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Статті в журналах з теми "Semi-holonomic"

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Автор: Grafiati

Опубліковано: 10 грудня 2022

Оновлено: 28 січня 2023

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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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Анотація:

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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11

Moreau, Clément, Laetitia Giraldi, and Hermes Gadêlha. "The asymptotic coarse-graining formulation of slender-rods, bio-filaments and flagella." Journal of The Royal Society Interface 15, no. 144 (July 2018): 20180235. http://dx.doi.org/10.1098/rsif.2018.0235.

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Анотація:

The inertialess fluid–structure interactions of active and passive inextensible filaments and slender-rods are ubiquitous in nature, from the dynamics of semi-flexible polymers and cytoskeletal filaments to cellular mechanics and flagella. The coupling between the geometry of deformation and the physical interaction governing the dynamics of bio-filaments is complex. Governing equations negotiate elastohydrodynamical interactions with non-holonomic constraints arising from the filament inextensibility. Such elastohydrodynamic systems are structurally convoluted, prone to numerical errors, thus requiring penalization methods and high-order spatio-temporal propagators. The asymptotic coarse-graining formulation presented here exploits the momentum balance in the asymptotic limit of small rod-like elements which are integrated semi-analytically. This greatly simplifies the elastohydrodynamic interactions and overcomes previous numerical instability. The resulting matricial system is straightforward and intuitive to implement, and allows for a fast and efficient computation, more than a hundred times faster than previous schemes. Only basic knowledge of systems of linear equations is required, and implementation achieved with any solver of choice. Generalizations for complex interaction of multiple rods, Brownian polymer dynamics, active filaments and non-local hydrodynamics are also straightforward. We demonstrate these in four examples commonly found in biological systems, including the dynamics of filaments and flagella. Three of these systems are novel in the literature. We additionally provide a Matlab code that can be used as a basis for further generalizations.

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12

Chiu, Y. T., S. Srinara, M. L. Tsai, and K. W. Chiang. "IMPROVEMENT OF LiDAR-SLAM-BASED 3D NDT LOCALIZATION USING FAULT DETECTION AND EXCLUSION ALGORITHM." International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B1-2022 (May 30, 2022): 189–95. http://dx.doi.org/10.5194/isprs-archives-xliii-b1-2022-189-2022.

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Abstract. To meet the autopilot demand of autonomous vehicle, higher automation level accompanies with higher consideration of safety factor to improve navigation accuracy. Moreover, it shall be stable under diverse environment, e.g., semi-open sky, urban, traffic jam, etc, where conventional navigation methods, the Inertial Measurement Unit (IMU) and global Navigation Satellite System (GNSS), might be limited. Thus, auxiliary sensor, the light detection and ranging (LiDAR), is applied to provide additional information to assist navigation under GNSS challenging environment, and fulfil Simultaneous Localization and Mapping (SLAM). To initially align the LiDAR point cloud, initial pose is generated by Extended Kalman Filter (EKF) through Loosely Coupled (LC) scheme, assisting with motion constraints, including Zero Velocity Update (ZUPT), Non-Holonomic Constraints (NHC), and Zero Integrated Heading Rate (ZIHR) function. With point cloud after initial alignment, registration method applied in this research is point to distribution based-Normal Distribution Transform (P2D-NDT), with scan to dynamic map matching. However, pure LiDAR-SLAM estimated solution remains faults in each measurement, which will propagate through computation and leads to false navigation outcome. Therefore, this paper proposed Fault Detection, Isolation, and Exclusion (FDIE) scheme to exclude the faults in each step of LiDAR-SLAM process. The final estimated solution is compared to robust reference data, the results turn out that convention navigation method work well under stable GNSS signal environment, while significant accuracy enhancement is achieved with NDT and FDE under large initial pose offset, such as GNSS signal blocked area.

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13

Harik, El Houssein Chouaib. "Design and Implementation of an Autonomous Charging Station for Agricultural Electrical Vehicles." Applied Sciences 11, no. 13 (July 2, 2021): 6168. http://dx.doi.org/10.3390/app11136168.

