We give necessary and sufficient geometric conditions for a distribution (or a Pfaffian system) to be locally equivalent to the canonical contact system on J(R, R). We study the geometry of that class of systems, in particular, the existence of corank one involutive subdistributions. We also distinguish regular points, at which the system is equivalent to the canonical contact system, and singu...

Grasp planning is a key problem in robotics. One of the goals is to find suitable forces and torques for an object through contact points for a robotic hand to grasp that object. At a broad level, there are two classes of grasp planning algorithms that are used to determine the relationship between the contact points and finger joint positions. The forward methods simulate the motion of the han...

OBJECTIVE To assess the discrepancies in marginal integrity and contact points of Porcelain Fused to Metal (PFM) crowns and its association with caries in adjacent teeth. STUDY DESIGN Cross-sectional study. PLACE AND DURATION OF STUDY Dental Section of the Aga Khan University Hospital, Karachi, from January to August 2009. METHODOLOGY Ninety six (96) patients with PFM crowns on maxillary ...

In this paper we study the dynamical contact angle at three phase (fluid-fluid-solid) contact points for the 2 dimensional steady-state moving liquid drop. We present a result giving the speeds at the contact points as a function of the dynamical contact angle, in the form of a simple algebraic expression. The only physical constants involved are the viscosities of the fluids and the surface te...

multilayer bach propagation neural networks have been considered by researchers. despite their outstanding success in managing contact between input and output, they have had several drawbacks. for example the time needed for the training of these neural networks is long, and some times not to be teachable. the reason for this long time of teaching is due to the selection unsuitable network par...

This paper presents a randomized manipulation planner for a multi-fingered hand by switching contact modes. Manipulation planning for such a system should consider changing kinematics and dynamics of the system according to the contact modes. We derive the conditions that would be satisfied in manipulation planning, based on the kinematical properties of a manipulation system. The conditions al...