A Modular Reconfigurable Robot (MRR) composed of standard joint and link modules has the advantages rapid changeover assembly configurations for a diversity application requirements. To tackle kinematics analysis issues an MRR, it is essential to develop generic method mathematically represent all possible automatically generate their kinematic models. In this paper, two types robot modules, i....

Abstract This study presents an optimization approach for the design of a piping inspection robot. A rigid bio-inspired robot that moves like caterpillar was designed and developed at LS2N, France. By addition tensegrity mechanisms between motor modules, mobile becomes flexible to pass through bends. However, existing units prove be oversized passing pipe bends 90 deg. Thus, three cascading pro...

let $alpha$ be an endomorphism and $delta$ an $alpha$-derivationof a ring $r$.  in this paper we  study the relationship between an$r$-module $m_r$ and the  general polynomial module  $m[x]$ over theskew polynomial ring $r[x;alpha,delta]$. we introduce the notionsof skew-armendariz modules and skew quasi-armendariz modules whichare generalizations of $alpha$-armendariz modules and extend thecla...

FP (g) = trgKerP − trgCokerP ∈ R(S) where R(S1) is the character ring of the S1-modules. We say that P is rigid with respect to this S1-action, if FP (g) is independent of g. Two well-known examples of rigid elliptic operators are the signature operator ds and the Dirac operator D [AH]. Now let L̃Spin(2l) denote the central extension of the loop group LSpin(2l) and E be a positive energy represe...

This contribution discusses a multi-physics simulation engine, called Chrono, that relies heavily on parallel computing. Chrono aims at simulating the dynamics of systems containing rigid bodies, flexible (compliant) bodies, and fluid-rigid body interaction. To this end, it relies on five modules: equation formulation (modeling), equation solution (simulation), collision detection support, doma...

The purpose of this paper is to introduce some new classes of rings and modules that are closely related to the classes of almost Dedekind domains and almost Dedekind modules. We introduce the concepts of $\phi$-almost Dedekind rings and $\Phi$-almost Dedekind modules and study some properties of this classes. In this paper we get some equivalent conditions for $\phi$-almost Dedekind rings and ...

RDF has gained great interest in both academia and industry as an important language to describe graph data. Several approaches have been proposed for storing and querying RDF data efficiently; each works best under certain circumstances, e.g. certain types of data and/or queries. However, there was lack of a thorough understanding of exactly what these circumstances are, as different data-sets...

We introduce the notion of L2-rigidity for von Neumann algebras, a generalization of property (T) which can be viewed as an analogue for the vanishing of 1-cohomology into the left regular representation of a group. We show that L2-rigidity passes to normalizers and is satisfied by nonamenable II1 factors which are non-prime, have property Γ , or are weakly rigid. As a consequence we obtain tha...

Let R be a commutative Noetherian ring. The k-torsionless modules are defined in [7] as a generalization of torsionless and reflexive modules, i.e., torsionless modules are 1-torsionless and reflexive modules are 2-torsionless. Some properties of torsionless, reflexive, and k-torsionless modules are investigated in this paper. It is proved that if M is an R-module such that G-dimR(M)

Estimating the pose of an imaging sensor is a central research problem. Many solutions have been proposed for the case of a rigid environment. In contrast, we tackle the case of a non-rigid environment observed by a 3D sensor, which has been neglected in the literature. We represent the environment as sets of time-varying 3D points explained by a low-rank shape model, that we derive in its impl...