Article history: Received 1 September 2011 Received in revised form 15 January 2012 Accepted 21 January 2012 Available online 23 February 2012 Manymechanical systems of practical interest contain closed kinematic chains, and aremost conveniently modeled using a set of redundant generalized coordinates. The governing dynamic equations for systems with more coordinates than degrees-of-freedom are...

The bullwhip effect one of the most studied phenomenon in forward supply chains is also growing interest from the academia to be studied in closed loop supply chains. This paper aims to compare the bullwhip effect causes and factors in forward supply chains with those for closed loop supply chains. The methodology used was a systematic literature review of the papers that were published in acad...

In this article, we present, using methods from the theory of Lie groups and Lie algebras, a coordinate-invariant formulation of the dynamics of open kinematic chains. We first reformulate the recursive dynamics algorithm originally given in [8] for open chains in terms of standard linear operators on the Lie algebra of the Special Euclidean group. Using straight forward algebraic manipulations...

In this report, we present the analysis of a 6 DOF robot end-effector built to study telerobotic assembly of NASA hardwares in space. Since the end-efector is required to perform high precision motion in a limited workspace, closed-kinematic chain mechanism is chosen for its design. A closed-form solution is obtained for the inverse kinematic problem and an itemtive pmedure employing Newton-Rap...

We present algorithms for kinematic manipulation of molecular chains subject to fixed bond lengths and bond angles. They are useful for calculating conformations of a molecule subject to geometric constraints, such as those derived from two-dimensional NMR experiments. Other applications include searching out the full range of conformations available to a molecule such as cyclic configurations....

‎in this paper we give a new condition for a sylow $p$-subgroup of a finite group to control transfer‎. ‎then it is deduced a characteri-zation of supersoluble groups that can be seen as a generalization of the well known result concerning the supersolubility of finite groups with cyclic sylow subgroups‎. moreover a condition for a normal embedding of a strongly closed $p$-subgroup is given‎. ...

Using a generalized Rubinstein-Duke model, we prove rigorously that kinematic disorder leaves the prediction of the standard reptation theory for the scaling of the diffusion constant in the limit for long polymer chains D proportional to L(-2) unaffected. Based on an analytical calculation as well as on Monte Carlo simulations, we predict kinematic disorder to affect the center-of-mass diffusi...

We present a new open-source software framework (called Humanoid Path Planner – HPP) for path and manipulation planning. Some features like built-in kinematic chains and implementation of non-linear constraints make the framework a good fit for humanoid robot applications. The implementation of kinematic chains takes into account the Lie-group structure (rotation in 3D space SO(3)) of robot con...