An algorithm is presented which computes feasible manipulator trajectories along fixed paths in the presence of kinematic singularities. The resulting trajectories are close to minimum time, given an inverse kinematic solution for the path and bounds on joint velocities and accelerations. The algorithm has complexity O(M logM ), with respect to the number of joint coordinatesM , and works using...

The aim of this paper is to determine the influence relative humidity on comfort and electrical resistance properties textile laminates in order predict possible changes footwear protection levels. Four different structure fibre nature were selected for study. It was determined that water vapour absorption strongly depends storage environment. ability increases about 1.8 – 3 times as from 65 % ...

Melt spinning of polypropylene fibers containing silver and zinc nanoparticles was investigated. The nanometals were generally uniformly dispersed in polypropylene, but aggregation of these materials was observed on fiber surface and in fiber cross-sections. The mechanical properties of the resulted composite fibers with low concentration of nanometal were comparable to those for the control P...

Recent work shows that the range of morphology of anode streamers in liquid dielectric breakdown is predicted when it is represented as stochastic growth of a branching fractal tree. This model may be analogous to the critical volume model of breakdown used in gases. Assuming there is a relationship, leads to a concept of how affecting the electron production and recombination rates in a fluid ...

Despite the fact that PEDOT:PSS has been successfully used in field of flexible electronics, some its applications domain rigid conductive coating have limited by pricey cost and subpar mechanical properties (hardness, adhesion, moisture absorption) commercially available Clevios™ PH 1000, as well poor conductivity, film formation, self-made PEDOT:PSS. In process investigating low-cost preparat...