in ordinary cases, the object of transaction in such contracts as sale (bay‘) and lease (ijāra) has financcial value like property (‘ayn) or profit, or physical action. however, whether obligation to performing an action has a financial value and can be the object of transaction is a matter of debate. in adition, in cases in which the subject of the obligation is the assignment of ownership (ta...

This paper presents the design and modeling of a flexible tactile sensor, capable of detecting the 2D surface texture image, contact-force estimation and stiffness of the sensed object. The sensor is made of polymer materials. It consists of a cylindrical chamber for pneumatic actuation and a membrane with a mesa structure. The inner radius of the cylindrical chamber is 2cm and its outer radius...

most of the contour detection methods suffers from some drawbacks such as noise, occlusion of objects, shifting, scaling and rotation of objects in image which they suppress the recognition accuracy. to solve the problem, this paper utilizes zernike moment (zm) and pseudo zernike moment (pzm) to extract object contour features in all situations such as rotation, scaling and shifting of object i...

in this paper the problem of 3d scene and object classification from depth data is addressed. in contrast to high-dimensional feature-based representation, the depth data is described in a low dimensional space. in order to remedy the curse of dimensionality problem, the depth data is described by a sparse model over a learned dictionary. exploiting the algorithmic information theory, a new def...