Refine
Year of publication
- 1992 (2) (remove)
Document Type
- Article (2) (remove)
Language
- English (2)
Has Fulltext
- yes (2)
Keywords
- AG-RESY (1)
- CODET (1)
- PARO (1)
- SKALP (1)
- mathematical modeling (1)
- nonlinear diffusion (1)
- operator splitting (1)
Faculty / Organisational entity
The performance of napkins is nowadays improved substantially by embedding granules of a superabsorbent into the cellulose matrix. In this paper a continuous model for the liquid transport in such an Ultra Napkin is proposed. Its mean feature is a nonlinear diffusion equation strongly coupled with an ODE describing a reversible absorbtion process. An efficient numerical method based on a symmetrical time splitting and a finite difference scheme of ADI-predictor-corrector type has been developed to solve these equations in a three dimensional setting. Numerical results are presented that can be used to optimize the granule distribution.
For the online collision detection with a multi-arm robot a fast method for computing the so-called collision vector is presented. Manipulators and obstacles are modelled by sets of convex polytopes. Known distance algorithms serve as a foundation. To speed up the collision detection dynamic obstacles are approximated by geometric primitives and organized in hierarchies. On-line, the here introduced Dynamic Hierarchies are adjusted to the current arm configuration. A comparison with previous methods shows an increased acceleration of the computations.