We propose a combinatorial approach to plan noncolliding motions for a polygonal bar-and-joint framework. Our approach yields very eÆcient deterministic algorithms for a category of robot arm motion planning problems with many degrees of freedom, where the known general roadmap techniques would give exponential complexity. It is based on a novel class of one-degree-of-freedom mechanisms induced...

The torque sensor is used to measure the joint torque of a robot manipulator. Previous research showed that the sensitivity and the stiffness of torque sensors have trade-off characteristics. Stiffness has to be sacrificed to increase the sensitivity of the sensor. In this research, a new torque sensor with high sensitivity (TSHS) is proposed in order to resolve this problem. The key idea of th...

Problem statement: Underactuated finger mechanism is beneficial in the anthropomorphic applications in which it reduces the finger size, weight and power consumption due to the less number of actuators compared to its number of Degree Of Freedom (DOF). However, the currently existing underactuated finger is limited to grasping operations only and unable to pinch with the finger tip. Moreover, t...

Six recessive lethal mutants of Anopheles albimanus are described. Homozygotes for three of the autosomal mutants, viz., bar eye, dot eye and hairy, die during the last larval or early pupal stages; complete linkage data are lacking for bar eye and hairy but dot eye is tightly linked to red eye on the right arm of chromosome 2. Larval and pupal mortality is high for homozygotes of the other two...

The SPACEBAR program allows the direct design and analysis of mechanisms right at the terminal screen. All variables including linkage geometry, stiffnesa, and applied loading conditions can be input and/or changed from the terminal. All data can be described and displayed in three dimensions. All mechanism configurations can be cycled through their range of travel and viewed in their various g...

Recently diverged species are challenging for identification, yet they are frequently of special interest scientifically as well as from a regulatory perspective. DNA barcoding has proven instrumental in species identification, especially in insects and vertebrates, but for the identification of recently diverged species it has been reported to be problematic in some cases. Problems are mostly ...

With 400 K described species, beetles (Insecta: Coleoptera) represent the most diverse order in the animal kingdom. Although the study of their diversity currently represents a major challenge, DNA barcodes may provide a functional, standardized tool for their identification. To evaluate this possibility, we performed the first comprehensive test of the effectiveness of DNA barcodes as a tool f...

We introduce the concept of many-to-one mapping of form to function and suggest that this emergent property of complex systems promotes the evolution of physiological diversity. Our work has focused on a 4-bar linkage found in labrid fish jaws that transmits muscular force and motion from the lower jaw to skeletal elements in the upper jaws. Many different 4-bar shapes produce the same amount o...

To reveal the relationship between center of mass (CoM) trajectory a closed five-bow-shaped-bar linkage and its energy consumption, this paper presents planning method based on workspace CoM. Using different height points located symmetric centerline CoM as via points, is planned by combining cubic polynomials with Bézier curves quadratic Bernstein polynomials. Herein, system consumption obtain...