Modelling and identification of flexible-joint robots is required for dynamic simulation and model based control of industrial robots. A nonlinear finite element based method is used to derive the dynamic equations of motion in a form suitable for both simulation and identification. The latter requires that the equations of motion are linear in the dynamic parameters. For accurate simulations o...

Recently, robotic surgery systems using passive flexible catheters have been developed for minimally invasive surgical applications. The soft, atraumatic construction of these devices help reduce injury to delicate anatomical structures while providing a means of tool placement and control. To provide kinematic and control relationships, various models of continuous catheters have been develope...

A tape peeling model based on the geometry of the peel zone (PZ) is derived to predict the peeling behavior of adhesive tapes at peel angles less than or equal to 90o. The PZ model adds an angle-dependent multiplier to the ‘Kendall equation’ that takes into account the geometrical changes within the peel zone. The model is compared to experimental measurements of the peel force at different ang...

A description of billiard-ball collisions using a ‘discontinuous’ model is presented considering a two-step situation corresponding to the ball–ball interaction followed by ball-supporting surface interaction. It is applied to the inelastic impact of a cue ball having arbitrary pivotment and ‘English’ spins against an object ball initially at rest. This formulation provides a simplified approxi...

Since its launch in September of 1999, the IKONOS satellite has been consistently providing high quality 1-meter panchromatic and 4-meter multispectral images. Accurate interior and exterior orientation enable IKONOS to achieve high geometric accuracy with or without ground control. Exterior orientation is determined by on-board GPS receivers, star trackers, gyros, and interlock angles. Post-pr...

Several studies have found millisecond protein folding reactions to be controlled by the viscosity of the solvent: Reducing the viscosity allows folding to accelerate. In the limit of very low solvent viscosity, however, one expects a different behavior. Internal interactions, occurring within the solvent-excluded interior of a compact molecule, should impose a solvent-independent upper limit t...

Some examples of the interplay between matrix theory, graph theory and n-dimensional Euclidean geometry are presented. In particular, qualitative properties of interior angles in simplices are completely characterized. For right simplices, a relationship between the tree of legs and the circumscribed Steiner ellipsoids is proved.

Some examples of the interplay between matrix theory, graph theory and n-dimensional Euclidean geometry are presented. In particular, qualitative properties of interior angles in simplices are completely characterized. For right simplices, a relationship between the tree of legs and the circumscribed Steiner ellipsoids is proved.

In this paper we study the geometry of Minkowski plane and obtain some results. We focus on the curve theory in Minkowski plane and prove that the total curvature of any simple closed curve equals to the total Landsberg angle. As the result, the sum of oriented exterior Landsberg angles of any polygon is also equal to the total Landsberg angle, and when the Minkowski plane is reversible, the su...

Let n ≥ 3 be an integer. A convex lattice n-gon is a polygon whose n vertices are points on the integer lattice Z 2 and whose interior angles are strictly less than π. Let a n denote the least possible area enclosed by a convex lattice n-gon, then [1, 2, 3] {a n } ∞ n=3 = n 1 2