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vseghete.bib
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@article{trinkle_dynamic_1995,
title = {On Dynamic {Multi-Rigid-Body} Contact Problems with Coulomb Friction},
author = {Trinkle, Jeff and Pang, {Jong-Shi} and Sudarsky, Sandra and Lo, Grace},
year = {1995}
},
@article{roa_computation_2009,
title = {Computation of Independent Contact Regions for Grasping {3-D} Objects},
volume = {25},
issn = {1552-3098},
url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4912336},
doi = {10.1109/TRO.2009.2020351},
number = {4},
journal = {{IEEE} Transactions on Robotics},
author = {Roa, {M.A.} and Suarez, R.},
month = aug,
year = {2009},
pages = {839--850}
},
@article{mirolo_incremental_2007,
title = {Incremental Convex Minimization for Computing Collision Translations of Convex Polyhedra},
volume = {23},
issn = {1552-3098},
url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4252173},
doi = {10.1109/TRO.2007.895084},
number = {3},
journal = {{IEEE} Transactions on Robotics},
author = {Mirolo, C. and Carpin, S. and Pagello, E.},
month = jun,
year = {2007},
pages = {403--415}
},
@book{murray_mathematical_1994,
title = {A mathematical introduction to robotic manipulation},
publisher = {{CRC}},
author = {Murray, R. M and Li, Z. and Sastry, S. S},
year = {1994}
},
@article{chizeck_feedback_1991,
title = {Feedback control of electrically stimulated muscle using simultaneous pulse width and stimulus period modulation},
volume = {38},
number = {12},
journal = {Biomedical Engineering, {IEEE} Transactions on},
author = {Chizeck, H. J and Lan, N. and Palmieri, L. S and Crago, P. E},
year = {1991},
pages = {1224–1234}
},
@article{liu_input--state_2011,
title = {Input-to-state stability of impulsive and switching hybrid systems with time-delay},
volume = {47},
issn = {0005-1098},
url = {http://www.sciencedirect.com/science/article/pii/S0005109811000768},
doi = {10.1016/j.automatica.2011.01.061},
abstract = {This paper investigates input-to-state stability {(ISS)} and integral input-to-state stability {(iISS)} of impulsive and switching hybrid systems with time-delay, using the method of multiple {Lyapunov–Krasovskii} functionals. It is shown that, even if all the subsystems governing the continuous dynamics, in the absence of impulses, are not {ISS/iISS}, impulses can successfully stabilize the system in the {ISS/iISS} sense, provided that there are no overly long intervals between impulses, i.e., the impulsive and switching signal satisfies a dwell-time upper bound condition. Moreover, these impulsive {ISS/iISS} stabilization results can be applied to systems with arbitrarily large time-delays. Conversely, in the case when all the subsystems governing the continuous dynamics are {ISS/iISS} in the absence of impulses, the {ISS/iISS} properties can be retained if the impulses and switching do not occur too frequently, i.e., the impulsive and switching signal satisfies a dwell-time lower bound condition. Several illustrative examples are presented, with their numerical simulations, to demonstrate the main results.},
number = {5},
journal = {Automatica},
author = {Liu, Jun and Liu, Xinzhi and Xie, {Wei-Chau}},
month = may,
year = {2011},
keywords = {Hybrid system, Impulsive stabilization, Impulsive system, Input-to-state stability {(ISS)}, Integral input-to-state stability {(iISS)}, Multiple {Lyapunov–Krasovskii} functionals, Switched system, Time-delay system},
pages = {899--908}
},
@misc{_istituto_????,
title = {Istituto Lombardo {(Rend.} Sc.) A 1974 Truesdell.pdf}
},
@misc{_physx_????,
title = {{PhysX}},
url = {http://www.nvidia.com}
},
@article{johnson_variational_2009,
title = {A variational approach to strand-based modeling of the human hand},
journal = {Algorithmic Foundation of Robotics {VIII}},
author = {Johnson, E. and Morris, K. and Murphey, T.},
year = {2009},
pages = {151--166}
},
@article{gupta_novel_2011,
title = {A novel approach to multiparametric quadratic programming},
volume = {47},
issn = {0005-1098},
url = {http://www.sciencedirect.com/science/article/pii/S0005109811003190},
doi = {10.1016/j.automatica.2011.06.019},
abstract = {Multiparametric (mp) programming pre-computes optimal solutions offline which are functions of parameters whose values become apparent online. This makes it particularly well suited for applications that need a rapid solution of online optimization problems. In this work, we propose a novel approach to multiparametric programming problems based on an enumeration of active sets and use it to obtain a parametric solution for a convex quadratic program {(QP).} To avoid the combinatorial explosion of the enumeration procedure, an active set pruning criterion is presented that makes the enumeration implicit. The method guarantees that all regions of the partition are critical regions without any artificial cuts, and further that no region of the parameter space is left unexplored.},
number = {9},
journal = {Automatica},
author = {Gupta, Arun and Bhartiya, Sharad and Nataraj, {P.S.V.}},
month = sep,
year = {2011},
keywords = {Multiparametric programming, Quadratic programming},
pages = {2112--2117},
annote = {Nothing to do with the grant, but with optimization methods in general. Presents a way to make on-line optimization faster by pre computing part of the problem.}
},
@article{bonaventura_modular_2005,
title = {A modular approach to the dynamics of complex multirobot systems},
volume = {21},
issn = {1552-3098},
url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1391012},
doi = {10.1109/TRO.2004.833809},
number = {1},
journal = {{IEEE} Transactions on Robotics},
author = {Bonaventura, {C.S.} and Jablokow, {K.W.}},
month = feb,
year = {2005},
pages = {26--37}
},
@inproceedings{leyendecker_discrete_2007,
title = {Discrete mechanics and optimal control for constrained multibody dynamics},
booktitle = {Proceedings of the 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, {ASME} International Design Engineering Technical Conferences, Las Vegas, Nevada},
author = {Leyendecker, S. and {Ober-Bl{\textbackslash}öbaum}, S. and Marsden, {J.E.} and Ortiz, M.},
year = {2007},
pages = {4–7}
},
@article{cottle_problem_1968,
title = {On a problem in linear inequalities},
volume = {1},
number = {1},
journal = {Journal of the London Mathematical Society},
author = {Cottle, R. W.},
year = {1968},
pages = {378}
},
@article{lubachevsky_how_1991,
