AbsfractThis paper presents novel and efficient kinematic modeling techniques for “hyper-redundant” robots. This approach is based on a “backbone curve” that captures the robot’s macroscopic geometric features. The inverse kinematic, or “hyper-redundancy resolution,” problem reduces to determining the time varying backbone curve behavior. To efficiently solve the inverse kinematics problem, we ...

Previous results for combining decision procedures for the word problem in the non-disjoint case do not apply to equational theories induced by modal logics—which are not disjoint for sharing the theory of Boolean algebras. Conversely, decidability results for the fusion of modal logics are strongly tailored towards the special theories at hand, and thus do not generalize to other types of equa...

Abstract The performance of an optical system with sensitive line-of-sight (LOS) is influenced by rotational vibration. In view this, a design methodology proposed for passive vibration isolation in LOS. Rotational attributed to two sources: transmitted from the mounting base and generated modal coupling. Therefore, elimination caused coupling becomes important part system. Additionally, decoup...

To a great extent, the success of advanced image-guided medical procedures hinges on non-rigid volume registration. For example, nonrigid registration must be applied in interventional approaches where intraoperative information is used to update high-quality preoperative data; in follow-up studies in order to assess time-evolution of development; aging, pathology or treatment; and in many othe...

To achieve good efficiency in a space-based radio transmitter, its final amplifier must be operated near the saturation point, in its nonlinear region. Because of strict band limitations, this nonlinear operation is combined with the problem of intersymbol interference. Normally, these problems are addressed using a combination of equalization and power back-off, resulting in reduced power effi...

In this paper, buckling behavior of moderately thick functionally graded rectangular plates resting on elastic foundation subjected to linearly varying in-plane loading is investigated. The neutral surface position for a functionally graded plate which its material properties vary in the thickness direction is determined. Based on the first-order shear deformation plate theory and the neutral s...

Software-controlled local memories (LMs) are widely used to provide fast, scalable, power efficient and predictable access to critical data. While many studies addressed LM management, keeping hot data in the LM continues to cause major headache. This paper revisits LM management of arrays in light of recent progresses in register allocation, supporting multiple live-range splitting schemes thr...

The general applicability of the modal approach for model reduction is restricted by the lack of guaranteed bounds for approximation errors and the lack of a satisfactory modal dominance analysis procedure. Functional and computational enhancements of this approach are proposed. Functional enhancements arise by combining the modal techniques with other methods and by using improved dominance an...

This paper introduces the idea of a ‘simplifying transformation’ for nonlinear structural dynamic systems. The idea simply stated; is to bring under one heading, those transformations which ‘simplify’ structural dynamic systems or responses in some sense. The equations of motion may be cast in a simpler form or decoupled (and in this sense, nonlinear modal analysis is encompassed) or the respon...

In order to identify more accurate finite element (FE) model parameters for an as-built structure, experimental data collected from the actual structure can be used to update the parameter values. In practice, experimental data is inevitably contaminated with measurement noise, which may lead to inaccurate FE model updating. This research compares the performance of two model updating approache...