A Variational Approach To The Optimization of Gait For a Bipedal Robot

1996 ◽  
Vol 210 (2) ◽  
pp. 177-186 ◽  
Author(s):  
P H Channon ◽  
S H Hopkins ◽  
D T Pham
Keyword(s):  
Finite Difference ◽  
Variational Approach ◽  
Dynamic Models ◽  
Initial Conditions ◽  
Optimal Trajectories ◽  
Point Boundary ◽  
Variational Technique ◽  
Bipedal Robot ◽  
Finite Difference Technique ◽  
Linearized Model

This paper presents a method for optimizing the walking motions of a planar five-link biped. The technique starts with non-linear kinematic and dynamic models for both the single-support and impact stages of motion. A variational technique is then used to derive joint trajectories that minimize a simple cost function. The resulting two-point boundary value problem is solved using a finite difference technique, with trajectories obtained from a simple linearized model as initial conditions. Families of optimal trajectories for different step periods and step lengths are presented.

Computer Simulation of the Response of Amperometric Biosensors in Stirred and non Stirred Solution

2003 ◽  
Vol 8 (1) ◽  
pp. 3-18 ◽  
Author(s):  
R. Baronas ◽  
F. Ivanauskas ◽  
J. Kulys
Keyword(s):  
Mathematical Model ◽  
Computer Simulation ◽  
Finite Difference ◽  
Mass Transport ◽  
Enzyme Reaction ◽  
Analyte Concentration ◽  
Amperometric Biosensors ◽  
Finite Difference Technique ◽  
Enzyme Layer ◽  
Biosensor Response

A mathematical model of amperometric biosensors has been developed to simulate the biosensor response in stirred as well as non stirred solution. The model involves three regions: the enzyme layer where enzyme reaction as well as mass transport by diffusion takes place, a diffusion limiting region where only the diffusion takes place, and a convective region, where the analyte concentration is maintained constant. Using computer simulation the influence of the thickness of the enzyme layer as well the diffusion one on the biosensor response was investigated. The computer simulation was carried out using the finite difference technique.

Modelling of Moisture Movement in Wood during Outdoor Storage

2001 ◽  
Vol 6 (2) ◽  
pp. 3-14 ◽  
Author(s):  
R. Baronas ◽  
F. Ivanauskas ◽  
I. Juodeikienė ◽  
A. Kajalavičius
Keyword(s):  
Experimental Data ◽  
Finite Difference ◽  
Climatic Conditions ◽  
Two Dimensional ◽  
Moisture Movement ◽  
Finite Difference Technique ◽  
Long Term Storage ◽  
Space Formulation ◽  
Term Storage

A model of moisture movement in wood is presented in this paper in a two-dimensional-in-space formulation. The finite-difference technique has been used in order to obtain the solution of the problem. The model was applied to predict the moisture content in sawn boards from pine during long term storage under outdoor climatic conditions. The satisfactory agreement between the numerical solution and experimental data was obtained.

scholarly journals Solving nonlinear third-order three-point boundary value problems by boundary shape functions methods

2021 ◽  
Vol 2021 (1) ◽  
Author(s):  
Ji Lin ◽  
Yuhui Zhang ◽  
Chein-Shan Liu
Keyword(s):  
Boundary Conditions ◽  
Boundary Value Problems ◽  
Initial Conditions ◽  
Boundary Value ◽  
Accurate Solution ◽  
Point Boundary ◽  
Third Order ◽  
Boundary Shape ◽  
Free Function ◽  
New Algorithms

AbstractFor nonlinear third-order three-point boundary value problems (BVPs), we develop two algorithms to find solutions, which automatically satisfy the specified three-point boundary conditions. We construct a boundary shape function (BSF), which is designed to automatically satisfy the boundary conditions and can be employed to develop new algorithms by assigning two different roles of free function in the BSF. In the first algorithm, we let the free functions be complete functions and the BSFs be the new bases of the solution, which not only satisfy the boundary conditions automatically, but also can be used to find solution by a collocation technique. In the second algorithm, we let the BSF be the solution of the BVP and the free function be another new variable, such that we can transform the BVP to a corresponding initial value problem for the new variable, whose initial conditions are given arbitrarily and terminal values are determined by iterations; hence, we can quickly find very accurate solution of nonlinear third-order three-point BVP through a few iterations. Numerical examples confirm the performance of the new algorithms.

