This paper presents a new method for symbolic solving the inverse kinematics problem of robotic systems with high degree of kinematical redundancy in a closed form. The key idea is to extend the basic redundant kinematics chain with imaginary links, which limit and adapt the robots flexibility to an actual work space and/or end-effector motion. Two examples are given to demonstrate the advantag...

In this paper, we deal with a multi-level redundancy allocation problem for a multi-level system and system, modules and component levels in the system are simultaneously considered as candidates for redundancy. System availability and life cycle cost are used as the constraint and objective function, respectively, and are estimated by simulation. The level and degree of redundancy are determin...

SUMMARY One of the distinguishing criteria of the SWISS-PROT protein sequence data bank is minimal redundancy. The introduction of TrEMBL as a supplementary database ensured the comprehensiveness of SWISS-PROT and TrEMBL but introduced some degree of redundancy. We developed a strategy to identify the redundancy present within and between SWISS-PROT and TrEMBL and its subsequent removal. AVAI...

This paper proposes an efficient algorithm based on memetic algorithm (MA) for a redundancy allocation problem without component mixing (RAPCM) in a series-parallel system when the redundancy strategy can be chosen for individual subsystems. Majority of the solution methods for the general RAPCM assume that the type of a redundancy strategy for each subsystem is pre-determined and known a prior...

the redundancy allocation problem can be described as selecting the components and system configuration in order to optimize some objective function(s) without violating the system constraints. operating conditions are not constant in many advanced engineering systems. mostly, in the engineering applications selection, the number of redundancy components must be balanced among the constraints (...

We describe techniques for evaluating rule-based expert systems by complexity-analyses. The degree of redundancy and superfluity in the knowledge base is measured by comparing its performance to pruned versions of itself. The pruning method, called weakest-link pruning, takes advantage of the structure of the rule-base to perform a cost-complexity pruning of the set of rules. Two large rule-bas...

To further improve the resource efficiency of p-polyhedron protection scheme against multi-link failures in optical data center networks (ODCNs), content connectivity is considered when constructing structure. In this paper, connectivity-based polyhedron (CCPP) proposed. An ILP model and a heuristic algorithm are developed to realize CCPP scheme. Numerical results show that proposed has lower n...

This study was conducted with the objective of evaluating the variance structure of the trunk and racket arm joint angles in table tennis topspin forehand using the uncontrolled manifold (UCM) approach, regarding racket orientation as the task variable. Nine advanced and eight intermediate male collegiate table tennis players performed the topspin strokes against backspin balls. The trunk, uppe...

1. Interference between predator species frequently decreases predation rates, lowering the risk of predation for shared prey. However, such interference can also occur between conspecific predators. 2. Therefore, to understand the importance of predator biodiversity and the degree that predator species can be considered functionally interchangeable, we determined the degree of additivity and r...

Structural methods have previously been used to perform isolability analysis and finding testable sub-models, so called Minimal Structurally Overdetermined (MSO) sets, Analytical Redundancy Relations (ARR), or Possible Conflicts (PC). The number of MSO sets grows exponentially in the degree of redundancy making the task of computing MSO sets intractable for systems with high degree of redundanc...