In this article, the dynamic stability of a mobile manipulator using ZMP compensation is considered. A unified approach for the two subsystem is formulated using redundant scheme. First, to conserve the dynamic stability of the system, we define the performance index for the redundant system using ZMP(Zero Moment Point). This performance index represents the stability of the whole mobile manipu...

This paper presents a tunable index compression scheme for supporting time-travel phrase queries over large versioned corpora such as web archives. Support for phrase queries makes maintenance of word positions necessary, thus increasing the index size significantly. We propose to fuse the word positions in many neighboring versions of a document, and thus exploit the typically high level of re...

Monitoring the environment is one of the main applications of wireless sensor networks. Given that these networks are densely populated and that local variations in the environmental variables are small, a large amount of redundant data is generated by sensor nodes. In this paper we present a protocol for data dissemination in hierarchical clustered sensor networks that integrates security and ...

The influence of the refractive index of air has proven to be a major problem on the road to improvement of the uncertainty in interferometric displacement measurements. We propose an approach with two counter-measuring interferometers acting as a combination of tracking refractometer and a displacement interferometer referencing the wavelength of the laser source to a mechanical standard made ...

Compression molding of glass optics is gradually becoming a viable fabrication technique for high precision optical lenses. However, refractive index variation was observed in compression molded glass lenses, which would contribute to image quality degradation. In this research, annealing experiments were applied to control the refractive index variation in molded glass lenses. The refractive i...

Processing of hyperspectral remote sensing datasets poses challenges in terms computational expense pertaining to data redundancy. As such, band selection becomes indispensable address redundancy while preserving the optimal spectral information. This paper proposes a novel architecture using Genetic Algorithm (GA) optimizing technique with Random Forest (RF) classifier for efficient Hyperspect...

We present images of the SNR HB3 at both 408 MHz and 1420 MHz from the Canadian Galactic Plane Survey mainly based on data from the Synthesis Telescope of the Dominion Radio Astrophysical Observatory. We reproduce the 100m-Effelsberg HB3 image at 2695 MHz at large scale, and find that there exists a background emission gradient across the HB3 area. Based on our analysis of background emission a...

Semiannual variation of geomagnetic activity and ap-index in particular is supposed to consist of heliospheric factor (axial hypothesis and Russell-McPherron effect) and magnetospheric/ionospheric factor (equinoctical hypothesis). In our investigation we express ap-index as a magnetospheric response function to solar wind and IMF input. Seasonal variation in ap-index on average (1963– 2003) is ...

The digital nerves to the thumb and index finger have been studied by dissecting twenty-five embalmed upper limbs. The palmar digital nerves to the thumb were constant in position and course, with a short lateral cutaneous branch from the radial palmar digital nerve in 30 per cent of cases. The palmar digital nerves to the index finger had a variable pattern, the commonest arrangement, well des...