As a foundation for Klein’s fundamental idea about the connection of geometry and its motion group and the unified description of all Cayley-Klein geometries, a method of group transitions including contractions as well as analytical continuations of the groups is developed. The generators and Casimir operators of an arbitrary Cayley-Klein group are obtained from those of the classical orthogon...

Reasoning about kinematics is an important aspect of common sens e physics. In earlier work, we have developed the place vocabulary theory of qualitative kinematics in mechanisms, a formal theory for representin g the kinematic behavior of two-dimensional mechanisms . The computation of a place vocabulary is very complex because it takes into accoun t the details of object shapes . In this pape...

We present a measurement of the fractions F0 and F+ of longitudinally polarized and righthandedW bosons in top-quark decays using data collected with the CDF II detector. The data set used in the analysis corresponds to an integrated luminosity of approximately 955 pb. We select tt̄ candidate events with one lepton, at least four jets, and missing transverse energy. Our helicity measurement uses...

This paper presents a fully decoupled parallel 2-DOF spherical mechanism, named HEMISPHERE. First, the design idea is introduced based on a general 2-DOF spherical mechanism. Then, a practical architecture is presented, which employs only two kinds of 1-DOF kinematic pairs: revolute joint and prismatic pair. Next, following the discussion about the limitation from the friction circle of the rev...

In this paper the direct kinematic model of a multiple applications three degrees of freedom industrial manipulator, was developed using the homogeneous transformation matrices and the Denavit Hartenberg parameters, likewise the inverse kinematic model was developed using the same method, verifying that in the workload border the inverse kinematic presents considerable errors, therefore a genet...

Active deformation in Alborz range is due to N-S convergence between Arabia and Eurasia. This paper provides geomorphic traces of regional deformation in NW Iran in order to characterize active faulting on major faults. Soltanieh and North Zanjan fault systems are involved in convergence boundary extent between South Caspian Basin and Central Iran. Soltanieh and North Zanjan faults are major re...

This paper presents a new general method for obstacle representation in the configuration space (C-space) for redundant robots. The method is based on the analytical deconstruction of the C-space, i.e., the separated evaluation of the C-space portion contributed by the collisions of each link in the kinematic chain. The systematic application of a simple convolution of two functions describing ...

This paper describes new factorization algorithms that exploit branch-induced sparsity in the joint-space inertia matrix (JSIM) of a kinematic tree. It also presents new formulae that show how the cost of calculating and factorizing the JSIM vary with the topology of the tree. These formulae show that the cost of calculating forward dynamics for a branched tree can be considerably less than the...