In this work, the concept of a convolution product of real-valued functions on the Special Euclidean group, SE(D) (which describes all rigid body motions in D-dimensional Euclidean space), is applied to the determination of workspaces of discretely actuated manipulators. These manipulators have a finite number of joint states. If a discretely actuated manipulator consists of P actuated modules,...

In this paper we study the dynamics and kinematics of manipulators that have fewer actuators than degrees of freedom. These under{actuated manipulators arise in a number of important applications such as free{ ying space robots, hyper{redundant manipulators, manipulators with structural exibility, etc. In our analysis we decompose such under{actuated manipulators into component active and passi...

Virtual Prototyping with haptic feedback offers great benefits in the development process of actuated systems. We present a generic control scheme for the haptic rendering of actuated mechanisms, introducing the active admittance. It extends the conventional admittance control by modeling the actuation and the movable parts of the mechanism separately. This allows for an efficient iterative des...

Here we introduce a new, instrument controlled valving scheme for the centrifugal platform which is based upon dissolvable film (DF) technology. Liquid, restrained at any point upon the disc, is prevented from wetting a DF via a trapped gas pocket. From this pocket a pneumatic channel runs to a sealed vent located on the top surface of the disc. Controlled scouring of this seal by a robotic kni...

Powder-actuated (also referred to as low velocity or powder-driven) fasteners are commonly used to attach cold-formed steel framing members, usually a track, to a concrete or structural steel support. Although commonly used, their behavior is less well understood than other fasteners such as screws, bolts and welds. The AISI Cold-Formed Steel Design Manual does not explicitly address powder act...

This chapter focuses on the mobility analysis of spatial parallel manipulators. It first develops an analytical methodology to investigate the instantaneous degree of freedom (DOF) of the end-effector of a parallel manipulator. And then, the instantaneous controllability of the end-effector is discussed from the viewpoint of the possible actuation schemes which will be especially useful for the...

In this work we have investigated the integrated diaphragm micropump as an active fluidic control approach for the on-demand generation of droplets with precisely defined size, frequency and timing. In contrast to valve-actuated devices that only modulate the flow of the dispersed phase being continuously injected, this integrated micropump allows the combination of fluidic transport and modula...

We analyzed drivers’ braking behavior to minimize over-dependence on the system in the design of the Forward Collision Avoidance Assistance System. There are various factors that influence over-dependence on the system. We focused on the braking algorithm to minimize interference between driver operation and system actuation in this study. It was proven that all subjects initiated the braking o...

MAXIMUM CLIQUE PROBLEM the most relevant problem in Graph theory, known for years still do not have its polynomial time solution. Many algorithms have been proposed, still the problem lie the same i.e. to find the Clique in the polynomial time. The Clique problem is to figure out the sub graph with the maximum cardinality. Maximum clique in a random graph is NP-Hard problem, actuated by many pr...