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Purpose This paper aims to provide a solution to the first phase of a force-controlled circular Peg-In-Hole assembly using an industrial robot. The paper suggests motion planning of the robot’s end-effector so as to perform Peg-In-Hole search with minimum a priori information of the working...
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This paper analyzes the convergence of a pressure-driven analysis (PDA) model of a water distribution network solver based on Todini’s global gradient algorithm. The PDA model is constructed by embedding a pressure−demand relationship in the EPANET simulator code. To avoid spurious...
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