In this paper, a prismatic joint biped robot trajectory planning method is proposed. The minimum consumed energy is used as a criterion for trajectory generation, by using a real number genetic algorithm as an optimization tool. The minimum torque change cost function and constant vertical position trajectories are used in order to compare the results and verify the effectiveness of this method...

This paper presents a robust and automated approach to generate unstructured hybrid grids comprised of tetrahedra, prisms, and pyramids for high Reynolds number flow computations. The hybrid mesh generation starts with isotropic tetrahedral grids to enhance the robustness. The tetrahedra near no-slip walls are shifted inward and the resulting gap between the tetrahedra and the walls is filled u...

In this work, the direct position kinematics of a 3 degree-of-freedom parallel manipulator with three identical limbs, type revolute-prismatic-spherical (RPS), is analyzed. In contrast to the previous studies on this class of manipulators, the revolute joints of the proposed manipulator are actuated rather than the prismatic joints. Direct position kinematics of the manipulator leads to a syste...

This paper presents a recursive formulation for the inverse dynamics of a generic twoDegree of Freedom planar parallel manipulator with prismatic actuators, which find applications in positioning, contouring, etc. with high accuracy and precision. The method is based on the Newton-Euler equations of motion and the Decoupled Natural Orthogonal Complement matrices, which relate the angular and li...

Method and materials Testing of trial ophthalmic lenses, spherical and cylindrical, was carried out using an interferometric technique in order to estimate the dioptric and prismatic power of these lenses. The ophthalmic lenses were measured with a laser light, using a Twyman Green interferometer, and interference patterns were acquired and processed, obtaining the dioptric and prismatic power ...

The title samarium coordination polymer, [Sm(3)(C(8)H(7)O(2))(9)](n), was obtained by the hydro-thermal reaction of Sm(NO(3))(3) with 4-methyl-benzoic acid in alkaline aqueous solution. In the asymmetric unit, there are three crystallographically independent Sm(III) ions, two of which are eight-coordinate in a distorted square-anti-prismatic environment, while the third is nine-coordinate in a ...

Tetra-yttrium(III) tris-ulfide disilicate, Y(4)S(3)(Si(2)O(7)), crystallizes in the Sm(4)S(3)(Si(2)O(7)) structure type. The structure consists of isolated (Si(2)O(7))(6-) units (2mm. symmetry) and two crystallo-graphically independent Y(3+) cations bridged by one S and one O atom. The first Y atom (site symmetry .m.) is coordinated by three O atoms and three S atoms in a trigonal-prismatic arr...