Kinematic redundancy of manipulators is a well-understood topic, and various methods were developed for the resolution in order to solve inverse kinematics problem, at least serial manipulators. An important question, with high practical relevance, whether solution cyclic, i.e., leads closed path joint space as task space. This paper investigates cyclicity property two widely used methods, name...

dehbid mylonite nappes associated with the tutak gneiss dome as the zagros hinterland involved-basement window in the zagros orogenic belt has significant components of dextral sense of shear along the mylonite nappes and are related to the high proportion of simple shear relative to pure shear deformation. kinematic vorticity analysis (wk) was made in order to determination of relative amounts...

Background: Deficits in upper body movement have received little attention during gait in cerebral palsy (CP) children with crouch gait pattern (CGP).Objective: Purpose of this research is to describe the correlation of trunk movement with the excessive knee flexion and ankle kinematic in CP children with CGP.Methods: Gait analysis data from 57 limbs of diplegic CP children with CGP and 26 limb...

We present a novel control design procedure for the passivity-based stabilization of closed sets which leverages recent theoretical advances. The procedure involves using part of the control freedom in order to enforce a detectability property, while the remaining part is used for passivity-based stabilization. The procedure is illustrated in four case studies of path following coordination for...

In view of their physics goals, future neutrino factories from muon decay aim at an overall flux precision of O(1%) or better. We analytically study the QED radiative corrections to the neutrino differential distributions from muon decay. Kinematic uncertainties due to the divergence of the muon beam are considered as well. The resulting corrections to the neutrino flux turn out to be of order ...

We identify and resum corrections associated with the kinematic recoil of the hard scattering against soft-gluon emission in single-particle inclusive cross sections. The method avoids double counting and conserves the flow of partonic energy. It reproduces threshold resummation for high-pT single-particle cross sections, when recoil is neglected, and QT resummation at low QT , when higher-orde...

Humans, including children [7], can describe mechanisms using whatever knowledge and information they have . That is they often switch between dynamic and kinematic descriptions depending on th e information available to them . Furthermore, they seem to perform such reasonings subconsciously . For instance, they can describe how meshed gear trains work by just addressing how rotationa l velocit...

In this paper we derive and analyze a discontinuous stabilizing feedback for a Lie algebraic generalization of a class of kinematic nonholonomic systems introduced by Brockett. The algorithm involves discrete switching between isospectral and norm-decreasing ows. We include a rigorous analysis of the convergence. 1. Introduction. In this paper we present a stabilization algorithm for a Lie