title = {How to simulate billiards and similar systems},
volume = {94},
number = {2},
journal = {Journal of Computational Physics},
author = {Lubachevsky, B. D},
year = {1991},
pages = {255–283}
},
@incollection{blazejczyk-okolewska_1.5._1999,
series = {World Scientific Series on Nonlinear Science},
title = {1.5. Coefficient of restitution},
volume = {36},
isbn = {981-02-3716-2},
number = {A},
booktitle = {Chaotic mechanics in systems with impacts and friction},
publisher = {World Scientific Publishing Co. Pte. Ltd.},
author = {{Blazejczyk-Okolewska}, Barbara and Czolczynski, Krzysztof and Kapitaniak, Tomasz and Wojewoda, Jerzy},
year = {1999},
pages = {55--59}
},
@book{abraham_manifolds_1988,
title = {Manifolds, tensor analysis, and applications},
isbn = {9780387967905},
abstract = {The purpose of this book is to provide core material in nonlinear analysis for mathematicians, physicists, engineers, and mathematical biologists. The main goal is to provide a working knowledge of manifolds, dynamical systems, tensors, and differential forms. Some applications to Hamiltonian mechanics, fluid mechanics, electromagnetism, plasma dynamics and control theory are given using both invariant and index notation. The prerequisites required are solid undergraduate courses in linear algebra and advanced calculus.},
publisher = {Springer},
author = {Abraham, Ralph and Marsden, Jerrold E. and Rațiu, Tudor S.},
year = {1988},
keywords = {Calculus of tensors, Global analysis {(Mathematics)}, Manifolds {(Mathematics)}, Mathematics / Calculus, Mathematics / General, Mathematics / Geometry / Differential, Mathematics / Geometry / General, Mathematics / Mathematical Analysis, Mathematics / Topology, Science / Physics}
},
@inproceedings{harmon_asynchronous_2009,
address = {New Orleans, Louisiana},
series = {{SIGGRAPH} '09},
title = {Asynchronous contact mechanics},
isbn = {978-1-60558-726-4},
doi = {10.1145/1576246.1531393},
abstract = {We develop a method for reliable simulation of elastica in complex contact scenarios. Our focus is on firmly establishing three parameter-independent guarantees: that simulations of well-posed problems (a) have no interpenetrations, (b) obey causality, momentum- and energy-conservation laws, and (c) complete in finite time. We achieve these guarantees through a novel synthesis of asynchronous variational integrators, kinetic data structures, and a discretization of the contact barrier potential by an infinite sum of nested quadratic potentials. In a series of two- and three-dimensional examples, we illustrate that this method more easily handles challenging problems involving complex contact geometries, sharp features, and sliding during extremely tight contact.},
booktitle = {{ACM} {SIGGRAPH} 2009 papers},
publisher = {{ACM}},
author = {Harmon, David and Vouga, Etienne and Smith, Breannan and Tamstorf, Rasmus and Grinspun, Eitan},
year = {2009},
keywords = {animation, collision, contact, simulation, symplectic, variational}
},
@article{chen_exponential_2011,
title = {Exponential stability of nonlinear time-delay systems with delayed impulse effects},
volume = {47},
issn = {0005-1098},
url = {http://www.sciencedirect.com/science/article/pii/S0005109811001324},
doi = {10.1016/j.automatica.2011.02.031},
abstract = {The problem of exponential stability for nonlinear time-delay systems with delayed impulses is addressed in this paper. Lyapunov-based sufficient conditions for exponential stability are derived, respectively, for two kinds of delayed impulses (i.e., destabilizing delayed impulses and stabilizing delayed impulses). It is shown that if a nonlinear impulsive time-delay system without impulse input delays is exponentially stable, then under some conditions, its stability is robust with respect to small impulse input delays. Moreover, it is also shown that for a stable nonlinear impulsive time-delay system, if the magnitude of the delayed impulses is sufficiently small, then under some conditions, the delayed impulses do not destroy the stability irrespective of the sizes of the impulse input delays. The efficiency of the proposed results is illustrated by three numerical examples.},
number = {5},
journal = {Automatica},
author = {Chen, {Wu-Hua} and Zheng, Wei Xing},
month = may,
year = {2011},
keywords = {Delayed impulses, Exponential stability, Impulsive systems},
pages = {1075--1083}
},
@book{schutz_geometrical_1980,
title = {Geometrical methods of mathematical physics},
publisher = {Cambridge Univ Pr},
author = {Schutz, B. F},
year = {1980}
},
@article{johnson_scalable_2009,
title = {Scalable Variational Integrators for Constrained Mechanical Systems in Generalized Coordinates},
volume = {25},
issn = {1552-3098},
doi = {10.1109/TRO.2009.2032955},
number = {6},
journal = {{IEEE} Transactions on Robotics},
author = {Johnson, {E.R.} and Murphey, {T.D.}},
month = dec,
year = {2009},
pages = {1249--1261}
},
@misc{_2008_????,
title = {2008 Yunt.pdf}
},
@article{borzova_passively_2004,
title = {Passively walking five-link robot},
volume = {40},
issn = {0005-1098},
url = {http://www.sciencedirect.com/science/article/pii/S0005109803003522},
doi = {10.1016/j.automatica.2003.10.015},
abstract = {In this article we investigate the dynamics of a five-link, passive bipedal robot. The passivity in this context stands for the ability of the robot to walk autonomously down an inclined surface without any external source of energy. Previous research efforts in passive walking were limited to four link models with knees or 2-link models without knees with a variety of mass distributions. In this paper we analyze the dynamics of a five-link robot with knees and upper body. We were successful in detecting three limit cycles that include three distinct upper body motions. We have investigated the structural stability of these cycles subject to variations in the upper body length. The results demonstrated that the stability can be improved with addition of linear dampers in the hip joints of the model. Also, our investigation demonstrated that erect body posture is only achievable when torsional springs are placed in the hip joints.},
number = {4},
journal = {Automatica},
author = {Borzova, Elena and Hurmuzlu, Yildirim},
month = apr,
year = {2004},
pages = {621--629}
},
@phdthesis{leyendecker_mechanical_2006,
title = {Mechanical integrators for constrained dynamical systems in flexible multibody dynamics},
school = {Universit{\textbackslash}ätsbibliothek},
