This paper presents design and kinematic analysis for a cable-driven parallel robotic (CDPR) manipulator with four cables, The CDPR manipulator produces a planar motion including two translational and one rotational degrees of freedom. To move the end-effector of CDPR, its kinematic structure is analyzed and the inverse kinematics is formulated in the closed-form solution. The experimental test...

This paper presents a general kinematic analysis method for complex gear mechanisms. This approach involves the null-space of the adjacency matrix associated with the graph of the mechanism weighted by complex coefficients. It allows to compute the rotational speed ratios of all the links and the frequency of all the contacts in this mechanism (including roll bearings). This approach is applied...

A theory that describes the non-RRKM (non-Rice-Ramsperger-Kassel-Marcus) effects in the lifetime statistics of activated ozone molecules is derived. The non-RRKM effects are shown to originate due to the diffusive energy exchange between vibrational and rotational degrees of freedom in ozone molecule. The lifetime statistics is found to be intramolecular diffusion controlled at long times. The ...

The relative motion control for an uncertain chaser spacecraft to approach a tumbling space target is investigated in this paper. The nonlinear coupled dynamics for relative translational and rotational motions of the two spacecrafts are modeled. Based on the model, relative position and attitude controllers are designed by a unified nonlinear robust adaptive control method without using the ta...

Visual Servoing is generally contained of control and feature tracking. Study of previous methods shows that no attempt has been made to optimize these two parts together. In kernel based visual servoing method, the main objective is to combine and optimize these two parts together and to make an entire control loop. This main target is accomplished by using Lyapanov theory. A Lyapanov candidat...

We demonstrate the production of ultracold polar RbCs molecules in their vibronic ground state, via photoassociation of laser-cooled atoms followed by a laser-stimulated state transfer process. The resulting sample of X1Sigma+ (nu = 0) molecules has a translational temperature of approximately 100 microK and a narrow distribution of rotational states. With the method described here it should be...

We synthesize colloidal particles with various anisotropic shapes and track their orientationally resolved Brownian trajectories using confocal microscopy. An analysis of appropriate short-time correlation functions provides direct access to the hydrodynamic friction tensor of the particles revealing nontrivial couplings between the translational and rotational degrees of freedom. The results a...

Modular robots offer the possibility to design robots with a high diversity of shapes and functionalities. This nice feature also brings an important challenge: namely how to design efficient locomotion gaits for arbitrary robot structures with many degrees of freedom. In this paper, we present a framework that allows one to explore and identify highly different gaits for a given arbitraryshape...

The Fourier Transform (FTIR) microspectrometer discussed in this paper is an example of a complex Micro-OptoElectro-Mechanical System (MOEMS) configured as an optical bench on a chip. It is an important benchmark application for microtechnology due to increased demands for the use of miniature wavelength detection instruments in bio, nano and material science. This device can be manufactured us...