In general, identification and verification are done by passwords, pin number, etc., which are easily cracked by others. To overcome this issue, biometrics has been introduced as a unique tool to authenticate an individual person. Biometric is a quantity which consists of individual physical characteristics that provide more authentication and security than the password, pin number, etc. Nevert...

This paper presents an algorithm for solving forward kinematics problem of the Stewart Platform and an application for modeling of the Stewart Platform's motions. The developed application is able to solve forward kinematics problem in given accuracy; to calculate curve of the tool positioned on the mobile platform; to calculate possible deviation of the tool from a nominal position if lengths ...

The standard forward kinematics analysis of 3-RPR planar parallel robots boils down to computing the roots of a sextic polynomial. There are many different ways to obtain this polynomial but most of them include exceptions for which the formulation is not valid. Unfortunately, near these exceptions the corresponding polynomial exhibits numerical instabilities. In this paper, we provide a way ar...

The standard forward kinematics analysis of 3-RPR planar parallel platforms boils down to computing the roots of a sextic polynomial. There are many different ways to obtain this polynomial but all of them include exceptions for which the formulation is not valid. Unfortunately, near these exceptions the corresponding polynomial exhibits numerical instabilities. In this paper, we provide a way ...

Les faux kystes du pancréas (FKP) se développent chez environ 2% des patients présentant une pancréatite aigüe. Ils peuvent évoluer vers la régression spontanée ou se compliquer d'une hémorragie, de compression ou de rupture. Le drainage spontané des FKP dans un viscère creux (duodénum, estomac, ou colon) reste un mode d'évolution exceptionnel. Nous rapportant le cas d'une patiente âgée de 74 a...

This paper represents an analytical approach for solving forward kinematics problem of a serial robot manipulator with six degrees of freedom and a specific combination of joints and links to formulate the position of the gripper by a given set of joint angles. In addition, a direct geometrical solution for the robot’s inverse kinematics problem will be defined in order to calculate the robot’s...

Purpose – The purpose of this paper is to present an adaptive numerical algorithm for forward kinematics analysis of general Stewart platform. Design/methodology/approach – Unlike the convention of developing a set of kinematic equations and then solving them, an alternative numerical algorithm is proposed in which the principal components of link lengths are used as a bridge to analyze the for...

Both the forward and backward kinematics of the Gough-Stewart mechanism exhibit nonlinear behavior. It is critically important to take account of this nonlinearity in some applications such as path control in parallel kinematics machine tools. The nonlinearity of inverse kinematics is straightforward and has been first studied in this paper. However the nonlinearity of forward kinematics is mor...

During my fellowship, I was incorporated into the image group on the “Human Motion Imitation” (HUMIM) project. This project consists in proposing a human motion model implying different mathematical techniques. Consequently, this project implies different skills in computer science, human physiology, mechanics and physics, optimisation’s problems, differential geometry and statistics, and requi...

In this article, the authors consider the following question about Huffman coding, which is an important technique for compressing data from a discrete source. If p is the smallest source probability, how long, in terms of p, can the longest Huffman codeword be? It is shown that if p is in the range 0 < p _< I/2, and if K is the unique index such that I/FI<+3 < p _< 1/FK+2, where FK denotes the...