Abstract In this work, a planar cable parallel robot (CPR) driven by four cable-and-pulley differentials is proposed and analyzed. A new differential designed adding an extra pulley to eliminate the modeling inaccuracies due radius obviate need of solving complex model which considers kinematics. The design parameters CPR are determined through multi-objective optimal for largest total orientat...

The primary reasons for conducting fundamental research are satisfying curiosity, acquiring knowledge, and achieving understanding. Here we develop why we believe it is essential to promote basic ecological research, despite increased impetus for ecologists to conduct and present their research in the light of potential applications. This includes the understanding of our environment, for intel...

Rupture of the liver is a rare condition in newborn infants and most cases are diagnosed at autopsy. Only 11 instances of survival have so far been recorded, by Rogers (1934), Arden (1946, 1951), Potter (1952), Arden, Dique and Wrench (1955), Bret, Jamain and Coupe (1956), Greaves (1955), Mason Brown (1957) and Dennison, cited by Mason Brown. It therefore seems worth recording that we have enco...

A passivity-based control of Vertical Take-off and Landing (VToL) Unmanned Aerial Vehicles (UAVs) is presented in this paper. An estimator of unmodeled dynamics and external wrench (forces plus moments) acting on the aerial vehicle and based on the momentum of the system is employed to compensate such disturbances effects. This arrangement allows VToL UAVs to perform hovering, tracking and aeri...

With the global trend of internet, many companies set up websites for international recognition and marketing. However, the hackers and potential attackers lurk on internet. More and more web attack methods have invented and threat these vulnerable websites. Recently, the “Code Injection” has become the major problem, such as SQL Injection, ASP Injection, PHP Injection and XSS (Cross Site Scrip...

The paper presents force-torque interpretations in intermediary telepresence for remote manipulation. Methods of reconstruction of force-torque data and algorithms to depict contact forces are presented in this paper. Real time force trajectory, the accuracy of the force trajectory and the state of the remote site in terms of wrench state are also described. In addition, options to take correct...

This paper proposes a method that finds a locally optimal grasp of an articulated 2D object with n links considering frictionless contacts. The surface of each link of the object is represented by a finite set of points, thus it may have any shape. The proposed approach finds, first, an initial force-closure grasp and from it starts an iterative search of a local optimum grasp. The quality meas...