author = {Leyendecker, S.},
year = {2006}
},
@inproceedings{bullo_modeling_1998,
title = {On modeling and locomotion of hybrid mechanical systems with impacts},
volume = {3},
booktitle = {Decision and Control, 1998. Proceedings of the 37th {IEEE} Conference on},
author = {Bullo, F. and Zefran, M.},
year = {1998},
pages = {2633--2638}
},
@article{bozler_electric_1938,
title = {Electric stimulation and conduction of excitation in smooth muscle},
volume = {122},
number = {3},
journal = {American Journal of {Physiology–Legacy} Content},
author = {Bozler, E.},
year = {1938},
pages = {614}
},
@article{stoianovici_critical_1996,
title = {A critical study of the concepts of rigid body collision theory},
volume = {63},
number = {2},
journal = {{ASME} Journal of Applied Mechanics},
author = {Stoianovici, S. P. and Hurmuzlu, Y.},
year = {1996},
pages = {307–316}
},
@inproceedings{stewart_implicit_2000,
title = {An implicit time-stepping scheme for rigid body dynamics with Coulomb friction},
volume = {1},
isbn = {0-7803-5886-4},
doi = {10.1109/ROBOT.2000.844054},
abstract = {In this paper a new time-stepping method for simulating systems of rigid bodies is given. Unlike methods which take an instantaneous point of view, our method is based on impulse-momentum equations, and so does not need to explicitly resolve impulsive forces. On the other hand, our method is distinct from previous impulsive methods in that it does not require explicit collision checking and it can handle simultaneous impacts. Numerical results are given for one planar and one three dimensional example, which demonstrate the practicality of the method, and its convergence as the step size becomes small},
booktitle = {{IEEE} International Conference on Robotics and Automation, 2000. Proceedings. {ICRA} '00},
publisher = {{IEEE}},
author = {Stewart, D. and Trinkle, J. C},
year = {2000},
keywords = {convergence, Coulomb friction, dynamics, Equations, Force control, Friction, Humanoid robots, Humans, impulse-momentum, impulsive methods, Mathematical model, Mathematics, Orbital robotics, Physics, rigid body, robot dynamics, Robotics and automation, simulation, simultaneous impacts, Switches, time-stepping scheme, transient response},
pages = {162--169}
},
@article{sargent_efficient_1978,
title = {An efficient implementation of the Lemke algorithm and its extension to deal with upper and lower bounds},
journal = {Complementarity and Fixed Point Problems},
author = {Sargent, R. {W.H}},
year = {1978},
pages = {36–54}
},
@article{van_hemmen_map_2002,
title = {The map in your head: How does the brain represent the outside world?},
volume = {3},
shorttitle = {The map in your head},
number = {3},
journal = {{ChemPhysChem}},
author = {van Hemmen, J. L},
year = {2002},
pages = {291–298}
},
@article{inoue_elastic_2006,
title = {Elastic Model of Deformable Fingertip for {Soft-Fingered} Manipulation},
volume = {22},
issn = {1552-3098},
url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4020362},
doi = {10.1109/TRO.2006.886274},
number = {6},
journal = {{IEEE} Transactions on Robotics},
author = {Inoue, Takahiro and Hirai, Shinichi},
month = dec,
year = {2006},
pages = {1273--1279}
},
@article{yoshimura_dirac_2006,
title = {Dirac structures in Lagrangian mechanics Part I: implicit Lagrangian systems},
volume = {57},
shorttitle = {Dirac structures in Lagrangian mechanics Part I},
number = {1},
journal = {Journal of Geometry and Physics},
author = {Yoshimura, H. and Marsden, J. E},
year = {2006},
pages = {133–156}
},
@article{hahn_realistic_1988,
title = {Realistic animation of rigid bodies},
volume = {22},
issn = {0097-8930},
doi = {10.1145/378456.378530},
abstract = {The theoretical background and implementation for a computer animation system to model a general class of three dimensional dynamic processes for arbitrary rigid bodies is presented. The simulation of the dynamic interaction among rigid bodies takes into account various physical characteristics such as elasticity, friction, mass, and moment of inertia to produce rolling and sliding contacts. If a set of bodies is statically unstable, the system dynamically drives it toward a stable configuration while obeying the geometric constraints of the system including general non-holonomic constraints. The system also provides a physical environment with which objects animated using more traditional techniques can interact. The degree of interaction is easily controlled by the animator. A computationally efficient method to merge kinematics and dynamics for articulated rigid bodies to produce realistic motion is presented.},
number = {4},
journal = {{SIGGRAPH} Comput. Graph.},
author = {Hahn, James K},
month = jun,
year = {1988},
note = {{ACM} {ID:} 378530},
keywords = {animation, animations, design, dynamics, modeling, performance, rigid bodies, simulation, theory},
pages = {299–308}
},
@article{haddad_energy-based_2003,
title = {Energy-based control for hybrid port-controlled Hamiltonian systems},
volume = {39},
issn = {0005-1098},
url = {http://www.sciencedirect.com/science/article/pii/S0005109803001134},
doi = {10.1016/S0005-1098(03)00113-4},
abstract = {In this paper we develop an energy-based hybrid control framework for hybrid port-controlled Hamiltonian systems. In particular, we obtain constructive sufficient conditions for hybrid feedback stabilization that provide a shaped energy function for the closed-loop system, while preserving a hybrid Hamiltonian structure at the closed-loop level. Furthermore, an inverse optimal hybrid feedback control framework is developed that characterizes a class of globally stabilizing energy-based controllers that guarantee hybrid sector and gain margins to multiplicative input uncertainty of hybrid Hamiltonian systems.},
number = {8},
journal = {Automatica},
author = {Haddad, Wassim M. and Nersesov, Sergey G. and Chellaboina, {VijaySekhar}},
month = aug,
year = {2003},
keywords = {Energy functions, Energy-based control, Hybrid systems, Impulsive dynamical systems, Optimal control, Port-controlled Hamiltonian systems},
pages = {1425--1435}
},
@article{anitescu_formulating_1997,
title = {Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems},
volume = {14},
number = {3},
journal = {Nonlinear Dynamics},
author = {Anitescu, M. and Potra, F. A},
year = {1997},
pages = {231--247}
},
@article{arakawa_multidimensional_1982,
