An attempt to give a rationalistic interpretation of certain phenomena that previously belonged to the sphere of non-scientific knowledge, including the phenomena of prophecy and magic, was made. It is shown that this kind of phenomena, in principle, can occur and can be given natural-scientific rationale, if we take into account the existence of level of information processing that may be call...

An important issue in designing manipulators for dynamic performance is the determination of the acceleration properties of (some reference-point on) the end-effector of the manipulator. Given the dynamical equations of the planar two degree-of-freedom manipulator and a set of constraints on the actuator torques and on the rates-ofchanges of the joint variables, we systematically develop (a) th...