Positioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with orthogonal joint axes to have four distinct IKS. We show that the transition between manipulators with 2 and 4 IKS is defined by the set of manipulators with a quadruple root of their inverse kinematics. The resulting co...

During the Apollo missions, unique locomotion strategies were adopted to efficiently move across the lunar surface (e.g. lunar loping). Bone mass maintenance is thought to be dependent on load bearing activity but it is unclear to what extent the partial gravity (1/6g) environment for the moon will be osteoprotective or how the gait profile of new methods of locomotion affect skeletal loads. In...

Abstract The study in this paper allows us to control the manipulator and achieve any desired position orientation. Forward Kinematics was done using Denavait Hartenberg (DH) parameters, also forward kinematics equations homogenous transformation matrix validated MATLAB Toolbox. modeling carried out Peter Corke robotics toolbox. Finally, kinematic robot arm’s movement were compared with practic...

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 the last ten years, the use of gamma-ray spectrometry for geological mapping and mineral exploration has shown considerable growth. With this growth, standardized procedures have been developed for the calibration and processing of the airborne measurements so that they will be independent of survey parameters. This paper describes some of the new developments to convert airborne data to gro...

We present a model-based approach to gait extraction that is capable of reliable operation on real-world imagery. Hierarchies of shape and motion are employed to yield relatively modest computational demands, avoiding the high-dimensional search spaces associated with complex models. Anatomical data is used to generate shape models consistent with normal human body proportions. Mean gait data i...

Abstract. We consider a system of diffusion processes that interact through their empirical mean and have a stabilizing force acting on each of them, corresponding to a bistable potential. There are three parameters that characterize the system: the strength of the intrinsic stabilization, the strength of the external random perturbations, and the degree of cooperation or interaction between th...

Attempts to model surface-atmosphere interactions with greater physical realism have resulted in complex land surface schemes (LSS) with large numbers of parameters. A companion paper describes a multicriteria calibration procedure for extracting plot-scale estimates of the preferred ranges of these parameters from the various observational data sets that are now available. A complementary proc...

We consider leptogenesis induced by soft supersymmetry breaking terms (“soft leptogenesis”), in the context of the inverse seesaw mechanism. In this model there are lepton number (L) conserving and L-violating soft supersymmetry-breaking B-terms involving the singlet sneutrinos which, together with the – generically small– L-violating parameter responsible of the neutrino mass, give a small mas...