title = {Multidimensional quantum well laser and temperature dependence of its threshold current},
volume = {40},
number = {11},
journal = {Applied Physics Letters},
author = {Arakawa, Y. and Sakaki, H.},
year = {1982},
pages = {939–941}
},
@article{baraff_analytical_1989,
title = {Analytical methods for dynamic simulation of non-penetrating rigid bodies},
volume = {23},
issn = {0097-8930},
doi = {10.1145/74334.74356},
abstract = {A method for analytically calculating the forces between systems of rigid bodies in resting (non-colliding) contact is presented. The systems of bodies may either be in motion or static equilibrium and adjacent bodies may touch at multiple points. The analytic formulation of the forces between bodies in non-colliding contact can be modified to deal with colliding bodies. Accordingly, an improved method for analytically calculating the forces between systems of rigid bodies in colliding contact is also presented. Both methods can be applied to systems with arbitrary holonomic geometric constraints, such as linked figures. The analytical formulations used treat both holonomic and non-holonomic constraints in a consistent manner.},
number = {3},
journal = {{SIGGRAPH} Comput. Graph.},
author = {Baraff, D.},
month = jul,
year = {1989},
note = {{ACM} {ID:} 74356},
keywords = {algorithms, animation, curve, surface, solid, and object representations, linear programming},
pages = {223--232}
},
@book{kelley_iterative_1999,
title = {Iterative methods for optimization},
volume = {18},
publisher = {Society for Industrial Mathematics},
author = {Kelley, C. T},
year = {1999}
},
@article{menini_state_2003,
title = {State estimation for the Newton's cradle: A mechanism that is unobservable in absence of impacts},
volume = {16},
shorttitle = {State estimation for the Newton's cradle},
number = {4},
journal = {Applied mathematics letters},
author = {Menini, L. and Tornambé, A.},
year = {2003},
pages = {469--474}
},
@article{hurmuzlu_modeling_2004,
title = {Modeling, stability and control of biped robots: a general framework},
volume = {40},
issn = {0005-1098},
url = {http://www.sciencedirect.com/science/article/pii/S0005109804000998},
doi = {10.1016/j.automatica.2004.01.031},
abstract = {The focus of this survey is the modeling and control of bipedal locomotion systems. More specifically, we seek to review the developments in the field within the framework of stability and control of systems subject to unilateral constraints. We place particular emphasis on three main issues that, in our view, form the underlying theory in the study of bipedal locomotion systems. Impact of the lower limbs with the walking surface and its effect on the walking dynamics was considered first. The key issue of multiple impacts is reviewed in detail. Next, we consider the dynamic stability of bipedal gait. We review the use of discrete maps in studying the stability of the closed orbits that represent the dynamics of a biped, which can be characterized as a hybrid system. Last, we consider the control schemes that have been used in regulating the motion of bipedal systems. We present an overview of the existing work and seek to identify the needed future developments. Due to the very large number of publications in the field, we made the choice to mainly focus on journal papers.},
number = {10},
journal = {Automatica},
author = {Hurmuzlu, Yildirim and G{\textbackslash}'{e}not, Frank and Brogliato, Bernard},
month = oct,
year = {2004},
keywords = {Biped robots, Complementarity conditions, Control synthesis, Gait stability, Hybrid system, Multiple impact laws, Non-smooth mechanics, unilateral constraints},
pages = {1647--1664}
},
@article{murtagh_off-optimum_1971,
title = {Off-optimum timing of interplanetary midcourse guidance maneuvers},
volume = {7},
issn = {0005-1098},
url = {http://www.sciencedirect.com/science/article/pii/0005109871900227},
doi = {10.1016/0005-1098(71)90022-7},
abstract = {The nature of the optimum solution with respect to the timing of interplanetary midcourse guidance maneuvers is investigated. The analysis provides a realistic cost function, defined as the sum of the root-mean-square mid-course maneuvers, for both the fixed-time-of-arrival and the variable-time-of-arrival guidance logics and uses the time of the last maneuver as a functional constraint. The results of the analysis indicate that only the timing of the first and of the last maneuvers is sensitive to perturbation about the optimal values and that a variation in the timing of the intermediate maneuvers produces small changes in the total midcourse velocity requirement.},
number = {5},
journal = {Automatica},
author = {Murtagh, {T.B}},
month = sep,
year = {1971},
pages = {567--575}
},
@misc{_bullet_2011,
title = {Bullet physics library},
url = {http://bulletphysics.org/},
month = sep,
year = {2011}
},
@misc{_2008_????-1,
title = {2008 Murphey.pdf}
},
@article{hamadeh_reachability_2008,
title = {Reachability analysis of continuous-time piecewise affine systems},
volume = {44},
issn = {0005-1098},
url = {http://www.sciencedirect.com/science/article/pii/S0005109808003233},
doi = {10.1016/j.automatica.2008.05.023},
abstract = {This paper proposes an algorithm for the characterization of reachable sets of states for continuous-time piecewise affine systems. Given a model of the system and a bounded set of possible initial states, the algorithm employs an {LMI} approach to compute both upper and lower bounds on reachable regions. Rather than performing computations in the state-space, this method uses impact maps to find the reachable sets on the switching surfaces of the system. This tool can then be used to deduce safety and performance results about the system.},
number = {12},
journal = {Automatica},
author = {Hamadeh, Abdullah and Goncalves, Jorge},
month = dec,
year = {2008},
keywords = {Hybrid systems, Piecewise affine systems, Reachability},
pages = {3189--3194}
},
@incollection{press_section_2007,
title = {Section 10.2. Golden Section Search in One Dimension},
isbn = {0521880688},
abstract = {Do you want easy access to the latest methods in scientific computing? This
greatly expanded third edition of Numerical Recipes has it, with wider
coverage than ever before, many new, expanded and updated sections, and two
completely new chapters. The executable C++ code, now printed in color for
easy reading, adopts an object-oriented style particularly suited to
scientific applications. Co-authored by four leading scientists from academia
