This paper presents a novel 1-DOF (degree-of-freedom) single-loop reconfigurable 7R mechanism with multiple operation modes (SLR7RMMOM), composed of seven revolute (R) joints, via adding a revolute joint to the overconstrained Sarrus linkage. The SLR7RMMOM can switch from one operation mode to another without disconnection and reassembly, and is a non-overconstrained mechanism. The algorithm fo...

In this paper, for the first, some general aspects regarding teletheses are presented. There are distinguished the main types of teletheses: fixed or mobile teletheses. A reference telethesis is described and the main cinematic determinations for forward and inverse kinematics are done. As a typical example, STAR 2, the mobile telethesis is described. For this telethesis, it was made one constr...

This study looks at two ways of extracting a glottal waveform from recorded speech. One way is to inverse filter the flow at the mouth. Another is to inverse filter the microphone signal. Theoretically, the microphone signal is considered to be the equivalent of a first order differentiation of the flow signal recorded at the lips. Recording the oral airflow is more complicated than the recordi...

We propose a design procedure of neural Internal Model control systems for processes with delay. We assume that a stable discrete-time neural model of the process is available. We show that the design of a Model Reference controller for Internal Model control necessitates only the training of the inverse of the model deprived from its delay, provided this inverse exists and is stable. As the ro...

We propose a design procedure of neural Internal Model control systems for processes with delay. We assume that a stable discrete-time neural model of the process is available. We show that the design of a Model Reference controller for Internal Model control necessitates only the training of the inverse of the model deprived from its delay, provided this inverse exists and is stable. As the ro...

\follow" the lead of the three-segment kinematic system. By formulating the motion of the system in terms of a connection, we can clearly highlight the important factors which contribute to the serpentine locomotion. Using sinusoidal inputs which are phase-delayed down the length of the snake robot, we were able to simulate various possible gaits, including a serpentine gait characterized by ne...

Industry requires automatic fruit picking due to increasing labour costs and human variability in picking skill. This requires motion of a manipulator in unmapped dynamic environments that has hyper-redundancy to find its way successfully through leaves and branches. This paper uses a modular arm technique to generate kinematic redundancy in constructing and controlling a fruit picking arm that...

The subject of this paper is the motion control problem of wheeled mobile robots (WMRs) in environments without obstacles. With reference to the popular unicycle kinematics, it is shown that dynamic feedback linearization is an efficient design tool leading to a solution simultaneously valid for both trajectory tracking and setpoint regulation problems. The implementation of this approach on th...

Transmitter and receiver filter design plays a key role in communication systems with partial response channels. For a partial response system, a nonmaximally decimated multirate filter bank can be used as a precoder. Based on MMSE criterion, a closed-form solution to the joint transmitter-receiver optimization problem for noisy partial response channels is presented in this paper. It is found ...

In this paper we consider optimal design problems that involve shape optimization. The goal is to determine the shape of a certain structure such that it is either as rigid or as soft as possible. To achieve this goal we combine two new ideas for an efficient solution of the problem. First, we replace the eigenvalue problem with an approximation by using the inverse iteration. Second, we use a ...