 2014): 1450009. http://dx.doi.org/10.1142/s0129167x14500098.

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Using horizontal n-bases of the tangent bundle of the linear frame bundle [Formula: see text] of an n-dimensional manifold M, the canonical form in the non-holonomic second-order frame bundle of M is introduced as a restriction of the canonical form of the bundle [Formula: see text]. This construction generalizes the ones in the corresponding semi-holonomic and holonomic second-order frame bundles. We prove that the natural projection of the set of all non-holonomic second-order frames of M into [Formula: see text] defines a principal bundle structure.
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3

Martı́n Méndez, A., and J. F. Torres Lopera. "Non-holonomic and semi-holonomic frames in terms of Stiefel and Grassmann tangent bundles." Journal of Geometry and Physics 47, no. 4 (September 2003): 427–46. http://dx.doi.org/10.1016/s0393-0440(02)00230-9.

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4

Stafford, J. T., and T. (Thierry) Levasseur. "Semi-simplicity of invariant holonomic systems on a reductive Lie algebra." American Journal of Mathematics 119, no. 5 (1997): 1095–117. http://dx.doi.org/10.1353/ajm.1997.0030.

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5

Han, Yanling, Fengyun Fu, and Peibiao Zhao. "On semi-symmetric metric connection in sub-Riemannian manifold." Tamkang Journal of Mathematics 47, no. 4 (December 30, 2016): 373–84. http://dx.doi.org/10.5556/j.tkjm.47.2016.1908.

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Анотація:
The authors firstly in this paper define a semi-symmetric metric non-holonomic connection (in briefly, SS-connection) on sub-Riemannian manifolds. An invariant under a SS-connection transformation is obtained. The authors then further give a result that a sub-Riemannian manifold $(M,V_{0},g,\bar{\nabla})$ is locally horizontally flat if and only if $M$ is horizontally conformally flat and horizontally Ricci flat.
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6

Han, Yanling, Fengyun Fu, and Peibiao Zhao. "A class of non-holonomic projective connections on sub-Riemannian manifolds." Filomat 31, no. 5 (2017): 1295–303. http://dx.doi.org/10.2298/fil1705295h.

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Анотація:
The authors define a semi-symmetric non-holonomic (SSNH)-projective connection on sub-Riemannian manifolds and find an invariant of the SSNH-projective transformation. The authors further derive that a sub-Riemannian manifold is of projective flat if and only if the Schouten curvature tensor of a special SSNH-connection is zero.
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7

Su, Zhong, Guodong Fu, and Qing Li. "Semi-Physical Simulation of RR/S Attitude Algorithm Based on Non-Holonomic IMU." International Journal of Computer Network and Information Security 1, no. 1 (October 18, 2009): 41–48. http://dx.doi.org/10.5815/ijcnis.2009.01.06.

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8

Kiyanfar, Mohammad, Mojtaba Ghodsi, and Adel Akbarimajd. "Implementation of a Semi-Active Parking Assistance System." Advanced Materials Research 433-440 (January 2012): 6717–21. http://dx.doi.org/10.4028/www.scientific.net/amr.433-440.6717.

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This paper presents a novel approach to solve semi-active non-holonomic vehicle-parking assistant problem. This system can be automatically drive a vehicle and can be used during day or and night. A robust algorithm for this system is developed and embedded controller hardware is designed and programmed to parallel parking maneuver. In this approach, infrared distance sensor is mounted on the car to find parking space, localize the vehicle position and avoid obstacles. Experimental and simulation results show good performance in the algorithm for parking system under parallel parking. Parking maneuver is safer and efficient through using these advanced safety techniques for parking. Simulation results obtained with the presented system are applied for semi-active parking assistance system.
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9

Shevchenko, Yu I., and A. V. Vyalova. "Metrics of a space with linear connection which is not semi-symmetric." Differential Geometry of Manifolds of Figures, no. 53 (2022): 148–60. http://dx.doi.org/10.5922/0321-4796-2020-53-14.

