In this paper, the geometric design problem of serial-link robot manipulators with three revolute (R) joints is solved using a polynomial homotopy continuation method. Three spatial positions and orientations are defined and the dimensions of the geometric parameters of the 3-R manipulator are computed so that the manipulator will be able to place its end-effector at these three pre-specified l...

This paper shows how the recently developed formulation of conformal geometric algebra can be used for analytic inverse kinematics of two six-link industrial manipulators with revolute joints. The paper demonstrates that the solution of the inverse kinematics in this framework relies on the intersection of geometric objects like lines, circles, planes and spheres, which provides the developer w...

Model based error compensation of a robotic manipulator, also known as robot calibration, requires the identification of its generalized errors. These errors are found from measured data and used to predict, and compensate for, the end-point errors as a function of configuration. However, the generalized error formulation introduces redundant parameters, often nonintuitive, that may compromise ...

In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

This work describes the analysis of different walking paths registered using a Light Detection And Ranging (LIDAR) laser range sensor in order to measure oscillating trajectories during unsupervised walking. The estimate of the gait and trajectory parameters were obtained with a terrestrial LIDAR placed 100 mm above the ground with the scanning plane parallel to the floor to measure the traject...

Estimation of genewise variance arises from two important applications in microarray data analysis: selecting significantly differentially expressed genes and validation tests for normalization of microarray data. We approach the problem by introducing a two-way nonparametric model, which is an extension of the famous Neyman–Scott model and is applicable beyond microarray data. The problem itse...

Taking into account the growing interest in microalgae to be used as raw material for biodiesel production, this research is aimed at analyzing the rheological behaviour of microalgae suspensions (Chlorella sp) at different culture times under eight different conditions (temperature, salinity and CO2, NO3 and PO4 levels) in order to estimate the energy demands of each step, with the purpose of ...

When generating gaits for soft robots (those with no explicit joints), it is not evident that undulating control schemes are the most efficient. In considering alternative control schemes, however, the computational costs of evaluating continuum mechanic models of soft robots represent a significant bottleneck. We consider the use of lumped dynamic models for soft robotic systems. Such models h...

We present a methodology for fitting interatomic potentials to ab initio data, using the particle swarm optimization (PSO) algorithm, needing only a set of positions and energies as input. The prediction error of energies associated with the fitted parameters can be close to 1 meV/atom or lower, for reference energies having a standard deviation of about 0.5 eV/atom.We tested ourmethod by fitti...