Dynamic optimal grasping of a circular object with gravity using robotic soft-fingertips

Rodolfo García-Rodríguez; Victor Segovia-Palacios; Vicente Parra-Vega; Marco Villalva-Lucio

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The present paper studies an optimization problem of dynamically loaded cylindrical tubes. This is a problem of linear elasticity theory. As we search for the optimal thickness of the tube which minimizes the displacement under forces, this is a problem of shape optimization. The mathematical model is given by a differential equation (ODE and PDE, respectively); the mechanical problem is described as an optimal control problem. We consider both the stationary (time independent) and the...

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Alphabetical list of contributors of volume 34 (2005)

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Table of contents of volume 34 (2005)

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Control structure in optimization problems of bar systems

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Optimal design problems in mechanics can be mathematically formulated as optimal control tasks. The minimum principle is employed in solving such problems. This principle allows us to write down optimal design problems as Multipoint Boundary Value Problems (MPBVPs). The dimension of MPBVPs is an essential restriction that decides on numerical difficulties. Optimal control theory does not give much information about the control structure, i.e., about the sequence of the forms of the right-hand...

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We present the combination of a state control and shape design approaches for the optimization of micro-fluidic channels used for sample extraction and separation of chemical species existing in a buffer solution. The aim is to improve the extraction and identification capacities of electroosmotic micro-fluidic devices by avoiding dispersion of the extracted advected band.