Abstract: Medical data and biomedical studies are often imbalanced with a majority of observations coming from healthy or normal subjects. In the presence of such imbalances, agreement among multiple raters based on Fleiss’ Kappa (FK) produces counterintuitive results. Simulations suggest that the degree of FK’s misrepresentation of the observed agreement may be directly related to the degree o...

f(x) det(xx)dx and the Radon transform on the space Mn,m of n × m real matrices x = (xi,j). We present a self-contained proof of the Fourier transform formula for this distribution. Our method differs from that of J. Faraut and A. Korányi [FK] in the part related to justification of the corresponding Bernstein identity. We suggest a new proof of this identity based on explicit representation of...

This paper presents analytical solutions for the forward displacement and velocity kinematics of the “321-HEXA”, a fully-parallel manipulator design with R-RR-RRR legs as in the “HEXA” design and with a “3-2-1” top platform. The forward position and velocity kinematics rely on simple geometric algorithms that find the position and velocity of the top of a tetrahedron from the knowledge of the t...

This paper presents a model-based odometry calculation and calibration method (MBO) for quadruped robots. Instead of establishing the direct relation between target and actual speeds as previous methods did, MBO sets up a “parametric physical model” incorporating various properties of the robot and environment such as friction and inertia, through optimization with locomotor data. Based on this...

The workspace of a parallel manipulator is usually smaller than the size of the robot itself. It is important to derive new structures that enjoy the advantages of parallel manipulators and also have a large workspace. In this paper we present two configurations of similar structures RRRS and RRSR with rotating links. The RRRS structure has a relatively large workspace—larger than the size of t...

In this paper we call an FK space X containing φ a Cesàro semiconservative space if X ⊂ σs holds. Therefore we give some characterizations of these spaces. AMS subject classifications: Primary 46A35, 46A45; Secondary 47B37, 40C05

In this paper, the concept of a new 5-axis hybrid machine tool is proposed. The machine is a tool being with both parallel and serial structures, which is based on a novel 2-DOF parallel platform and serial orientations. The machine tool has advantages in terms of high stiffness, high dexterity, high speed, and being capable of long components manufacturing. The kinematics characteristics, such...

This paper introduced design analysis of a new 5DOF surgical robot used for minimally invasive surgery. The kinematics modeling is studied by solving the forward and inverse kinematics of the robot using the Denavit-Hartenberg convention and geometrical method. Robot kinematics simulation is built by creating the 3D CAD model of the robot and patient, then a kinematic motion simulation of a sur...

This paper deals with the problem of estimating the pose of a rigid moving object by measuring the length of six wires attached to it. Among all possible locations for the attachments on the moving object, the “3-2-1” configuration exhibits the highest number of favorable properties. A closed-form coordinate-free solution to the forward kinematics of this particular configuration is given in te...

This paper proposes a novel application of the Stewart–Gough parallel platform as a climbing robot and its kinematics control to climb through long structures describing unknown spatial trajectories, such as palm trunks, tubes, etc. First, the description and design of the climbing parallel robot is presented. Second, the inverse and forward kinematics analysis of a mobile six-degrees-of-freedo...