We consider the problem of nding optimum force closure grasps of two and three-dimensional objects. Our focus is on grasps which are useful in practice, namely grasps with a small number of ngers, with friction at the contacts. Assuming frictional contact and rounded nger tips|very mild assumptions in practice|we give new upper (and lower) bounds on the number of ngers necessary to achieve forc...

among the components of human culture, literature includes a systemic deep structure. based on this deep structure, a reader can understand the meaning of the surface structures. originating from this view to the deep structure or the depth of the text, branches of literature and critical literature were created which sought to reveal the meanings by examining the interrelationship and replacem...

the secret of success for organizations is the discovery and application of their employees' “talent.” yet, the most important matter is for individuals to discover their own top talent. research findings show that each individual has his or her own unique inborn and acquired feature, including special temperament instinct and innateness. humans’ temperaments and instincts actualize natura...

this paper presents a simple methodology for cost estimation of a near optimal heat exchanger network, which comprises mixed materials of construction. intraditional pinch technology and mathematical programming it is usually assumed that all heat exchangers in a network obey a single cost model. this implies that all heat exchangers  in a network are of the same type and use the same materials...

Prediction of cancer survivability using machine learning techniques has become a popular approach in recent years. ‎In this regard, an important issue is that preparation of some features may need conducting difficult and costly experiments while these features have less significant impacts on the final decision and can be ignored from the feature set‎. ‎Therefore‎, ‎developing a machine for p...

Object recognition and manipulation are critical for enabling robots to operate within a household environment. There are many grasp planners that can estimate grasps based on object shape, but these approaches often perform poorly because they miss key information about non-visual object characteristics, such as weight distribution, fragility of materials, and usability characteristics. Object...