A robotic manipulator can fail in many diierent ways, and its capabilities after a failure are a major concern, especially for manipulators used in hazardous and remote environments, where the cost of repair or replacement is high. This article presents a study of the workspaces of robotic arms after a free-swinging failure, deened as a hardware or software failure that prevents the application...

How many furnitures, or houses, or urban districts, that where designed and made in the 80s are still relevant today? What clothes or shoes that period can be worn without appearing old or out of time? Everybody can say almost all. In forty years the living spaces have not changed that much. Even less their projects have been modified. The way in which they are conceived and designed is almost ...

A 45-year-old woman was referred for evaluation of longstanding dysphagia to both solids and fluids, and progressive regurgitation over the past 10 years. Besides glycogenic acanthosis, upper gastrointestinal endoscopy was suggestive of esophageal dilation with a hypomotile contraction pattern. During careful observation with air insufflation, the narrowed esophagogastric junction failed to rel...

For a manipulator operating in a hazardous or remote environment, an important concern is its capability after a component failure, since retrieval or repair is not always possible. Methods have been presented in the literature for optimizing capabilities after specific types of failures. However, techniques for achieving failure tolerance when conversion between failure types is possible has n...

As a first step to the control of paraplegic gait by functional electrical stimulation (FES), the control of the swinging lower leg is being studied. This paper deals with a neural control system, that has been developed for this case. The control system has been tested for a model of the swinging lower leg using computer simulations. The neural controller was trained by supervised learning (SL...

Micro-Doppler signature can convey information of detected targets and has been used for target recognition in many Radar systems. Nevertheless, micro-Doppler for the specific Forward Scattering Radar (FSR) system has yet to be analyzed and investigated in detail; consequently, information carried by the micro-Doppler in FSR is not fully understood. This paper demonstrates the feasibility and e...

Expander2 is a flexible multi-purpose workbench for interactive rewriting, verification, constraint solving, flow graph analysis and other procedures that build up proofs or computation sequences. Moreover, tailormade interpreters display terms as two-dimensional structures ranging from trees and rooted graphs to a variety of pictorial representations that include tables, matrices, alignments, ...

Abstract A new two-level hierarchical approach to control the trolley position and payload swinging of an overhead crane is proposed. At first level, a simple mathematical pendulum model investigated considering time delay due use vision system. In second chain developed, extending previous vibration suspending chain. The relative displacement measured with sensor, rest state-space variables ar...

The problem of fault detection and isolation (FDI) in cooperative manipulators is addressed here. Four faults are considered: free-swinging joint faults, locked joint faults, incorrect measured joint position, and incorrect measured joint velocity. Free-swinging and locked joint faults are isolated via neural networks. For each arm, a Multilayer Perceptron (MLP) is used to reproduce the dynamic...