In this paper, an adaptive accommodation control for complex assembly is presented. The complex assembly (CA) is defined as a task whose wsembled parts have complex geome~ including concavity. The concept of the adaptive accommodation, which is inspired by the insertion operation of a blindfold human, is to adaptively change the accommodation property depending on the sensed contact wrench and ...

Changes in the natural behavior, expressing adaptation to cohabitation in a community, were observed in the slave-making ants P. rufescens and the slave-species F. fusca and F. cinerea. After a few raids, the initially undirected arousal evoked in the slaves by the amazons' raids, begins to acquire attributes appropriate to the situation, but completely different in both studied slave-species. ...

a boat and gave a wrench to his right hip and leg : after leaving the boat, he walked about 300 yards to the railway station with moderate ease. On the same day he came to Indore by rail, and walked from the station to a friend's house in the city, about a mile distant, with some, but not excessive, pain. That night he suffered from pain in the stomach, for which he took some opium with the res...

Optically anisotropic subwavelength scale dielectric particles have been shown to enable studies of the mechanical properties of bio-molecules via optical trapping and manipulation. However, techniques emphasized to date for fabrication of such particles generally suffer from limited uniformity and control over particle dimensions, or low throughput and high cost. Here, an approach for rapid, l...

Together with a second note (Warta Geologi, April 2023) I summarise the geological development of island Trinidad and adjacent margins Caribbean Sea in order to compare them parts Southeast Asia. believe two provinces provide valuable analogues for each other illustrate this by considering examples tectonic style taken from transpressional fold belts eastern Java, evolution foreland- wrench bas...

| In this paper, we present the 3D dynamic simulation of walking gait of biped Robian II virtual manikin (25 kg weight, 1.10 m height). The biped has 16 degrees of freedom (dofs). Initially, a bio-mimetic approach is used to model a humanoid biped having 25 dofs based on common European male (75 kg, 1.78 m). Using, human being motion recording, foot/ground contact model and inverse kinematics, ...

This paper considers grasps and fixtures whose contacts react according to force-displacement laws consistent with friction constrains at the contacts. The passive force closure set of such grasps and fixtures is the set of external wrenches (forces and torques) that can act on the grasped object and be stably balanced by the contacts. An external wrench belongs to this set if it induces a feas...

Optimal grasp planning has been investigated for over two decades. Still some important weaknesses in the previous work are worthy of notice: (i) The kinematic structure and the geometric configuration of a robot hand were ignored. Fingers were assumed to be capable of contacting an object anywhere. This is unrealistic. (ii) The grasp quality criterion was general and often did not match the ta...

In our previous paper [1], we examined enhancing manipulation capabilities of cable robots by addition of base mobility to the spooling-winches. Base mobility facilitated the regulation of the tension-direction (via active repositioning of the mobile bases) and allowed for better conditioning of the wrench feasible workspace. In this paper, we explore design-modifications on the attachment to t...

INTRODUCTION [corrected] Advanced bone maturation is a radiographic feature that might be encountered in a number of different forms of skeletal dysplasias such as Desbuquois dyspalsia, Larsen syndrome, the Reunion Island form of Larsen syndrome, diastrophic dysplasia, acrodysostosis, Catel-Manzke syndrome, a variant of metatropic dysplasia and Maroteaux-lamy syndrome. CASE PRESENTATION We re...