This work is focused on impedance control of robot manipulators performing six-degree-of-freedom interaction tasks. An energy-based formulation leads to formally deriving the dynamic equation characterizing a mechanical impedance at the end effector. An inverse dynamics strategy with contact force and moment measurement is adopted to obtain a configurationindependent desired impedance. For give...

In this paper, we propose a novel approach to robust skeletonization, that is developed based on a statistical method using the Zernike moment theory controlled by Maximum Entropy Principal (MEP). This new concept of skeletonization is articuled into three steps. In the first one, estimation of the underlying probability density function (pdf) using Zernike moment is carried out. In the second,...

First principles electronic structure calculations on a free CrSi12 cluster, a CrSi12 2 dimer, and CrSi12 clusters supported on Si 111 surfaces have been carried out within a gradient corrected density functional formalism using a supercell approach. The ground state of CrSi12 is a Cr centered hexagonal biprism of Si atoms in which the Cr spin moment is completely quenched. As two CrSi12 motifs...

In the following, it is proposed to calculate the induced diamagnetic moment due to the free electrons in a metal, using, instead of the classical assumptions of elastic collisions, the recently developed wave-nature of the electron and the Fermi statistics. The problem resolves itself into three parts: to find (1) the /,' functions for an electron in a lattice for the case of small perturbatio...

The Moment-of-Fluid (MOF) method is a new volume-tracking method that accurately treats evolving material interfaces. The MOF method uses moment data, namely the material volume fraction, as well as the centroid, for a more accurate representation of the material configuration, interfaces and concomitant volume advection. In contrast, the Volume-of-Fluid (VOF) method uses only volume fraction d...

We estimate a sales response model to evaluate the shortand long-term value of pharmaceutical sales representatives’ detailing visits to physicians of different types. By understanding the dynamic effect of sales calls across heterogeneous doctors, we provide guidance on the design of optimal call patterns for route sales. Our analyses reveal that the long-term persistence effect of detailing i...

Application of the method of moments for the parametric distribution is common in the construction of a suitable parametric distribution. However, moment method of parameter estimation does not produce good results. An alternative approach when constructing an appropriate parametric distribution for the considered data file is to use the so-called order statistics. This paper deals with the use...

Let (M,ω,Φ) be a Hamiltonian T -space and let H ⊆ T be a closed Lie subtorus. Under some technical hypotheses on the moment map Φ, we prove that there is no additive torsion in the integral full orbifoldK-theory of the orbifold symplectic quotient [M//H ]. Our main technical tool is an extension to the case of moment map level sets the well-known result that components of the moment map of a Ha...

According to the two-band model in the previous theory, the spontaneous magnetic moment due to the orbital motion of electrons in solids points to a special direction given by the interband matrix element of the angular momentum of an electron around the lattice site to which it belongs. For the three-fold degenerate bands, the free energy of the system is shown to be independent of the directi...