This thesis explores the kinematics and control issues associated with an approach to manipulation that employs all of the available surfaces of a robot to interact with the workspace. This thesis explores manipulations of this type which we term whole-arm manipulation (Wi\.LVI). A classification of WAM tasks into pushing, searching, enclosure, and exclusion is presented and examples of each ar...

This study attempts to examine the nature of relationship between Oil Revenue, Health Expenditure and Nigerian Economic Growth. The nexus these variables has come under scrutiny as mixed evidences have been found in literature about their contribution economic growth within period. made used ARDL Bound Co-integration test analyze short long run relationships variables. results show that co-effi...

The introduction of new technology is always met by resistance from the exponents of current technology. However, “technology at this point is simply a means to an end. What is really strategic is the use of the information and how we exploit and maximize it.” This means that before we can introduce Enterprise Application Integration, we must justify its use. To do this, we will initially look ...

Graphical specification notations have gained much popularity in software engineering, as witnessed by the widespread adoption of UML throughout the software industry. Graphical notations are generally characterised by being intuitive to understand, i.e. new users of these notation require little training to become familiar with them. However, few of the graphical notations have a formally defi...