Abstract: This paper presents a performance metric for the manipulability of constrained serial manipulators. The manipulability measure and manipulability ellipsoid are found from the manipulability Jacobian, which is easily found for serial manipulators as the standard Jacobian matrix, or for parallel manipulators as the Jacobian that gives the mapping from the active joint velocities to the ...

Spontaneous figure reversal of ambiguous patterns was analyzed in humans by presenting “Necker-cube”-like, or “drum”-like figures having square or round shaped “front” and “rear” surfaces, and either large or small “depth”. The figures were perceived alternately according to one or the other of two possible mental orientation-interpretations. The subjects signalled the instant of subjective pat...

Upcoming or future deep galaxy samples with wide sky coverage can provide independent measurement of the kinematic dipole—our motion relative to the rest frame defined by the large-scale structure. Such a measurement would present an important test of the standard cosmological model, as the standard model predicts the galaxy measurement should precisely agree with the existing precise measureme...

The location of the instantaneous screw axis (ISA) is essential in order to obtain useful kinematic models of the human body for applications such as prosthesis and orthoses design or even to help in disease diagnosis techniques. In this paper, dual vectors will be used to represent and operate with kinematic screws with the purpose of locating the instantaneous screw axes which characterize th...

PURPOSE The literature on lower limb kinematic deviations in subjects with chronic ankle instability (CAI) during landing tasks is limited and not consistent. Several studies only report joint angles at defined events rather than considering the whole kinematic curve, which might obscure possibly relevant information. Therefore, the main goal of this study was to evaluate landing kinematics of ...

in recent years, biodiesel has been considered as a good alternative of diesel fuels. density and viscosity are two important properties of these fuels. in this study, density and kinematic viscosity of biodiesel-diesel blends were estimated by using artificial neural network (ann). a three-layer feed forward neural network with levenberg-marquard (lm) algorithm was used for learning empirical ...

*Correspondence: [email protected] 1Department of Mathematics, Lahore University of Management Sciences, Lahore, 54792, Pakistan 2Department of Mathematics Education and the RINS, Gyeongsang National University, Jinju, 660-701, Korea Abstract In this paper, using the setting of two ordered generalized metric spaces, a unique common fixed point of four mappings satisfying a generalized contracti...

This paper presents an original use of Evolutionary Algorithms in order to approximate by a closed form the inverse kinematic model (IKM) of analytical, nonanalytical and general (i.e. with an arbitrary geometry) manipulators. The objective is to provide a fast and general solution to the inverse kinematic problem when it is extensively evaluated as in design processes of manipulators. A mathem...

In this work, artificial neural network (ANN) was utilized to develop a new model for the prediction of the kinematic viscosity of petroleum fractions. This model was generated as a function of temperature (T), normal boiling point temperature (Tb), and specific gravity (S). In order to develop the new model, different architectures of feed-forward type were examined. Finally, the optimum struc...

In this paper, we design a nonlinear controller for the kinematic model of an underactuated rigid spacecraft that ensures uniform, ultimately bounded (UUB) tracking provided the initial errors are selected sufficiently small. The result is achieved via a judicious formulation of the spacecraft kinematics and the novel design of a Lyapunov-based controller. We also discuss how standard backstepp...