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Анотація:
It is well-known Levi-Chivita’s construction of object for affine connection (in modern terminology — linear connection) by the field of non-degenerate metric on a smooth manifold. An inverse problem (a construction of metric by given linear connection) is solved ambiguously, besides, the metric may turn out to be degenerate and indefinite. On the one hand, two metrics differing in a sign are obviously build: by curvature tensor contractionwith subsequent symmetrization. Оn the other hand, Vranceanu’s metric is a double contraction of multiplication of a torsion tensor’s components. In this paper Levi-Chivita’s inverse problem is solved in other way using the field of connection object. It is proved that in the general case, when the linear connection is not semi-symmetric, six metrics can be constructed. In the special case, when the linear connection is semi-symmetric (in particular, torsion-free), the constructed metrics vanish. The investigation is done on a semi-holonomic smooth manifold by means of two prolongation its structure equations.
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10

Kelil, Abey S., and Appanah R. Appadu. "On Semi-Classical Orthogonal Polynomials Associated with a Modified Sextic Freud-Type Weight." Mathematics 8, no. 8 (July 31, 2020): 1250. http://dx.doi.org/10.3390/math8081250.

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Polynomials that are orthogonal with respect to a perturbation of the Freud weight function by some parameter, known to be modified Freudian orthogonal polynomials, are considered. In this contribution, we investigate certain properties of semi-classical modified Freud-type polynomials in which their corresponding semi-classical weight function is a more general deformation of the classical scaled sextic Freud weight |x|αexp(−cx6),c>0,α>−1. Certain characterizing properties of these polynomials such as moments, recurrence coefficients, holonomic equations that they satisfy, and certain non-linear differential-recurrence equations satisfied by the recurrence coefficients, using compatibility conditions for ladder operators for these orthogonal polynomials, are investigated. Differential-difference equations were also obtained via Shohat’s quasi-orthogonality approach and also second-order linear ODEs (with rational coefficients) satisfied by these polynomials. Modified Freudian polynomials can also be obtained via Chihara’s symmetrization process from the generalized Airy-type polynomials. The obtained linear differential equation plays an essential role in the electrostatic interpretation for the distribution of zeros of the corresponding Freudian polynomials.
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Дисертації з теми "Semi-holonomic"

1

Sawon, Justin. "Homomorphisms of semi-holonomic verma modules : an exceptional case /." Title page, contents and abstract only, 1996. http://web4.library.adelaide.edu.au/theses/09SM/09smS2707.pdf.

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2

Dong, Xiaowei. "Initial concepts to develop a semi-autonomous operator support technology for operating a novel forestry machine." Thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-154748.

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Forestry machines have the power to lift heavy logs, but they are not so smart at providing information, or help operators perform better work. The main reason to this problem is the low level of technology applied to forestry machines, which has not changed so much since the forestry machines were first introduced in the 1960’s. But starting 2013, machines manufacturers got inspired by developments in the automation and robotics industry, several of new technologies have been developed in the market - computerized hydraulics, feedback controllers for vibration damping, sensor-based motion control systems, improvements in mechanical design, smart suspension controller, etc. Largely, this development is attributed to better hardware and software developed during the last decade by researchers of Scandinavian institutes. In this thesis, we introduce a new type of forestry machine, the harwarder, which can perform the work of two machines (harvester and forwarder) by a single one. The forwarder is a forestry vehicle that carries big felled logs. The harvester is a type of heavy forestry manipulator employed in cut-to-length logging operations for felling, and bucking trees. Both the manipulator and vehicle should work synchronized to get the best out of this design. To benefit out of its design, in the first part of thesis we will analyze the kinematics and dynamics of machine, and design a time optimal coordinated motion via virtual holonomic constraints, to solve a particular task of forestry crane. The second part consists on applying optimization to reduce energy consumption during the motion. Result of thesis work: 1) By using coordinated motion, consequently the energy consumptions are drastically reduced comparing to traditional motion of the crane. 2) By applying optimization, the energy efficiency is improved.
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3

Sawon, Justin. "Homomorphisms of semi-holonomic verma modules : an exceptional case." Thesis, 1997. http://hdl.handle.net/2440/80342.

