Basic kinematic and detailed physical mechanisms of avian, non-vocal sound production are both unknown. Here, for the first time, field-generated high-speed video recordings and acoustic analyses are used to test numerous competing hypotheses of the kinematics underlying sonations, or non-vocal communicative sounds, produced by two genera of Pipridae, Manacus and Pipra (Aves). Eleven behavioral...

This paper presents a coordinate-invariant differential geometric analysis of manipulability for closed kinematic chains containing active and passive joints. The formulation treats both redundant and nonredundant mechanisms, as well as over-actuated and exactly actuated ones, in a uniform manner. Dynamic characteristics of the mechanism and manipulated object can also be naturally included by ...

The f0(1500) is identified in three glueball favoured production mechanisms: pp̄ annihilation, ψ → γf0 and Central Production. The production rate for glueballs in ψ → γG has been quantified and the f0(1500) is found to be consistent with a glueball qq̄ mixture. We illustrate a remarkable property of central production where kinematic cuts appear to make a systematic separation between glueballs ...

The number s is called the scaling factor. An equiform motion is defined if the parameters of (1.1), including s, are given as functions of a time parameter t. Then a smooth one-parameter equiform motion moves a point x via x(t) = s(t)A(t)x(t) + d(t). The kinematic corresponding to this transformation group is called equiform kinematic. See [2, 4]. Under the assumption of the constancy of the s...

A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed. First, issues related to the description of end-effector tasks that involve constrained motion and active force control are discussed. The fundamentals of the operational space formulation are then presented, and the unified approach for motion and force cont...

This paper investigates range-only tracking with range-Doppler coupling, where the range measurement of a target of interest is linearly biased by its range-rate (or Doppler). In previous treatments the situation was monostatic, and a simple Riccati analysis sufficed, but here the system is multistatic (notionally, a MIMO radar). Here, the closed form of posterior Cramér-Rao bound (PCRB) is der...

In a recent paper we showed that there exist linear controllers which globally asymptotically stabilize the attitude motion of a rigid body using a nonredundant three dimensional set of kinematic parameters In this paper we show using the inherent passivity properties of the system that these results can be extended to stabilizing control laws without any angular velocity measurements A numeric...