Application of artificial neural network (ANN) in forward kinematic solution (FKS) of a novel co-axial parallel mechanism with six degrees of freedom (6-DOF) is addressed in Current work. The mechanism is known as six revolute-spherical-universal (RSU) and constructed by 6-RSU co-axial kinematic chains in parallel form. First, applying geometrical analysis and vectorial principles the kinematic...

Reference Evapotranspiration (ET0) is a basic parameter for determination of irrigation program. It is one of the most important factors in water resources management and considers as a requirement for every irrigation and drainage plans. Because of the spatial variations of ET0, it is necessary to use from intrapolation methods in order to estimation of this parameter in regional studie. Using...

Objective(s): This paper describes synthesizing of magnetic nanocomposite with co-precipitation method.   Materials and Methods: Magnetic ZnxFe3-xO4 nanoparticles with 0-14% zinc doping (x=0, 0.025, 0.05, 0.075, 0.1 and 0.125) were successfully synthesized by co-precipitation method. The prepared zinc-doped Fe3O4 nanoparticles were characterized by X-ray diffraction (XRD), transmission electron...

Background Accurate measurements of skeletal kinematics of the foot would increase our understanding on the interaction between foot and footwear. Previously foot kinematics was measured using reflective markers but the method had inherent limitation of skin marker-based methods. Recently fluoroscopic imaging-based methods has been developed and widely used to measure knee kinematics [1,2]. We ...

We examine, in a general setting, a notion of inverse semigroup of left quotients, which we call left I-quotients. This concept has appeared, and has been used, as far back as Clifford’s seminal work describing bisimple inverse monoids in terms of their right unit subsemigroups. As a consequence of our approach, we find a straightforward way of extending Clifford’s work to bisimple inverse semi...

This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which appear on the singular curves of the manipulators. The nonsingular change of assembly mode of 3-RPR parallel manipulators was shown to be associated with the existence of cusp points. At each of th...

In this paper we consider a complete dynamic model for the \Sphericle", a spherical vehicle that has been designed and realized in our laboratory. The sphericle is able to roll on the oor of the laboratory and reach arbitrary positions and orientations, through the use of only two motors placed within the rolling sphere. In this paper, we report on the derivation of the kinematic model of the S...