The Experts below are selected from a list of 50313 Experts worldwide ranked by ideXlab platform
A Zotov - One of the best experts on this subject based on the ideXlab platform.
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three particle integrable systems with elliptic dependence on momenta and theta function identities
Physics Letters B, 2013Co-Authors: G Aminov, A Mironov, A Morozov, A ZotovAbstract:Abstract We claim that some non-trivial theta-function identities at higher genus can stand behind the Poisson commutativity of the Hamiltonians of elliptic integrable systems, which were introduced in [1] , [2] and are made from the theta-functions on Jacobians of the Seiberg–Witten curves. For the case of three-particle systems the genus-2 identities are found and presented in the Letter. The connection with the Macdonald identities is established. The genus-2 theta-function identities provide the direct way to construct the Poisson structure in terms of the coordinates on the Jacobian of the spectral curve and the elements of its period matrix. The Lax representations for the two-particle systems are also obtained.
Stephane Caro - One of the best experts on this subject based on the ideXlab platform.
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Transmission Quality Evaluation for a Class of Four-limb Parallel Schönflies-motion Generators with Articulated Platforms
Computational Kinematics, 2018Co-Authors: Guanglei Wu, Shaoping Bai, Stephane CaroAbstract:This paper investigated the motion/force transmission quality for a class of parallel Schönflies-motion generators built with four identical RR$$\varPi $$RR-type limbs. It turns out that the determinant of the forward Jacobian matrices for this class of parallel robots can be expressed as the scalar product of two vectors, the first vector being the cross product of the four unit vectors along the parallelograms, the second one being related to the rotation of the mobile platform. The pressure angles, derived from the determinants of forward and inverse Jacobians, respectively, are used for the evaluation of the transmission quality of the robots. Four robots are compared based on the proposed method as illustrative examples.
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A Transmission Quality Index for a Class of Four-limb Parallel Schönflies Motion Generators
Journal of Mechanisms and Robotics, 2018Co-Authors: Shaoping Bai, Stephane CaroAbstract:This paper presents a uniform evaluation method for both transmission quality and singularity analysis for a class of parallel Schönflies-motion generators with four RRΠRR limbs. It turns out that the determinant of the forward Jacobian matrices for this class of parallel robots can be expressed as the scalar product of two vectors, the first vector being the cross product of the four unit vectors along the parallelograms, and the second one being related to the rotation of the mobile platform. The pressure angles, derived from the determinants of forward and inverse Jacobians, respectively, are used for the evaluation of the transmission quality and the detection of robot singularities. Five robots are compared based on the proposed indices as an illustrative example.
Zhang Ying-bo - One of the best experts on this subject based on the ideXlab platform.
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Unscented Kalman filter for on-line estimation of Jacobian matrix
Journal of Computer Applications, 2011Co-Authors: Zhang Ying-boAbstract:In image based robot visual servo system,image Jacobian matrix is commonly used for calibration.Using on-line image Jacobian matrix estimation method,the complex system calibration can be avoided without knowing the accurate system models.In this paper,the author proposed to use the Unscented Kalman Filter(UKF) for on-line estimation of total Jacobian matrix for the sake of improving the tracking accuracy of the robots which is tracking a moving object.In order to evaluate the performance,three algorithms using Kalman Filter(KF),Particle Filter(PF),and UKF were used for total Jocobian matrix estimation in a 2-Degree Of Freedom(DOF) robot visual servo platform.The experimental results show that the UKF algorithm outperforms the other two in accuracy while its time cost is very much close to the KF algorithm.
Shaoping Bai - One of the best experts on this subject based on the ideXlab platform.
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Transmission Quality Evaluation for a Class of Four-limb Parallel Schönflies-motion Generators with Articulated Platforms
Computational Kinematics, 2018Co-Authors: Guanglei Wu, Shaoping Bai, Stephane CaroAbstract:This paper investigated the motion/force transmission quality for a class of parallel Schönflies-motion generators built with four identical RR$$\varPi $$RR-type limbs. It turns out that the determinant of the forward Jacobian matrices for this class of parallel robots can be expressed as the scalar product of two vectors, the first vector being the cross product of the four unit vectors along the parallelograms, the second one being related to the rotation of the mobile platform. The pressure angles, derived from the determinants of forward and inverse Jacobians, respectively, are used for the evaluation of the transmission quality of the robots. Four robots are compared based on the proposed method as illustrative examples.
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A Transmission Quality Index for a Class of Four-limb Parallel Schönflies Motion Generators
Journal of Mechanisms and Robotics, 2018Co-Authors: Shaoping Bai, Stephane CaroAbstract:This paper presents a uniform evaluation method for both transmission quality and singularity analysis for a class of parallel Schönflies-motion generators with four RRΠRR limbs. It turns out that the determinant of the forward Jacobian matrices for this class of parallel robots can be expressed as the scalar product of two vectors, the first vector being the cross product of the four unit vectors along the parallelograms, and the second one being related to the rotation of the mobile platform. The pressure angles, derived from the determinants of forward and inverse Jacobians, respectively, are used for the evaluation of the transmission quality and the detection of robot singularities. Five robots are compared based on the proposed indices as an illustrative example.
K U Bletzinger - One of the best experts on this subject based on the ideXlab platform.
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interface Jacobian based co simulation
International Journal for Numerical Methods in Engineering, 2014Co-Authors: S Sicklinger, Vladimir Belsky, Bruce Engelmann, Hilding Elmqvist, Hans Olsson, R Wuchner, K U BletzingerAbstract:SUMMARY Co-simulation is a prominent method to solve multi-physics problems. Multi-physics simulations using a co-simulation approach have an intrinsic advantage. They allow well-established and specialized simulation tools for different fields and signals to be combined and reused with minor adaptations in contrast to the monolithic approach. However, the partitioned treatment of the coupled system poses the drawback of stability and accuracy challenges. If several different subsystems are used to form the co-simulation scenario, these issues are especially important. In this work, we propose a new co-simulation algorithm based on interface Jacobians. It allows for the stable and accurate solution of complex co-simulation scenarios involving several different subsystems. Furthermore, the Interface Jacobian-based Co-Simulation Algorithm is formulated such that it enables parallel execution of the participating subsystems. This results in a high-efficient procedure. Furthermore, the Interface Jacobian-based Co-Simulation Algorithm handles algebraic loops as the co-simulation scenario is defined in residual form. Copyright © 2014 John Wiley & Sons, Ltd.