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The shape derivatives are derived by using a Lagrangian function and the adjoint method.
In this work, such difficulty is resolved by using a Lagrangian function transforming the problem into one of unconstrained minimization.
In this paper, we derive the equations of motion of the snake robot in a Lagrangian framework, i.e. treating the robot as a whole and performing the analysis using a Lagrangian function, which is simple to follow and better suited for studying advanced mechanical phenomena such as elastic link deformations [25], which might be insightful for future research challenges on snake robots.
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Unlike Ulbrich [11], we do not use a Lagrangian function in the filter but use the similar type of function as that in Nie and Ma [12].
The general formulation of the problem has been solved using a Lagrangian minimization method.
The equations of motion of the snake robot were derived using a Lagrangian framework.
Some lower bounds are developed using a Lagrangian relaxation approach and the valid inequalities.
The powder dynamics and heating were modeled using a Lagrangian plasma particles interaction model.
In August, four samples were taken over a 24 h period, again using a Lagrangian approach.
For each event, triplicate surface water samples were collected at transects A and E using a Lagrangian sampling approach.
It can be solved using an augmented Lagrangian function in order to create linear subproblems [16].
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