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Анотація:

One of the goals in adopting more sustainable agricultural practices is to reduce green-house-gas emissions from current practices by replacing fossil-fuel-based heavy machinery with lighter, electrical ones. In a not-so-distant scenario where a single farmer owns a fleet of small electrical tractors/robots that can operate in an autonomous/semi-autonomous manner, this will bring along some logistic challenges. It will be highly impractical that the farmer follows each time a given vehicle moves to the charging point to manually charge it. We present in this paper the design and implementation of an autonomous charging station to be used for that purpose. The charging station is a combination of a holonomic mobile platform and a collaborative robotic arm. Vision-based navigation and detection are used in order to plug the power cable from the wall-plug to the vehicle and back to the wall-plug again when the vehicle has recharged its batteries or reached the required level to pursue its tasks in the field. A decision-tree-based scheme is used in order to define the necessary pick, navigate, and plug sequences to fulfill the charging task. Communication between the autonomous charging station and the vehicle is established in order to make the whole process completely autonomous without any manual intervention. We present in this paper the charging station, the docking mechanism, communication scheme, and the deployed algorithms to achieve the autonomous charging process for agricultural electrical vehicles. We also present real experiments performed using the developed platform on an electrical robot-tractor.

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14

Tlas, Tamer. "On the holonomic equivalence of two curves." International Journal of Mathematics 27, no. 06 (June 2016): 1650055. http://dx.doi.org/10.1142/s0129167x16500555.

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Анотація:

Given a principal [Formula: see text]-bundle [Formula: see text] and two [Formula: see text] curves in [Formula: see text] with coinciding endpoints, we say that the two curves are holonomically equivalent if the parallel transport along them is identical for any smooth connection on [Formula: see text]. The main result in this paper is that if [Formula: see text] is semi-simple, then the two curves are holonomically equivalent if and only if there is a thin, i.e. of rank at most one, [Formula: see text] homotopy linking them. Additionally, it is also demonstrated that this is equivalent to the factorizability through a tree of the loop formed from the two curves and to the reducibility of a certain transfinite word associated to this loop. The curves are not assumed to be regular.

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15

"Derivative strings, differential strings and semi-holonomic jets." Proceedings of the Royal Society of London. Series A: Mathematical and Physical Sciences 436, no. 1896 (January 8, 1992): 89–98. http://dx.doi.org/10.1098/rspa.1992.0006.

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The derivative strings of Barndorff-Nielsen and the differential strings of Blӕsild & Mora are considered here from the coordinate-free viewpoint. It is shown that the derivative strings of given length and degree over a differentiable manifold form a vector bundle associated to a principal bundle of higher-order frames and that there is an analogous result for differential strings. Bundles of derivative strings are identified with vector bundles obtained from 0-truncated versions of Ehresmann’s semi-holonomic jets by dualization and by taking tensor products. Similarly, bundles of differential strings are identified with vector bundles obtained from semi-holonomic jets of certain tensor fields.

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16

Haschke, Tobias, Mathias Hüsing, and Burkhard Corves. "Bots2ReC - Analysis of Key Findings for the Application Development of Semi-Autonomous Asbestos Removal." International Journal of Automation & Digital Transformation 1, no. 1 (February 1, 2022). http://dx.doi.org/10.54878/ijadt.166.

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The removal of asbestos from existing buildings is a socially important and challenging renovation process due to the handling of hazardous materials. The EU project Robots to Re-Construction (Bots2ReC) has developed a robotic system for semi-autonomous asbestos removal for apartment buildings. The removal of plaster and tiles and the associated tile adhesive is implemented as a semi-autonomous construction task by mobile manipulators and integrated into the existing construction process. The development is based on a test-driven approach in order to obtain information about the achievable performance and the acceptance of the human operators as early as possible. The identification of the control variables for the respective tools and the embedding in the on-site process flow are named as the main reasons for the test-driven approach. The analysis of selected key findings of the project shows for the developed semantic mapping via mobile robot that a minimal, application-specific data format favours an efficient overall process control via task planning up to execution. In the development of mobile bases for the application, it can be shown that a holonomic drive is preferable to a differential drive due to the partly narrow and angled parts of the building. To carry out the intended processes and to guide the automated power tools, the in-house development of serial manipulators is necessary, since the combination of the required working space with the occurring weight and process forces cannot be solved within the requirements by an industrial manipulator. Finally, the main benefit of this papers contribution is seen in the transferable outcomes to other on-site automation projects.

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