This paper deals with the singularities of kinematically redundant manipulators in terms of determining the singularity manifolds in configuration space, and detecting/handling singular configurations in a local kinematic planning environment. Using the example of a specific manipulator with 8 degrees of freedom, a systematic method is presented which is generally applicable to the given class ...

This paper presents a new mathematical model of a redundancy allocation problem with mixing components redundant in subsystems of a series-parallel system when the redundancy strategy can be chosen for individual subsystems. In practice both active and coldstandby redundancies are used within a particular system design, and the choice of the redundancy strategy becomes an additional decision va...

optimization of maintenance resources to maximize the system availability is a major concern in different manufacturing systems. therefore, a lot of effort is put to construct optimization models to reach the maximum availability level and to reduce the costs of lack of availability. however, despite these efforts, data uncertainty in the real world problems was neglected in proposed models whi...

We consider image transmission using multiple description transform coding (MDTC) over orthogonal frequency division multiplexed (OFDM) wireless broadcast channels, where the system may not have any feedback on channel gains. We investigate the redundancy allocation in MDTC–OFDM system, physical layer frequency diversity, and decoding strategies to maximize the quality of reconstruction. Via ma...

The paper deals with on-line obstacle avoidance algorithms. We compare some obstacle avoidance strategies and group them into velocity and force strategies. The emphasis in the paper is given to the redundancy resolution and integration of these algorithms into the close-loop control. We address the problem of singular configurations and propose an algorithm based on artificial forces which avo...

The similarity of documents in a large database of published Fractals articles was examined for redundancy. Three different text matching techniques were used on published Abstracts to identify redundancy candidates, and predictions were verified by reading full text versions of the redundancy candidate articles. A small fraction of the total articles in the database was judged to be redundant....

In this paper, a special class of redundancy optimization problem with fuzzy random variables is presented. In this model, fuzzy random lifetimes are considered as basic parameters and the Er-expected of system lifetime is used as a major type of system performance. Then a redundancy optimization problem is formulated as a binary integer programming model. Furthermore, illustrative numerical ex...