The workspace topologies of a family of 3-revolute (3R) positioning manipulators are enumerated. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps that appear on these singular curves. The design parameters space is shown to be divided into five domains where all manipulators have the same number of cusps. Eac...

For a vector y ∈ Rn and a model subspace X ⊂ Rn, the residual configuration statistic is what remains of y when translations in the model space and scalar multiplication are ignored. The configuration statistic for a linear Gaussian model has a distribution that depends only on variance-component ratios, or similar ratio parameters in the covariance function of a spatial model. The marginal lik...

blood flow regulation: Vascular resistance adjustments in the circle of Willis. Stroke 7: 147-150, 1976 28. Kanzow E, Dieckhoff D: On the location of the vascular resistance in the cerebral circulation. In Brock M, Fieschi C, Ingvar DH, Lassen NA, Schflrmann K (eds) Cerebral Blood Flow. Berlin, Heidelberg, New York, Springer-Verlag, pp 96-97, 1969 29. Clark ME, Himwich WA, Martin JD: Simulation...

In a recent paper, the canonical forms of a new multi-parameter class of Abel differential equations, so-called AIR, all of whose members can be mapped into Riccati equations, were shown to be related to the differential equations for the hypergeometric 2F1, 1F1 and 0F1 functions. In this paper, a connection between the AIR canonical forms and the Heun General (GHE), Confluent (CHE) and Biconfl...

In this paper, a technique to obtain good prunable S-random interleavers to be used in parallel and serially concatenated codes with interleavers is proposed. The new design is based on an algorithm to extend the interleaver size over a wide interval of values, while keeping good spreading properties in the whole range. Results are given in terms of spreading parameters, obtainable free distanc...

Physical changes such as leg length discrepancy, the addition of a mass at the distal end of the leg, the use of a prosthetic, and stroke frequently result in an asymmetric gait. This paper presents a metric that can potentially serve as a benchmark to categorize and differentiate between multiple asymmetric bipedal gaits. The combined gait asymmetry metric (CGAM) is based on modified Mahalanob...

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...

We consider methods for reducing the effects of fitting nuisance parameters on a general estimating function, when the estimating function depends on not only a vector of parameters of interest, θ, but also a vector of nuisance parameters, λ. We propose a class of modified profile estimating functions with plug-in bias reduced by two orders. A robust version of the adjustment term does not requ...

Diffusion measurements have been made for 114In in Ga between 20° and 455 °C, and for 72Ga in In between the m.p. and 380 °C. Linear plots of D vs T describe the results about equally well as Arrhenius representations. The Arrhenius parameters are D0 = 2.1 • 104 cm2/s, @ = 1.64 kcal/mol for In in Ga, D0 = 2.4 • 10~ 4 cm2/'s, Q = 1.93 kcal/mol for Ga in In. Ga diffuses faster than In in both mat...

The paper presents analysis and simulation for the convolutional coded DH-PIM using 1⁄2 convolutional code with the constraint length of 3. Decoding is implemented using the Viterbi algorithm. The proposed scheme is simulated for a constraint length of 7 and the results are compared with a number of different modulation techniques. DH-PIM with convolutional coding requires about 4-5 dB lower SN...