A planning methodology for nonholonomic mobile manipulators that employs smooth and continuous functions such as polynomials is developed. The method decouples kinematically the manipulator from the platform by constructing admissible paths that drive it to a final configuration and is based on mapping the nonholonomic constraint to a space where it can be trivially satisfied. In addition, the ...

A fast design variation technique for mechanical systems is presented. It is used to interactively optimize mechanical characteristics while “self-assembling” or satisfying large systems of mechanical constraints. The high speed method is central to providing inverse dynamics force feedback in haptics and control applications. Performance advantages with the use of augmented coordinates for inv...

We report observations of the Seyfert 2 galaxy NGC 5929 with the integral field spectrograph Tiger. These 2D spectrographic data, with sub-arcsecond spatial resolution, consist of 394 flux-calibrated spectra, covering the [N ii], Hα and [S ii] emission associated with the two radio-lobes. The two optical line emission components have been kinematically separated using Gaussian fitting of the sp...

This paper presents observations with intermediate spectral and spatial resolution along the major and minor axes of the starburst galaxy NGC 253. The spectral ranges analyzed are in the region of the stellar MgIb (∼ 5175 Å), the near IR CaII triplet (∼ 8550 Å) absorption features, and the region of the Hα emission line. We have compared the shape of the stellar features with those of reference...

The only justification for the Einstein velocity addition law ‎appeared to be its empirical adequacy‎, ‎so that the ‎intrinsic beauty and harmony in Einstein addition remained for a long time ‎a mystery to be conquered‎. ‎Accordingly‎, ‎the aim of this expository article is to present ‎(i) the Einstein relativistic vector addition‎, ‎(ii) the resulting Einstein scalar multiplication‎, ‎(iii) th...

This work focuses on the identification of heterogeneous linear elastic moduli in the context of frequency-domain, coupled acoustic-structure interaction (ASI), using either solid displacement or fluid pressure measurement data. The approach postulates the inverse problem as an optimization problem where the solution is obtained by minimizing a modified error in constitutive equation (MECE) fun...

We present a dynamical analysis of the galaxy cluster Abell 376 based on a set of 73 velocities, most of them measured at Pic du Midi and Haute-Provence observatories and completed with data from the literature. Data on individual galaxies are presented and the accuracy of the determined velocities is discussed as well as some properties of the cluster. We obtained an improved mean redshift val...

‎A gyrogroup is a nonassociative group-like structure modelled on the ‎space of relativistically admissible velocities with a binary ‎operation given by Einstein's velocity addition law‎. ‎In this ‎article‎, ‎we present a few of groups sitting inside a gyrogroup G‎, ‎including the commutator subgyrogroup‎, ‎the left nucleus‎, ‎and the ‎radical of G‎. ‎The normal closure of the commutator subgyr...