and industry, Numerical Recipes starts with basic mathematics and computer
science and proceeds to complete, working routines. The whole book is
presented in the informal, easy-to-read style that made earlier editions so
popular. Highlights of the new material include: a new chapter on
classification and inference, Gaussian mixture models, {HMMs}, hierarchical
clustering, and {SVMs;} a new chapter on computational geometry, covering {KD}
trees, quad- and octrees, Delaunay triangulation, and algorithms for lines,
polygons, triangles, and spheres; interior point methods for linear
programming; {MCMC;} an expanded treatment of {ODEs} with completely new routines;
and many new statistical distributions.},
booktitle = {Numerical Recipes 3rd Edition: The Art of Scientific Computing},
publisher = {Cambridge University Press},
author = {Press, William and Teukolsky, Saul and Vetterling, William and Flannery, Brian},
year = {2007}
},
@inproceedings{pekarek_discrete_2007,
title = {Discrete mechanics and optimal control applied to the compass gait biped},
booktitle = {Decision and Control, 2007 46th {IEEE} Conference on},
author = {Pekarek, D. and Ames, A. D and Marsden, J. E},
year = {2007},
pages = {5376--5382}
},
@book{brogliato_nonsmooth_1999,
title = {Nonsmooth mechanics},
publisher = {Springer},
author = {Brogliato, B.},
year = {1999}
},
@article{govaerts_rankdeficient_1997,
title = {Rank‐deficient matrices as a computational tool},
volume = {4},
issn = {1099-1506},
url = {http://onlinelibrary.wiley.com/doi/10.1002/(SICI)1099-1506(199711/12)4:6<443::AID-NLA118>3.0.CO;2-D/abstract},
doi = {10.1002/(SICI)1099-1506(199711/12)4:6<443::AID-NLA118>3.0.CO;2-D},
abstract = {Rank-deficient matrices arise naturally in many applications. Detecting rank changes and computing parameter values for which a matrix has a prescribed (low) rank deficiency is a fundamental task in computing least squares and minimum norm solutions to systems of linear equations.},
number = {6},
journal = {Numerical Linear Algebra with Applications},
author = {Govaerts, W. and Sijnave, B.},
month = nov,
year = {1997},
keywords = {bordered matrices, rank deficiency},
pages = {443--458}
},
@article{rafal_set-valued_2011,
title = {Set-valued Lyapunov functions for difference inclusions},
volume = {47},
issn = {0005-1098},
url = {http://www.sciencedirect.com/science/article/pii/S0005109810004322},
doi = {10.1016/j.automatica.2010.10.018},
abstract = {The paper relates set-valued Lyapunov functions to pointwise asymptotic stability in systems described by a difference inclusion. Pointwise asymptotic stability of a set is a property which requires that each point of the set be Lyapunov stable and that every solution to the inclusion, from a neighborhood of the set, be convergent and have the limit in the set. Weak set-valued Lyapunov functions are shown, via an argument resembling an invariance principle, to imply this property. Strict set-valued Lyapunov functions are shown, in the spirit of converse Lyapunov results, to always exist for closed sets that are pointwise asymptotically stable.},
number = {1},
journal = {Automatica},
author = {Rafal, Goebel},
month = jan,
year = {2011},
keywords = {asymptotic stability, Consensus, Continuum of equilibria, Converse Lyapunov result, Difference inclusion, Set-valued Lyapunov function},
pages = {127--132}
},
@article{stewart_implicit_1996,
title = {{AN} {IMPLICIT} {TIME‐STEPPING} {SCHEME} {FOR} {RIGID} {BODY} {DYNAMICS} {WITH} {INELASTIC} {COLLISIONS} {AND} {COULOMB} {FRICTION}},
volume = {39},
issn = {1097-0207},
url = {http://onlinelibrary.wiley.com/doi/10.1002/(SICI)1097-0207(19960815)39:15<2673::AID-NME972>3.0.CO;2-I/abstract},
doi = {10.1002/(SICI)1097-0207(19960815)39:15<2673::AID-NME972>3.0.CO;2-I},
abstract = {In this paper a new time-stepping method for simulating systems of rigid bodies is given which incorporates Coulomb friction and inelastic impacts and shocks. Unlike other methods which take an instantaneous point of view, this method does not need to identify explicitly impulsive forces. Instead, the treatment is similar to that of J. J. Moreau and {Monteiro-Marques}, except that the numerical formulation used here ensures that there is no inter-penetration of rigid bodies, unlike their velocity-based formulation. Numerical results are given for the method presented here for a spinning rod impacting a table in two dimensions, and a system of four balls colliding on a table in a fully three-dimensional way. These numerical results also show the practicality of the method, and convergence of the method as the step size becomes small.},
number = {15},
journal = {International Journal for Numerical Methods in Engineering},
author = {{STEWART}, D. E and {TRINKLE}, J. C},
month = aug,
year = {1996},
keywords = {Coulomb friction, inelastic impact, rigid body dynamics},
pages = {2673--2691}
},
@article{menini_state_2002,
title = {State estimation of (otherwise unobservable) linear mechanical systems through the use of non-smooth impacts: the case of two mating gears},
volume = {38},
issn = {0005-1098},
shorttitle = {State estimation of (otherwise unobservable) linear mechanical systems through the use of non-smooth impacts},
url = {http://www.sciencedirect.com/science/article/pii/S0005109802000651},
doi = {10.1016/S0005-1098(02)00065-1},
abstract = {In this paper, we consider a particular mechanism, constituted by a pair of infinitely rigid mating gears subject to backlash, where only the position of the actuated gear is measured, so that the system is unobservable if the impacts between the teeth of the gears are ignored. Under the assumption that there is an infinite sequence of non-smooth impacts (which assumption is generally satisfied during a usual task, e.g., when the mechanism is actuated by a constant torque), it is possible to design an observer that asymptotically estimates also the position and the velocity of the non-actuated gear. Simulation results are included to verify the effectiveness of the proposed observer.},
number = {10},
journal = {Automatica},
author = {Menini, Laura and Tornamb{\textbackslash}'{e}, A.},
month = oct,
year = {2002},
keywords = {Backlash, Mechanical systems, Non-smooth impacts, Observers, unilateral constraints},
pages = {1823--1826}
},
@article{clements_three-dimensional_2006,
title = {Three-dimensional contact imaging with an actuated whisker},
