This work deals with closed-loop calibration methods where the robot endpoint is constrained to lie on a plane. Previously published calibration approaches are shown to have certain weaknesses. A new solution is given using DH and Hayati notations and standard nonlinear least squares optimization. The procedure is extended via the Implicit Loop Method, which takes input noise into account. Pose...

In this study, constraint groove pressing (CGP) process and ultrasonic assisted CGP (UCGP) process were investigated on the process forces, mechanical properties of the sheet, including hardness and tensile tests and grain size. Pure copper sheets were used as samples in this research. Samples were tested both with and without ultrasonic vibrations for mechanical properties and grain size up to...

Finding the position of a radiative source based on time-difference-of-arrival (TDOA) measurements from spatially separated receivers has been widely applied in sonar, radar, mobile communications and sensor networks. For the nonlinear model in the process of positioning, Taylor series and other novel methods are proposed. The idea of cone constraint provides a new way of solving this problem. ...

world, all available information is used, price wars never happen, and the collusive constraint is always binding. This cannot be taken as a serious description of the world of gasoline retailing. It is plausible, however, that station operators, for example, recognize that reducing their own prices induces price cutting at rival stations. They also might reasonably expect that once price cutti...

This paper describes Mirador, a dynamic placement service implemented as part of an enterprise scale-out storage product. Mirador is able to encode multidimensional placement goals relating to the performance, failure response, and workload adaptation of the storage system. Using approaches from dynamic constraint satisfaction, Mirador migrates both data and client network connections in order ...