On the Motion of Granular Materials Due to Shear

2000 ◽  
Author(s):  
Mehrdad Massoudi ◽  
Tran X. Phuoc
Keyword(s):  
Finite Difference ◽  
Granular Materials ◽  
Continuum Model ◽  
Theory Model ◽  
Governing Equations ◽  
Flat Plates ◽  
Material Parameters ◽  
Finite Difference Technique ◽  
Linear Differential ◽  
The Continuum

Abstract In this paper we study the flow of granular materials between two horisontal flat plates where the top plate is moving with a constant speed. The constitutive relation used for the stress is based on the continuum model proposed by Rajagopal and Massoudi (1990), where the material parameters are derived using the kinetic theory model proposed by Boyle and Massoudi (1990). The governing equations are non-dimensionalized and the resulting system of non-linear differential equations is solved numerically using finite difference technique.

Optimal Trajectories of Open-Chain Robot Systems: A New Solution Procedure Without Lagrange Multipliers

1998 ◽  
Vol 120 (1) ◽  
pp. 134-136 ◽  
Author(s):  
Sunil K. Agrawal ◽  
Pana Claewplodtook ◽  
Brian C. Fabien
Keyword(s):  
Differential Equations ◽  
Lagrange Multipliers ◽  
Nonlinear Differential Equations ◽  
Boundary Value ◽  
Optimal Solution ◽  
Solution Procedure ◽  
Optimal Trajectories ◽  
Point Boundary ◽  
Open Chain ◽  
Robot Systems

For an n d.o.f. robot system, optimal trajectories using Lagrange multipliers are characterized by 4n first-order nonlinear differential equations with 4n boundary conditions at the two end time. Numerical solution of such two-point boundary value problems with shooting techniques is hard since Lagrange multipliers can not be guessed. In this paper, a new procedure is proposed where the dynamic equations are embedded into the cost functional. It is shown that the optimal solution satisfies n fourth-order differential equations. Due to absence of Lagrange multipliers, the two-point boundary-value problem can be solved efficiently and accurately using classical weighted residual methods.

scholarly journals A comparative analysis of methods: mimetics, finite differences and finite elements for 1-dimensional stationary problems

2021 ◽  
Vol 8 (1) ◽  
pp. 1-11
Author(s):  
Abdul Abner Lugo Jiménez ◽  
Guelvis Enrique Mata Díaz ◽  
Bladismir Ruiz
Keyword(s):  
Numerical Methods ◽  
Finite Difference ◽  
Finite Difference Method ◽  
Differential Equations ◽  
Difference Method ◽  
Initial Conditions ◽  
Stationary Regime ◽  
Heat Transfer Fluid ◽  
Mimetic Finite Difference Method ◽  
Linear Differential

Numerical methods are useful for solving differential equations that model physical problems, for example, heat transfer, fluid dynamics, wave propagation, among others; especially when these cannot be solved by means of exact analysis techniques, since such problems present complex geometries, boundary or initial conditions, or involve non-linear differential equations. Currently, the number of problems that are modeled with partial differential equations are diverse and these must be addressed numerically, so that the results obtained are more in line with reality. In this work, a comparison of the classical numerical methods such as: the finite difference method (FDM) and the finite element method (FEM), with a modern technique of discretization called the mimetic method (MIM), or mimetic finite difference method or compatible method, is approached. With this comparison we try to conclude about the efficiency, order of convergence of these methods. Our analysis is based on a model problem with a one-dimensional boundary value, that is, we will study convection-diffusion equations in a stationary regime, with different variations in the gradient, diffusive coefficient and convective velocity.

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