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Анотація:
Verma modules play an important part in the theory of invariant operators on homogeneous spaces. If G is a semisimple Lie group and P a parabolic subgroup of G, then there is often a differential geometry for which the homogeneous space G/P represents the flat model. An example is conformal geometry, where G is the special orthogonal group SO(n, C). A Verma module homomorphism will corresponds to an invariant operator on the flat space. The obvious question is: how can we generalize these operators to cases where there is curvature? In this thesis we will look at a variation of Verma modules called semiholonomic Verma modules, introduced by Eastwood and Slovák. They have studied the conformal case in detail, but here we will investigate instead the exceptional case of G = E₆. We will investigate when a Verma module homomorphism lifts to a semi-holonomic Verma module homomorphism. When this happens, we can deduce that there is a curved analogue of the corresponding invariant operator.
Thesis (Ph.D.) -- University of Adelaide, Dept. of Pure Mathematics, 1997
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4

Kumar, Sandip. "Generalized Sampling-Based Feedback Motion Planners." Thesis, 2011. http://hdl.handle.net/1969.1/ETD-TAMU-2011-12-10663.

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The motion planning problem can be formulated as a Markov decision process (MDP), if the uncertainties in the robot motion and environments can be modeled probabilistically. The complexity of solving these MDPs grow exponentially as the dimension of the problem increases and hence, it is nearly impossible to solve the problem even without constraints. Using hierarchical methods, these MDPs can be transformed into a semi-Markov decision process (SMDP) which only needs to be solved at certain landmark states. In the deterministic robotics motion planning community, sampling based algorithms like probabilistic roadmaps (PRM) and rapidly exploring random trees (RRTs) have been successful in solving very high dimensional deterministic problem. However they are not robust to system with uncertainties in the system dynamics and hence, one of the primary objective of this work is to generalize PRM/RRT to solve motion planning with uncertainty. We first present generalizations of randomized sampling based algorithms PRM and RRT, to incorporate the process uncertainty, and obstacle location uncertainty, termed as "generalized PRM" (GPRM) and "generalized RRT" (GRRT). The controllers used at the lower level of these planners are feedback controllers which ensure convergence of trajectories while mitigating the effects of process uncertainty. The results indicate that the algorithms solve the motion planning problem for a single agent in continuous state/control spaces in the presence of process uncertainty, and constraints such as obstacles and other state/input constraints. Secondly, a novel adaptive sampling technique, termed as "adaptive GPRM" (AGPRM), is proposed for these generalized planners to increase the efficiency and overall success probability of these planners. It was implemented on high-dimensional robot n-link manipulators, with up to 8 links, i.e. in a 16-dimensional state-space. The results demonstrate the ability of the proposed algorithm to handle the motion planning problem for highly non-linear systems in very high-dimensional state space. Finally, a solution methodology, termed the "multi-agent AGPRM" (MAGPRM), is proposed to solve the multi-agent motion planning problem under uncertainty. The technique uses a existing solution technique to the multiple traveling salesman problem (MTSP) in conjunction with GPRM. For real-time implementation, an ?inter-agent collision detection and avoidance? module was designed which ensures that no two agents collide at any time-step. Algorithm was tested on teams of homogeneous and heterogeneous agents in cluttered obstacle space and the algorithm demonstrate the ability to handle such problems in continuous state/control spaces in presence of process uncertainty.
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Частини книг з теми "Semi-holonomic"

1

Epstein, Marcelo. "On Semi-Holonomic Cosserat Media." In Advances in Mechanics and Mathematics, 15–24. New York, NY: Springer New York, 2010. http://dx.doi.org/10.1007/978-1-4419-5695-8_2.

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2

Deshpande, Ashwin, Leslie Pack Kaelbling, and Tomás Lozano-Pérez. "Decidability of Semi-Holonomic Prehensile Task and Motion Planning." In Springer Proceedings in Advanced Robotics, 544–59. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-43089-4_35.

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3

"Multi -Level Path Planning for Nonholonomic Robots using Semi-Holonomic Subsystems." In Algorithms for Robotic Motion and Manipulation, 91–108. A K Peters/CRC Press, 1997. http://dx.doi.org/10.1201/9781439864524-12.

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Тези доповідей конференцій з теми "Semi-holonomic"

1

Tahboub, K. A., and H. H. Asada. "A compliant semi-autonomous reactive control architecture applied to robotic holonomic wheelchairs." In 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. IEEE, 1999. http://dx.doi.org/10.1109/aim.1999.803247.

