A modal approach to hyper-redundant manipulator kinematics

This paper presents novel and efficient kinematic modeling techniques for “hyper-redundant” robots. This approach is based on a “backbone curve” that captures the robot's macroscopic geometric features. The inverse kinematic, or “hyper-redundancy resolution,” problem reduces to determining the time varying backbone curve behavior. To efficiently solve the inverse kinematics problem, the authors introduce a “modal” approach, in which a set of intrinsic backbone curve shape functions are restricted to a modal form. The singularities of the modal approach, modal non-degeneracy conditions, and modal switching are considered. For discretely segmented morphologies, the authors introduce “fitting” algorithms that determine the actuator displacements that cause the discrete manipulator to adhere to the backbone curve. These techniques are demonstrated with planar and spatial mechanism examples. They have also been implemented on a 30 degree-of-freedom robot prototype

Stability criteria for planar linear systems with state reset

In this work we perform a stability analysis for a class of switched linear systems, modeled as hybrid automata. We deal with a switched linear planar system, modeled by a hybrid automaton with one discrete state. We assume the guard on the transition is a line in the state space and the reset map is a linear projection onto the x-axis. We define necessary and sufficient conditions for stability of the switched linear system with fixed and arbitrary dynamics in the location. \u

Interfacial motion in flexo- and order-electric switching between nematic filled states

We consider a nematic liquid crystal, in coexistence with its isotropic phase, in contact with a substrate patterned with rectangular grooves. In such a system, the nematic phase may fill the grooves without the occurrence of complete wetting. There may exist multiple (meta)stable filled states, each characterised by the type of distortion (bend or splay) in each corner of the groove and by the shape of the nematic-isotropic interface, and additionally the plateaux that separate the grooves may be either dry or wet with a thin layer of nematic. Using numerical simulations, we analyse the dynamical response of the system to an externally- applied electric field, with the aim of identifying switching transitions between these filled states. We find that order-electric coupling between the fluid and the field provides a means of switching between states where the plateaux between grooves are dry and states where they are wet by a nematic layer, without affecting the configuration of the nematic within the groove. We find that flexoelectric coupling may change the nematic texture in the groove, provided that the flexoelectric coupling differentiates between the types of distortion at the corners of the substrate. We identify intermediate stages of the transitions, and the role played by the motion of the nematic-isotropic interface. We determine quantitatively the field magnitudes and orientations required to effect each type of transition.Comment: 14 pages, 12 fig

On feedback stabilization of linear switched systems via switching signal control

Motivated by recent applications in control theory, we study the feedback stabilizability of switched systems, where one is allowed to chose the switching signal as a function of $x(t)$ in order to stabilize the system. We propose new algorithms and analyze several mathematical features of the problem which were unnoticed up to now, to our knowledge. We prove complexity results, (in-)equivalence between various notions of stabilizability, existence of Lyapunov functions, and provide a case study for a paradigmatic example introduced by Stanford and Urbano.Comment: 19 pages, 3 figure