volume = {22},
issn = {1552-3098},
url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1668265},
doi = {10.1109/TRO.2006.878950},
number = {4},
journal = {{IEEE} Transactions on Robotics},
author = {Clements, {T.N.} and Rahn, {C.D.}},
month = aug,
year = {2006},
pages = {844--848}
},
@inproceedings{milenkovic_optimization-based_2001,
title = {Optimization-based animation},
booktitle = {Proceedings of the 28th annual conference on Computer graphics and interactive techniques},
author = {Milenkovic, V. J and Schmidl, H.},
year = {2001},
pages = {37–46}
},
@article{menini_velocity_2002,
title = {Velocity observers for non-linear mechanical systems subject to non-smooth impacts},
volume = {38},
issn = {0005-1098},
url = {http://www.sciencedirect.com/science/article/pii/S0005109802001644},
doi = {10.1016/S0005-1098(02)00164-4},
abstract = {This paper is concerned with the estimation of the velocity variables (when the position variables are the measured outputs) for non-linear mechanical systems subject to non-smooth impacts, both elastic and inelastic (i.e., with coefficient of restitution e=1 and e∈(0,1), respectively). A reduced-order observer is proposed, which guarantees that the corresponding error system, despite the possible presence of an infinite sequence of non-smooth impacts, is locally exponentially stable. An estimate of the basin of attraction is also given.},
number = {12},
journal = {Automatica},
author = {Menini, L. and Tornamb{\textbackslash}'{e}, A.},
month = dec,
year = {2002},
keywords = {Impact, Mechanical systems, Observers},
pages = {2169--2175},
annote = {This paper is definitely related to our work, although somewhat tangentially. They build a velocity observer, under the assumption that they have access only to configuration measurements. The velocity observer follows the system through impacts and uses the same reset map (they cite Brogliato 1996, chapter 6) as we do. They do everything in continuous time, but a discrete version of this would be useful to estimate the velocity before and after impact for control purposes: variational integrators only keep track of configuration, not velocity, but impact resolution needs velocity/momentum to work.}
},
@article{morarescu_passivity-based_2010,
title = {Passivity-based switching control of flexible-joint complementarity mechanical systems},
volume = {46},
issn = {0005-1098},
url = {http://www.sciencedirect.com/science/article/pii/S0005109809004841},
doi = {10.1016/j.automatica.2009.10.023},
abstract = {In this study one considers the tracking control problem of a class of nonsmooth Lagrangian systems with flexible joints and subject to frictionless unilateral constraints. The task under consideration consists of a succession of free-motion and constrained-motion phases. Particular attention is paid to impacting and detachment phases. A passivity-based switching controller that allows one to extend the stability analysis described in our previous works to the case of systems with lumped flexibilities, is proposed. Numerical tests show the effectiveness of the controller.},
number = {1},
journal = {Automatica},
author = {Morarescu, {Constantin-Irinel} and Brogliato, Bernard},
month = jan,
year = {2010},
keywords = {Complementarity problem, Flexible joints, Lagrangian systems, Nonsmooth systems, Passivity-based control},
pages = {160--166},
annote = {From the equations I can tell that they are using gap functions \${\textbackslash}phi\_i(q)=q\_i\$, so they do some sort of coordinate transformation to get there (they don't say much about it and why they are allowed to do it, and for what systems it is allowed; I am skeptical). This is definitely related to the global projection discussion and the coordinate transformation {(I} was saying that my intuition was it's only allowed when the boundary is convex). They clearly use an {LCP} based approach to dealing with impacts and consider impacts as adding disturbances to their otherwise decreasing Lyapunov function. This seems to be in contrast with our approach, where impacts help us rather than disturb our controller.}
},
@inproceedings{chakraborty_implicit_2007,
title = {An implicit time-stepping method for multibody systems with intermittent contact},
booktitle = {Robotics: Science and Systems},
author = {Chakraborty, N. and Berard, S. and Akella, S. and Trinkle, J.},
year = {2007}
},
@misc{_switch_????,
title = {Switch Complexity of Local Controllability}
},
@article{johansson_first_2004,
title = {First spikes in ensembles of human tactile afferents code complex spatial fingertip events},
volume = {7},
issn = {1097-6256},
url = {http://dx.doi.org/10.1038/nn1177},
doi = {10.1038/nn1177},
number = {2},
journal = {Nat Neurosci},
author = {Johansson, Roland S and Birznieks, Ingvars},
month = feb,
year = {2004},
pages = {170--177}
},
@inproceedings{murphey_modeling_2006,
title = {Modeling and control of multiple-contact manipulation without modeling friction},
booktitle = {American Control Conference, 2006},
author = {Murphey, T. D},
year = {2006},
pages = {8–pp}
},
@article{medina_state_2009,
title = {State feedback stabilization of linear impulsive systems},
volume = {45},
issn = {0005-1098},
url = {http://www.sciencedirect.com/science/article/pii/S0005109809000843},
doi = {10.1016/j.automatica.2009.02.003},
abstract = {We address the fundamental problem of state feedback stabilization for a class of linear impulsive systems featuring arbitrarily-spaced impulse times and possibly singular state transition matrices. Specifically, we show that a strong reachability property enables a state feedback law to be constructed that yields a uniformly exponentially stable closed-loop system. The approach adopts a receding horizon strategy involving a weighted reachability gramian in a manner reminiscent of well-known results for time-varying linear systems for both continuous and discrete-time cases.},
number = {6},
journal = {Automatica},
author = {Medina, Enrique A. and Lawrence, Douglas A.},
month = jun,
year = {2009},
keywords = {Linear impulsive systems, Reachability, Stability, stabilization, State feedback},
pages = {1476--1480}
},
@article{stewart_rigid-body_2000,
title = {Rigid-body dynamics with friction and impact},
journal = {{SIAM} review},
author = {Stewart, D. E},
year = {2000},
pages = {3--39}
},
@article{bloch_controlled_2000,
title = {Controlled Lagrangians and the stabilization of mechanical systems.
