The articulated-body (AB) algorithm for dynamic simulation of chains of rigid bodies was developed by Featherstone 1]. The most costly step in this algorithm is the computation of the AB inertias at each link which involves a spatial (6 6) congruence transformation. The amount of computation required is closely coupled to the kinematic modeling technique used. This paper examines this computati...

I describe a fast multilingual parser for semantic dependencies. The parser is implemented as a pipeline of linear classifiers trained with support vector machines. I use only first order features, and no pair-wise feature combinations in order to reduce training and prediction times. Hyper-parameters are carefully tuned for each language and sub-problem. The system is evaluated on seven differ...

Hermite processes are self–similar processes with stationary increments which appear as limits of normalized sums of random variables with long range dependence. The Hermite process of order 1 is fractional Brownian motion and the Hermite process of order 2 is the Rosenblatt process. We consider here the sum of two Hermite processes of order q ≥ 1 and q+1 and of different Hurst parameters. We t...

Current trend in operational text categorization is the designing of fast classification tools. Several studies on improving accuracy of fast but less accurate classifiers have been recently carried out. In particular, enhanced versions of the Rocchio text classifier, characterized by high performance, have been proposed. However, even in these extended formulations the problem of tuning its pa...

In this paper we show that in the presence of an anti-symmetric tensor B-background, Witten’s star algebra for open string fields persists to possess the structure of a direct product of commuting Moyal pairs. The interplay between the noncommutativity due to three-string overlap and that due to the B-background is our main concern. In each pair of noncommutative directions parallel to the B-ba...

There are many modulation methods suitable for optical wireless communication. OOK, PPM are adopted widely in optical wireless communication for its high average-power-efficiency. DPPM, DPIM and DH-PIM are three new modulation methods for optical wireless communication, which may be the substitutes of PPM because of their better performance in power efficiency and bandwidth efficiency. In this ...

Recent research has produced results on subdivision in arbitrary manifolds. These results can be applied to the manifold of lines and thus we can create subdivision schemes especially for ruled surfaces. We present different methods for refining discrete models of ruled surfaces: An algorithm combining subdivision and projection to the manifold of lines in Euclidean three-space. A further algor...

The closed-form solution of each rotation joint angle is the most direct and convenient method for humanoid robot arms to imitate real-time motion human arm. Occasionally, structure differs from that a robot, sensor information inadequate. Therefore, it difficult obtain inverse kinematics (IK) when using Denavit–Hartenberg (D–H) or screw theory alone. This study proposes combining D–H solve IK ...

In the case of over-constrained mechanisms, system can only be assembled or move under strict geometric conditions. A crucial step is to identify these conditions from model. Classically, model a robot computed Denavit–Hartenberg formalism. However, when imperfect mechanisms are studied, this formalism does not introduce exhaustively small defects. article, based on kinematic joint invariants p...

This paper presents a set of algorithms for the synthesis kinematic structures serial manipulators using multiple constraint formulation and provides performance comparison different representations, Denavit-Hartenberg notation, Product Exponentials (screws), Roll-Pitch-Yaw angles with translation parameters. Synthesis is performed five given tasks, both revolute prismatic joints can be synthes...