This paper presents a kinematic analysis and design characteristics of an in-parallel manipulator developed for the probing task application that requires high precision, active compliance, and high control bandwidth. The developed manipulator is a class of six-degree-of-freedom in-parallel platforms with 3 PRPS (prismatic-revolute-prismatic-spherical joints) chain geometry. The main advantages...

This thesis encompasses the development of a mobile robotic platform using three singularity drive modules. The process begins with a review of other omnidirectional platforms, comparing and contrasting their strengths and weaknesses. It continues with a discussion of the mechanical and electrical design of a robot prototype, then into kinematic modeling of the system. Both the inverse and forw...

We shall show here that van der Waerden’s theorem on arithmetic progressions and its variants, the Hales-Jewett theorem ([HJ]), the theorem of T. J. Carlson and S. G. Simpson ([CS]), and the theorem of T. J. Carlson (theorem 2 of [C]), can be obtained by an analysis of idempotents in compact semigroups. We obtain in this way a sharpening of Carlson’s result (which provides an “infinite” version...

This chapter describes how an artiicial device, able to produce acoustic signals from articulatory motion, can learn to speak, i.e. coordinate its articulatory movements in such a way that it utters meaningful sequences of sounds belonging to a given language. This complex learning procedure, accomplished within a few years by the human child, is simulated in four major steps: (a) a babbling ph...

Introduction The conventional keyhole data acquisition is used to permit faster imaging procedures without loss of sensitivity in dynamic studies, where initial high-resolution spatial information is combined with low-resolution spatial information at later points in time. We propose a new Fast keyhole (FK) method, which allows dynamic acquisition of a low-resolution image signal from selected ...

Recap: Last time we introduced the principal elements of skeletal models and discussed forward kinematics. Recall that a skeletal model consists of a collection of joints, which have been joined into a rooted tree structure. Each joint of the skeleton is associated with a coordinate frame which specifies its position and orientation in space. Each joint can be rotated (subject to sum constraint...

Disabled people require assistance with the motion of their lower limbs to improve rehabilitation. Exoskeletons used for lower limb rehabilitation are highly priced and are not affordable to the lowerincome sector of the population. This paper describes an exoskeleton lower limb system that was designed keeping in mind that the cost must be as low as possible. ...

Due to the lack of diversity datasets, generalization ability pose estimator is poor. To solve this problem, we propose a augmentation solution via DH forward kinematics model, which call DH-AUG. We observe that previous work all based on single-frame augmentation, if it directly applied video estimator, there will be several previously ignored problems: (i) angle ambiguity in bone rotation (mu...

In general, the identification and verification are done by passwords, pin number, etc., which are easily cracked by others. In order to, overcome this issue biometrics is a unique tool to authenticate an individual person. Biometric is a quantity which consists of an individual physical characteristics of fingerprint, Finger Knuckle Print (FKP), iris, face and so on. These characteristics are ...

This work describes a hand-eye system that can learn from its experience. The task is to visually guide the hand to reach a target while avoiding obstacles. The motion planning problem is solved by genetic programming. The system learns the forward kinematics by building a lookup table and uses it in the simulation run to generate robot programs that perform the task. The genetically created pr...