This paper proposes an enhanced method for personal authentication based on finger Knuckle Print using Gabor transform. In study shows that finger knuckle print (FKP) technique of a person can be used as a biometric trait in a biometric authentication system due to its uniqueness property. Hand-based person recognition provides a reliable, in low-cost and user-friendly viable solution for a ran...

A new three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with linear actuators, i.e., 3-CRR TPM, is first proposed. The rotation singularity analysis, the inverse kinematics, the forward kinematics, and the kinematic singularity analysis of the 3CRR TPM are then performed. The analysis shows that the proposed TPM has the following kinematic merits over previous TPMs. (1) ...

A new three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with linear actuators, i.e., 3-CRR TPM, is first proposed. The rotation singularity analysis, the inverse kinematics, the forward kinematics, and the kinematic singularity analysis of the 3CRR TPM are then performed. The analysis shows that the proposed TPM has the following kinematic merits over previous TPMs. (1) ...

The forward kinematics of the Stewart–Gough platform is vital for high-precision positioning and sensing in six degrees freedom. In this paper, solving converted to searching best posture corresponding input outrigger length vectors by inverse kinematic calculation. simulated annealing (SA) process embedded into particle swarm optimization (PSO) improve convergence speed overcome local converge...

This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The study focuses on the most usual case ...

This paper introduces a novel method for Cartesian trajectory and performance optimization control of kinematically-redundant trussbased manipulators (TBMs), The Virtual Serial Manipulator Approach. The approach is to model complex in-parallel-actuated TBMs as simpler kinematically-equivalent virtual serial manipulators. Standard control methods for kinematically-redundant serial manipulators c...

Purpose: This study tries to develop a simulation model of six degree freedom for Faraman AM1 welding robot using CATIA V5 and compares with the computed kinematic model for robotic welding. The error varification of simulated model and kinematics of the robot is also being carried out. Design/methodology/approach: CATIA (Computer Aided Three dimensional Interactive Application) is a multi-plat...

Many applications in computer animation portray the motion of a human arm and torso. Often such applications can benefit from a combination of Inverse (IK) and Forward (FK) Kinematics controls to manipulate the arms of the model. The human arm is a kinematic chain with seven degrees of freedom. The previous analytic solution to this kinematic chain gives highly detailed IK controls, but problem...

Recently, Fabrikant, Koutsoupias and Papadimitriou [7] introduced a natural and beautifully simple model of network growth involving a trade-off between geometric and network objectives, with relative strength characterized by a single parameter which scales as a power of the number of nodes. In addition to giving experimental results, they proved a power-law lower bound on part of the degree s...

in this work, artificial neural network (ann) was utilized to develop a new model for the predictionof the kinematic viscosity of petroleum fractions. this model was generated as a function oftemperature (t), normal boiling point temperature (tb), and specific gravity (s). in order to developthe new model, different architectures of feed-forward type were examined. finally, the optimumstructure...