Inverse kinematics of robot manipulator is to determine the joint variables for a given Cartesian position and orientation of an end effector. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Although artificial neural network (ANN) can be gainfully used to yield the desired results but the gra...

Cytokine receptors exist in membrane bound and soluble form. While most soluble receptors are antagonists, some soluble receptors are agonists like soluble receptors of the gp130 cytokine family. In vivo, the IL-6/soluble IL-6R complex stimulates several types of target cells not stimulated by IL-6 alone, since they do not express the membrane bound IL-6R. This process has been named trans-sign...

in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

According to the three-dimensional (3D) complex structure of (hIL-6⋅hIL-6R⋅gp 130)2 and the binding orientation of hIL-6, three compounds with high affinity to hIL-6R and bioactivity to block hIL-6 in vitro were screened theoretically from the chemical databases, including 3D-Available Chemicals Directory (ACD) and MDL Drug Data Report (MDDR), by means of the computer-guided virtual screening m...

This paper deals with the motion interpolation of an object that satisfies the kinematic constraints imposed by planar 6R closed chains. The paper brings together the well-known kinematics of planar 6R closed chains and the freeform rational motions to synthesize the constrained piecewise rational motions in the Cartesian space. The methodology adopted in this paper is based on transforming the...

A maize plant (Zea mays) planted in a test tube was found to inhibit the growth of the soil-borne plant pathogen, Fusarium oxysporum f. sp. melongenae. The antifungal compounds, 6-methoxybenzoxazolinone and 6,7-dimethoxybenzoxazolinone, were isolated from an ethanol extract of Zea mays roots, and (6R)-7,8-dihydro-3-oxo-alpha-ionone and (6R,9R)-7,8-dihydro-3-oxo-alpha-ionol were isolated from th...

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...

Mobile robot navigation is one of the basic problems in robotics. In this paper, a new approach is proposed for autonomous mobile robot navigation in an unknown environment. The proposed approach is based on learning virtual parallel paths that propel the mobile robot toward the track using a multi-layer, feed-forward neural network. For training, a human operator navigates the mobile robot in ...

This paper addresses a behavior-based fuzzy controller (BFC) for mobile robot wall-following control.The wall-following task is usually used to explore an unknown environment.The proposed BFC consists of three sub-fuzzy controllers, including Straight-based Fuzzy Controller (SFC),Left-based Fuzzy Controller (LFC), and Right-based Fuzzy Controller (RFC).The proposed wall-...

As a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. An experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. The kinematic and gait analysis formulations are demonstrated by an e...