This paper presents a design tool of impedance controllers for robot manipulators, based on the formulation of Lyapunov functions. The proposed control approach addresses two cha\-llen\-ges: the regulation of the interaction forces, ensured by the impedance error converging to zero, while preserving a suitable path tracking despite constraints imposed by the environment. The asymptotic stability of an equilibrium point of the system, composed by full non\-li\-near robot dynamics and the impedance control, is demonstrated according to Lyapunov's direct method. The system's performance was tested through the real-time experimental implementation of an interaction task involving a two degree-of-freedom, direct-drive robot.
Let $(H,\alpha )$ be a monoidal Hom-Hopf algebra and $(A,\beta )$ a right $(H,\alpha )$-Hom-comodule algebra. We first introduce the notion of a relative Hom-Hopf module and prove that the functor $F $ from the category of relative Hom-Hopf modules to the category of right $(A, \beta )$-Hom-modules has a right adjoint. Furthermore, we prove a Maschke type theorem for the category of relative Hom-Hopf modules. In fact, we give necessary and sufficient conditions for the functor that forgets the $(H, \alpha )$-coaction to be separable. This leads to a generalized notion of integrals.
In this paper a model for the recovery of human and economic activities in a region, which underwent a serious disaster, is proposed. The model treats the case that the disaster region has an industrial collaboration with a non-disaster region in the production system and, especially, depends upon each other in technological development. The economic growth model is based on the classical theory of R. M. Solow (1956), and the full model is described as a nonlinear system of ordinary differential equations.
In this paper, we present a novel quantitative description of intracellular and t-tubular Ca2+ dynamics in a model of rat cardiac ventricular myocyte. In order to simulate recently published data, the model incorporates t-tubular and peripheral dyads and intracellular subspaces, segmentation of the t-tubular luminal volume, reformulation of the inactivation properties of t-tubular land peripheral L-type calcium current (ICa) and a description of exogenous Ca2q+ buffer function in the intracellular space. The model is used to explore activity-induced changes of ion concentration in the intracellular and t-tubular spaces and their role in excitation - contraction coupling in ventricular myocytes. and Obsahuje Appendix se seznamy literatury, užitých zkratek a symbolů