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2

Jiankui Wang, Yuanyuan Zhao, Xingguo Song, and Guoshan Zhang. "Semi-global robust finite time stabilization of non-holonomic chained form systems with perturbed terms." In 2010 8th World Congress on Intelligent Control and Automation (WCICA 2010). IEEE, 2010. http://dx.doi.org/10.1109/wcica.2010.5553892.

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3

Jiankui Wang, Yuanyuan Zhao, Xingguo Song, and Guoshan Zhang. "Semi-global robust finite time stabilization of non-holonomic chained form systems with perturbed terms." In 2010 8th World Congress on Intelligent Control and Automation (WCICA 2010). IEEE, 2010. http://dx.doi.org/10.1109/wcica.2010.5553907.

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4

Karras, George C., Savvas G. Loizou, and Kostas J. Kyriakopoulos. "Semi-autonomous teleoperation of a non-holonomic underwater vehicle using a Laser Vision System: A visual-servoing switching control approach." In 2009 17th Mediterranean Conference on Control and Automation (MED). IEEE, 2009. http://dx.doi.org/10.1109/med.2009.5164641.

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5

Meshreki, Mouhab, József Kövecses, and Helmi Attia. "An Integrated Approach for the Predictions of the Workpiece Vibrations During Machining of Aerospace Structure: Numerical and Experimental Validation." In ASME 2012 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/imece2012-89066.

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Анотація:
Accurate predictions of the workpiece vibrations during high speed machining of aerospace structural components is a critical issue since it affects the accuracy of the final part. For fixture design purposes, and for force predictions, the computational efficiency of the dynamic models predicting the workpiece vibrations is a crucial factor since it affects the cycle time for the design and optimization of the fixtures. Most of the available dynamic models are based on computationally prohibitive techniques, such as finite element analysis. In this work, an integrated approach, based on recently developed semi-analytical models, is presented for the analysis of the effect of the fixture layout on the dynamics of thin-walled structures while taking into account the continuous change of thickness of the workpiece, and the effect of rigid and deformable fixture supports. The developed approach is based on plate models with holonomic constraints and finite stiffness springs. This approach, together with all the developed models and formulations are validated numerically for different workpiece geometries and various types of loading. An experimental study has been performed to validate this approach through the machining of thin-walled components. It was found that this approach led to prediction errors within 10% and more than 20 times reduction in the computation time. The challenge of filtering the effect of the dynamics of the force measurement system from the measured signals was overcome by developing a new hybrid semi-analytical methodology for accurate measurement of the machining forces.
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Djerassi, Shlomo. "On the Applicability of Newton’s, Poisson’s and Stronge’s Collision Hypotheses." In ASME 2008 9th Biennial Conference on Engineering Systems Design and Analysis. ASMEDC, 2008. http://dx.doi.org/10.1115/esda2008-59161.

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Анотація:
This paper deals with collision with friction. Equations governing a one-point collision of planar, simple non-holonomic systems are generated. Expressions for the normal and tangential impulses, the normal and tangential velocities of separation of the colliding points, and the change of the system mechanical energy, are written for three types of collision in connection with Newton’s hypothesis, and for five types of collision in connection with Poisson’s and Stronge’s hypotheses. These, together with Routh’s semi-graphical method and Coulomb’s coefficient of friction, are used to show that the algebraic signs of five, newly-defined, configuration-related parameters, not all independent, span eleven cases of system configuration. For each, the ratio between the tangential and normal components of the velocity of approach, called α, determine the type of collision which, once found, allows the evaluation of the associated normal and tangential impulses and ultimately the changes in the motion variables. The analysis of the eleven cases with Newton’s hypothesis indicates that the calculated mechanical energy may increase if sticking or reverse sliding occur, and that regions of α exist for which there is no solution or there are multiple solutions. Regarding Poisson’s hypothesis, there are regions of α, narrower than with Newton’s hypothesis, for which there is no solution. However, whenever a solution exists it is unique, coherent and energy-consistent. The same applies to Stronge’s hypothesis, however for a narrower range of application. It is thus concluded that Poisson’s hypothesis is superior as compared with Newton’s and Stronge’s hypotheses.
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