I. The first matching theorem},
volume = {45},
issn = {0018-9286},
doi = {10.1109/9.895562},
abstract = {We develop a method for the stabilization of mechanical systems with symmetry based on the technique of controlled Lagrangians. The procedure involves making structured modifications to the Lagrangian for the uncontrolled system, thereby constructing the controlled Lagrangian. The {Euler-Lagrange} equations derived from the controlled Lagrangian describe the closed-loop system, where new terms in these equations are identified with control forces. Since the controlled system is Lagrangian by construction, energy methods can be used to find control gains that yield closed-loop stability. We use kinetic shaping to preserve symmetry and only stabilize systems module the symmetry group. The procedure is demonstrated for several underactuated balance problems, including the stabilization of an inverted planar pendulum on a cart moving on a line and an inverted spherical pendulum on a cart moving in the plane},
number = {12},
journal = {{IEEE} Transactions on Automatic Control},
author = {Bloch, A. M and Leonard, N. E and Marsden, J. E},
month = dec,
year = {2000},
keywords = {Aerodynamics, closed loop systems, closed-loop stability, Control systems, controlled Lagrangians, energy methods, Equations, {Euler-Lagrange} equations, Force control, inverted planar pendulum, inverted spherical pendulum, kinetic shaping, Kinetic theory, Lagrangian functions, matching theorem, Mechanical systems, nonlinear control systems, Nonlinear systems, pendulums, Stability, stabilization, symmetry, symmetry preservation, underactuated balance problems, Vehicle dynamics},
pages = {2253--2270}
},
@incollection{alart_geometry_????,
address = {Boston},
title = {The Geometry Of Newton’s Cradle},
volume = {12},
isbn = {0-387-29196-2},
booktitle = {Nonsmooth Mechanics and Analysis},
publisher = {Kluwer Academic Publishers},
author = {Glocker, Christoph and Aeberhard, Ueli},
editor = {Alart, P. and Maisonneuve, O. and Rockafellar, R. T.},
pages = {185--194}
},
@article{xiangyang_zhu_computation_2006,
title = {Computation of force-closure grasps: an iterative algorithm},
volume = {22},
issn = {1552-3098},
shorttitle = {Computation of force-closure grasps},
url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1589010},
doi = {10.1109/TRO.2005.858848},
number = {1},
journal = {{IEEE} Transactions on Robotics},
author = {Xiangyang Zhu and Han Ding},
month = feb,
year = {2006},
pages = {172--179}
},
@phdthesis{pekarek_variational_2010,
address = {Pasadena {CA}},
type = {Thesis},
title = {Variational methods for control and design of bipedal robot models},
abstract = {This thesis investigates nonsmooth mechanics using variational methods for the modeling, control, and design of bipedal robots.
The theory of Lagrangian mechanics is extended to capture a variety of nonsmooth collision behaviors in rigid body systems. Notably, a variational impact model is presented for the transition of constraints behavior that describes a biped switching stance feet at the conclusion of a step.
Next, discretizations of the impact mechanics are developed using the framework of variational discrete mechanics. The resulting variational collision integrators are consistent with the continuous time theory and have an underlying symplectic structure.
In addition to their role as integrators, the discrete equations of motion capturing nonsmooth dynamics enable a direct method for trajectory optimization. Upon specifically defining the optimal control problem for nonsmooth systems, examples demonstrate this optimization method in the task of determining periodic gaits for
two rigid body biped models.
An additional effort is made to optimize bipedal walking motions through modifications in system design. A method for determining optimal designs using a combination
of trajectory optimization methods and surrogate function optimization methods is defined. This method is demonstrated in the task of determining knee joint placement
in a given biped model.},
school = {California Institute of Technology},
author = {Pekarek, David N},
year = {2010}
},
@article{laurent_identification_2011,
title = {Identification of switched linear systems via sparse optimization},
volume = {47},
issn = {0005-1098},
url = {http://www.sciencedirect.com/science/article/pii/S0005109811000513},
doi = {10.1016/j.automatica.2011.01.036},
abstract = {The work presented in this paper is concerned with the identification of switched linear systems from input-output data. The main challenge with this problem is that the data are available only as a mixture of observations generated by a finite set of different interacting linear subsystems so that one does not know a priori which subsystem has generated which data. To overcome this difficulty, we present here a sparse optimization approach inspired by very recent developments from the community of compressed sensing. We formally pose the problem of identifying each submodel as a combinatorial â„“ 0 optimization problem. This is indeed an {NP-hard} problem which can interestingly, as shown by the recent literature, be relaxed into a (convex) â„“ 1 -norm minimization problem. We present sufficient conditions for this relaxation to be exact. The whole identification procedure allows us to extract the parameter vectors (associated with the different subsystems) one after another without any prior clustering of the data according to their respective generating-submodels. Some simulation results are included to support the potentialities of the proposed method.},
number = {4},
journal = {Automatica},
author = {Laurent, Bako},
month = apr,
year = {2011},
keywords = {Hybrid systems, Sparse optimization, Switched linear systems, System identification},
pages = {668--677}
},
@inproceedings{gibson_geometric_2010,
title = {Geometric integration of impact during an orbital docking procedure},
isbn = {978-1-4244-5447-1},
doi = {10.1109/COASE.2010.5584622},
abstract = {Simulations of orbiting bodies that experience self-impact during manuevers are known to potentially lead to numerical instability. In this paper it is demonstrated that the dynamics of an orbiting articulated body experiencing forcing and impacting can be stably simulated using variational integration. A prominent advantage of using variational integration is that conservation properties are maintained (even in the presence of external forcing) and natively can resolve impacts. Using variational integration, the configuration of the spacecraft is updated discretely to ensure that the system-subject to any applied constraints, forces, or impacts-will yield a new configuration that satisfies all conservation properties. Furthermore, variational integrators allow impacts to be easily implemented into the configuration update.},
booktitle = {2010 {IEEE} Conference on Automation Science and Engineering {(CASE)}},
publisher = {{IEEE}},
author = {Gibson, C. and Murphey, T. D},
month = aug,
year = {2010},
keywords = {aircraft, Computational modeling, Earth, Equations, geometric integration, impact (mechanical), integration, Mathematical model, orbital docking procedure, Payloads, {PD} control, self-impact, Space vehicles, spacecraft, variational integration, variational techniques},
pages = {928--932}
},
@article{wisse_how_2005,
title = {How to keep from falling forward: elementary swing leg action for passive dynamic walkers},
volume = {21},
issn = {1552-3098},
shorttitle = {How to keep from falling forward},
url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=1435483},
doi = {10.1109/TRO.2004.838030},
number = {3},
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@misc{center_for_history_and_new_media_zotero_????,
title = {Zotero Quick Start Guide},
url = {http://zotero.org/support/quick_start_guide},
author = {Center for History and New Media},
howpublished = {http://zotero.org/support/quick\_start\_guide},
annote = {Welcome to Zotero!
View the Quick Start Guide to learn how to begin collecting, managing, citing, and sharing your research sources.
