This paper studies the structure of the inverse kinematics (IK) map of a fragment of protein backbone with 6 torsional degrees of freedom. The images (critical sets) of the singularities of the orientation and position maps are computed for a slightly idealized kinematic model. They yield a decomposition of SO(3) and R into open regions where the number of IK solutions is constant. A proof of t...

Concentrated solar power (CSP) plants are expansive facilities that require substantial inspection and maintenance. A fully automated inspection robot increases the efficiency of maintenance work, reduces operating and maintenance costs, and improves safety and work conditions for service technicians. This paper describes a climbing robot that is capable of performing inspection and maintenance...

a r t i c l e i n f o a b s t r a c t Given a real number sequence A = (a 1 , a 2 ,. .. ,a n), an average lower bound L, and an average upper bound U , the Average-Constrained Maximum-Sum Segment problem is to locate a segment A(i, j) = (a i , a i+1 ,. .. ,a j) that maximizes ik j a k subject to L (ik j a k)/(j − i + 1) U. In this paper, we give an O (n)-time algorithm for the case where the av...

In this paper, we present a general revision model on epistemic states based on plausibility measures proposed by Friedman and Halpern. We propose our revision strategy and give some desirable properties, e.g., the reversible and commutative properties. Moreover, we develop a notion called plausibility kinematics and show that our revision strategy follows plausibility kinematics. Furthermore, ...

Based on flexible pneumatic bending joint and flexible pneumatic spherical joint, a kind of flexible pneumatic 5-DOF finger is proposed, which is composed of two bending joints and a spherical joint. The mathematic model of flexible pneumatic spherical joint is further analyzed. On the researching foundation of flexible pneumatic bending joint and flexible pneumatic spherical joint, the kinemat...

2 Feature Vectors 6 2.1 The deformation gradient . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 2.2 Extending the triangle representation . . . . . . . . . . . . . . . . . . . . . . . . . . 6 2.3 Extracting Feature Vectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.4 Reconstructing the Mesh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ....

In this paper, a tracking controller is formulated for a quadrotor to track a moving ground target. The quadrotor exhibits distinct hierarchical dynamics that allows its position to be controlled by its attitude. This motivates the use of backstepping control on the underactuated quadrotor. Most backstepping architecture controls the quadrotor position and attitude independently, and couples th...

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Recent data on supernovae favor high values of the cosmological constant. Spacetimes with a cosmological constant have non–relativistic kinematics quite different from Galilean kinematics. De Sitter spacetimes, vacuum solutions of Einstein’s equations with a cosmological constant, reduce in the non–relativistic limit to Newton–Hooke spacetimes, which are non–metric homogeneous spacetimes with n...

LiI(x1, . . . , xn) = AI(∞;x1, . . . , xk) are called multiple polylogarithms [2]: they generalize the classical polylogarithm Lin(x1) = A(n)(∞;x1). It is immediate from the defining equations (1) and (2) that the sums SI can be written in terms of the AI . To state the relation precisely, let C(n) be the set of compositions of n, i.e., ordered sequences (i1, . . . , ik) of positive integers wi...