A parallel manipulator is naturally associated with a set of constraint functions defined by its closure constraints. The differential forms arising from these constraint functions completely characterize the geometric properties of the manipulator. In this paper, using the language of differential forms, we provide a thorough geometric study on the various types of singularities of a parallel ...

In this work, we analyze the thermodynamics and geometric optimization of thermoelectric elements in a hybrid two-stage thermoelectric micro cooler (TEMC). We propose a novel procedure to improve the performance of the micro cooler based on optimum geometric parameters, cross sectional area (A) and length (L), of the semiconductor elements. Our analysis takes into account the Thomson effect to ...

Configuration space obstacles are regions in a configuration space which represent forbidden configuration of the object due to the presence of other objects. They can be regarded as geometric objects which are representable using Boolean combinations of equations and inequalities. Moreover, they can also be represented using existential quantifiers which correspond to geometric projections. If...

The paper deals with geometric calibration of industrial robots and focuses on reduction of the measurement noise impact by means of proper selection of the manipulator configurations in calibration experiments. Particular attention is paid to the enhancement of measurement and optimization techniques employed in geometric parameter identification. The developed method implements a complete and...

Dynamic identification models allow for system parameters such as mass and inertia to be computed by combining knowledge of the system’s configuration, and the forces applied to the system. These methods are often used to calibrate individual dynamic models in robots, and have also been used to estimate human parameters. While commonly used, the Denavit-Hartenberg approach can lead to modelling...

the concept of geometric-arithmetic indices (ga) was put forward in chemical graph theoryvery recently. in spite of this, several works have already appeared dealing with these indices.in this paper we present lower and upper bounds on the second geometric-arithmetic index(ga2) and characterize the extremal graphs. moreover, we establish nordhaus-gaddum-typeresults for ga2.

continuing the work k. c. das, i. gutman, b. furtula, on second geometric-arithmetic indexof graphs, iran. j. math chem., 1(2) (2010) 17-28, in this paper we present lower and upperbounds on the third geometric-arithmetic index ga3 and characterize the extremal graphs.moreover, we give nordhaus-gaddum-type result for ga3.