Thanks for installing Zotero.}
},
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year = {1999}
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@inproceedings{basch_proximity_1997,
address = {Nice, France},
series = {{SCG} '97},
title = {Proximity problems on moving points},
isbn = {0-89791-878-9},
doi = {10.1145/262839.262998},
abstract = {Julien Basch No contact information provided yet. Bibliometrics: publication history Publication years1995-2004 Publication count13 Citation Count214 Available for download8 Downloads (6 Weeks)18 Downloads (12 Months)182 View colleagues of Julien Basch Leonidas J. Guibas No contact information provided yet. Bibliometrics: publication history Publication years1985-2009 Publication count153 Citation Count2,459 Available for download86 Downloads (6 Weeks)405 Downloads (12 Months)3,856 View colleagues of Leonidas J. Guibas Li Zhang No contact information provided yet. Bibliometrics: publication history Publication years1985-2011 Publication count265 Citation Count3,926 Available for download136 Downloads (6 Weeks)850 Downloads (12 Months)7,218 View colleagues of Li Zhang},
booktitle = {Proceedings of the thirteenth annual symposium on Computational geometry},
publisher = {{ACM}},
author = {Basch, Julien and Guibas, Leonidas J and Zhang, Li},
year = {1997},
note = {{ACM} {ID:} 262998},
keywords = {algorithms, computations on discrete structures, geometrical problems and computations, theory, trees},
pages = {344–351}
},
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title = {Data Structures for Mobile Data},
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issn = {0196-6774},
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doi = {06/jagm.1998.0988},
abstract = {Akinetic data {structure(KDS)} maintains an attribute of interest in a system of geometric objects undergoing continuous motion. In this paper we develop a concentual framework for kinetic data structures, we propose a number of criteria for the quality of such structures, and we describe a number of fundamental techniques for their design. We illustrate these general concepts by presenting kinetic data structures for maintaining the convex hull and the closest pair of moving points in the plane; these structures behave well according to the proposed quality criteria for {KDSs.}},
number = {1},
journal = {Journal of Algorithms},
author = {Basch, Julien and Guibas, Leonidas J. and Hershberger, John},
month = apr,
year = {1999},
pages = {1--28}
},
@inproceedings{zhang_dmoc_????,
title = {{DMOC} approach of real-time trajectory generation for mechanical systems},
booktitle = {Control, Automation, Robotics and Vision, 2008. {ICARCV} 2008. 10th International Conference on},
author = {Zhang, W. and Inanc, T. and Marsden, J. E},
pages = {2192–2195}
},
@inproceedings{capitan_means_2008,
title = {Means as Chords},
volume = {8},
booktitle = {Forum Geometricorum},
author = {Capitán, F. {J.G}},
year = {2008},
pages = {99–101}
},
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title = {Stochastic control},
journal = {Lecture Notes, Harvard University},
author = {Brockett, R.},
year = {1983}
},
@techreport{vouga_discrete_2009,
title = {Discrete penalty layers admit multisymplectic integration},
institution = {Tech. rep., Columbia University},
author = {Vouga, E. and Harmon, D. and Tamstorf, R. and Grinspun, E.},
year = {2009}
},
@article{colaneri_root_2011,
title = {Root mean square gain of discrete-time switched linear systems under dwell time constraints},
volume = {47},
issn = {0005-1098},
url = {http://www.sciencedirect.com/science/article/pii/S0005109811001361},
doi = {10.1016/j.automatica.2011.02.035},
abstract = {This paper deals with discrete-time switched linear systems and considers the problem of computing an upper bound to the dwell time ensuring a pre-specified root mean square {(RMS)} gain. As a natural consequence of treating general systems of this class in terms of the order and the number of subsystems, only sufficient conditions are worked out. They depend on the complete separation of the stabilizing and anti-stabilizing solutions of the algebraic Riccati equation associated to each subsystem. Moreover, as positive features, it is shown that the dwell time preserving the specification can be calculated through linear matrix inequalities {(LMIs)} and line search, being thus numerically solvable in polynomial time, and this allows the treatment of stable switched linear systems which do not admit a common Lyapunov function. The case of a guaranteed {RMS} gain for arbitrary switching signals is also addressed. A simple academic example constituted by three subsystems of third order is included for illustration.},
number = {8},
journal = {Automatica},
author = {Colaneri, P. and Bolzern, P. and Geromel, {J.C.}},
month = aug,
year = {2011},
keywords = {Dwell time, H ∞ control, {LMI}, Root mean square gain, Switched linear systems},
pages = {1677--1684},
annote = {Might be useful for hybrid systems part. I don't know enough about that yet to make a decision.}
},
@article{brogliato_control_1997,
title = {On the control of finite-dimensional mechanical systems with
unilateral constraints},
volume = {42},
issn = {0018-9286},
doi = {10.1109/9.554400},
abstract = {This paper focuses on the problem of the control of a class of mechanical systems with a finite number of degrees-of-freedom, subject to unilateral constraints on the position. Roughly speaking, those systems are described by a set of ordinary differential equations that represent smooth dynamics, together with an algebraic inequality condition F(q)⩾0 (where q is the vector of generalized coordinates) and an impact rule relating the interaction impulse and the velocity. Nonsmooth dynamics is at the core of the study of such systems. This implies that one can suitably define solutions and stability concepts that fit with the considered model. We then discuss the closed-loop control problem, and analyze various switching control strategies},
number = {2},
journal = {{IEEE} Transactions on Automatic Control},
author = {Brogliato, B. and Niculescu, S. {-I} and Orhant, P.},
month = feb,
year = {1997},
keywords = {algebraic inequality condition, closed loop systems, closed-loop control, Control systems, Differential equations, dynamics, finite-dimensional systems, Force control, interaction impulse, Manipulator dynamics, manipulators, Mechanical systems, Motion control, multidimensional systems, Open loop systems, Position control, Robots, Stability, switching control, unilateral constraints},
pages = {200--215}
},
@inproceedings{kharevych_geometric_2006,
title = {Geometric, variational integrators for computer animation},
booktitle = {Proceedings of the 2006 {ACM} {SIGGRAPH/Eurographics} symposium on Computer animation},
author = {Kharevych, L. and Yang, W. and Tong, Y. and Kanso, E. and Marsden, J. E and Schr{\textbackslash}öder, P. and Desbrun, M.},
year = {2006},
pages = {43–51}