Static-to-kinematic modeling and experimental validation of tendon-driven quasi continuum manipulators with nonconstant subsegment stiffness

Continuum robots with high flexibility and compliance have the capability to operate in confined and cluttered environments. To enhance the load capacity while maintaining robot dexterity, we propose a novel non-constant subsegment stiffness structure for tendon-driven quasi continuum robots(TDQCRs) comprising rigid-flexible coupling subsegments.Aiming at real-time control applications, we present a novel static-to-kinematic modeling approach to gain a comprehensive understanding of the TDQCR model. The analytical subsegment-based kinematics for the multisection manipulator is derived based on screw theory and product of exponentials formula, and the static model considering gravity loading,actuation loading, and robot constitutive laws is established. Additionally, the effect of tension attenuation caused by routing channel friction is considered in the robot statics, resulting in improved model accuracy. The root-mean-square error between the outputs of the static model and the experimental system is less than 1.63% of the arm length(0.5 m). By employing the proposed static model, a mapping of bending angles between the configuration space and the subsegment space is established. Furthermore, motion control experiments are conducted on our TDQCR system, and the results demonstrate the effectiveness of the static-to-kinematic model.

Normalized Ground State Solutions of Nonlinear Choquard Equations with Nonconstant Potential

In this paper,we mainly focus on the following Choquard equation-{△u-V(x)(I_(a*)|u|^(p))|u|^(p-2)u=λu,x∈R^(N),u∈H^(1)(R^(N))where N≥1,λ∈R will arise as a Lagrange multiplier,0<a<N and N+a/N<p<N+a+2/N Under appropriate hypotheses on V(x),we prove that the above Choquard equation has a normalized ground state solution by utilizing variational methods.

Nonconstant Harmonic Functions on the Level 3 Sierpinski Gasket

We give a detailed description of nonconstant harmonic functions on the level 3 Sierpinski gasket. Then we extend the method onβ-set with 1/3〈β〈1/2.

A positive solution of a nonlinear Schrdinger system with nonconstant potentials

In this paper, we study the existence of positive solutions to the following Schr¨odinger system:{-?u + V_1(x)u = μ_1(x)u^3+ β(x)v^2u, x ∈R^N,-?v + V_2(x)v = μ_2(x)v^3+ β(x)u^2v, x ∈R^N,u, v ∈H^1(R^N),where N = 1, 2, 3; V_1(x) and V_2(x) are positive and continuous, but may not be well-shaped; and μ_1(x), μ_2(x)and β(x) are continuous, but may not be positive or anti-well-shaped. We prove that the system has a positive solution when the coefficients Vi(x), μ_i(x)(i = 1, 2) and β(x) satisfy some additional conditions.

Turing patterns in a reaction-diffusion epidemic model

In this paper, we investigate the spatiotemporal dynamics of a reactio^diffusion epi- demic model with zero-flux boundary conditions. The value of our study lies in two aspects： mathematically, by using maximum principle and the linearized stability theory, a priori estimates of the steady state system and the local asymptotic stability of positive constant solution are given. By using the implicit function theorem, the exis- tence and nonexistence of nonconstant positive steady states are shown. Applying the bifurcation theory, the global bifurcation structure of nonconstant positive steady states is established. Epidemiologically, through numerical simulations, under the conditions of the existence of nonconstant positive steady states, we find that the smaller the space, the easier the pattern formation; the bigger the diffusion, the easier the pattern formation. These results are beneficial to disease control, that is, we must do our best to control the diffusion of the infectious to avoid disease outbreak.