A systematic analytical method, based on the theory of screws, is presented for identification of limb structures of general and over-constrained 3-degree-of-freedom (DOF) translational parallel manipulators. Given a system of wrenches of constraint, the corresponding reciprocal basis screws are determined. Then, the joint screws of a limb are obtained by a linear combination of these basis scr...

In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance, and constraint force control is developed using the passivity of hybrid join...

In this paper, we consider the problem of bistatic multipleinput multiple-output (MIMO) radar systems design for parameters estimation. Maximum channel capacity is used as criterion for the problem of optimal systems design under transmitted power constraint and channel constraint. We obtain that the system design based on maximum channel capacity can be expressed as a joint optimization proble...

We first establish sufficient conditions ensuring strong duality for cone constrained nonconvex optimization problems under a generalized Slater-type condition. Such conditions allow us to cover situations where recent results cannot be applied. Afterwards, we provide a new complete characterization of strong duality for a problem with a single constraint: showing, in particular, that strong du...

A general method to construct contrast functions for blind source separation is presented. It is based on a superadditive functional of class II applied to the distributions of the reconstructed sources. Examples of such functionals are given. Our approach permits exploiting the temporal dependence of the sources by using a functional on the joint distribution of the source process over a time ...

We present an alternative approach to what we call the “standard optimization”, which minimizes a cost function by searching a parameter space. Instead, our approach “projects” in the joint observation space onto the manifold defined by the “consistency constraint”, which demands that any minimal subset of observations produce the same result. This approach avoids many difficulties encountered ...

In this paper, we investigate the problem of linear joint probabilistic constraints. We assume that the rows of the constraint matrix are dependent and the dependence is driven by a convenient Archimedean copula. Further we assume the distribution of the constraint rows to be elliptically distributed, covering normal, t, or Laplace distributions. Under these and some additional conditions, we p...

This paper introduces a new motion planning algorithm for a biped robot. A geometric constraint equation derived by reshaping the existing ZMP equation enables one to treat the kinematics of the biped robot as a "redundant degrees of freedom" system. Using the ZMP constraint equation, a sequential redundancy resolution algorithm is proposed, which ensures the ZMP trajectory, the planned operati...

This paper presents the implementation of a deformable slider joint in the framework of a multibody simulation environment. A slider joint constrains the motion of a rigid body point along a line: a deformable slider joint allows the constrained point to move along a series of deformable beams, switching from one to the other without encountering serious numerical discontinuities. The behavior ...

The first metatarsophalangeal (MTP) joint is a critical component for normal walking. The present study aimed to investigate the effects of restricting the flexion-extension motion of the first MTP joint on human walking gait. Ten male participants were recruited to perform walking trials under barefoot (BF) and the first MTP joint constraint (FMJC) conditions, respectively. The results showed ...