This paper presents a new velocity blending approach to the problem of task space trajectory generation. To compare this technique with others, a generalized formulation for task space trajectory blending is also developed. It is shown that task space velocity blending provides a substantial simpliication in both representation and computational complexity over previously proposed methods. Whil...

the large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. most of this computational burden is due to calculation of switching points. in this paper a learning algorithm is proposed for finding the switching points. the method, which can be used for both ...

summarythe explanation of the elastic, or velocity structure of the earth has long been a goal of the world’s seismologists. for the first few decades of seismological research, the investigation on velocity structure was restricted to the determination of one-dimensional models of the solid earth and of various regions within it. seismologists are currently obtaining three dimensional velocity...

drying characteristics of quercus were determined experimentally as a function of temperature, air velocity, and variety (quercus persica and quercus libani). in order to estimate and select a suitable drying curve, five different thin layer drying models were fitted to the experimental data. experiments were performed at the air temperatures of 50, 60 and 70°c. at each temperature level, two a...

Introduction:In this study, a non-invasive method based on consecutive ultrasonic image processing is introduced to assess time rate changes of the carotid artery wall displacement, velocity and acceleration in the longitudinal direction. The application of these parameters to discriminate healthy and atherosclerotic arteries was evaluated. Methods:Longitudinal displacement rate of common ...

The study of mechanical behavior of the structural steel S400 under quasi- static and dynamic loading has been the subject of this investigation. In oder to obtain different stress - triaxiality conditions the specimens were notched with 1, 1.5, 2 and 3.5 mm notch radius. The results of fractography show as the velocity of tension increases, ductility reduces and a ductile-brittle transition oc...

In a perforated well, fluids enter the wellbore through array of perforation tunnels. These perforations are typically distributed in a helical pattern around the wellbore. Available numerical models to simulate production flow into cased-and-perforated vertical wells have complicated boundary conditions or suffer from high computational costs. This paper presents a simple and at the same time ...

conclusion both techniques provided quantitatively consistent results of in vivo velocity vector fields in right internal carotid artery (rca). pc mri represented a good estimation of main flow patterns inside the vasculature, which seems to be acceptable for clinical use. however, limitations of each technique should be considered while interpreting results. subjects and methods mr imaging was...