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This paper deals with a Hub Location Problem arising in Telecom-munication Network Design. The considered network presents two different kinds of nodes: access nodes, that represent source and destination of traffic demands but cannot be directly connected, and transit nodes, that have no own traffic demand but collect traffic from access nodes and route it(More)
In this paper, the problem of optimizing the performances of a distributed supply chain is faced by means of as decentralized architecture. In particular, a general scheme for an Lagrangian algorithm, based on Lagrangian relaxation of the precedence constraints, is presented. In this framework, the trade-off between the production cost of each node of the(More)
This is the second part of a three-part paper. It extends to the free walking results of a previous work on postural equilibrium of a lower limb exoskeleton for rehabilitation exercises. A classical approach has been adopted to design gait (zero moment point (ZMP), linearized inverted pendulum theory, inverse kinematics obtained through the pseudo-inverse(More)
A biped robot is a mechanical multichain system. The peculiar features, that distinguishes this kind of robot with respect to others, e.g., industrial robots, is its switching nature between different phases, each one is the same mechanics subject to a different constraint. Moreover, because these (unilateral) constraints, represented by the contact between(More)
In part II of this group of papers, the control of the gait of a biped robot during rectilinear walk was considered. The modeling approach and simulation, using Kane's method with implementation leveraged by Autolev, a symbolic computational environment that is complementary, was discussed in part I. Performing turns during the walk is technically more(More)