Kinematic feasibility of a planned robot path is restrained by the kinematic constraints of the robot executing the task, such as workspace, configuration, and singularity. Since these kinematic constraints can be described utilizing the geometry of the given robot, corresponding regions within the robot workspace can be expressed in geometrical representation. Consequently, geometric informati...

This paper describes an upper bound analysis of cold forward extrusion of spur gears with modified tooth profile. Spur gear geometrical parameters such as module, number of teeth, pressure angle, bore radius and addendum modification factor were input to a computer program written in Visual Basic. Then spur gear, billet and extrusion die cavity were modeled automatically in SolidWorks. For uppe...

Pressure Reducing Valves (PRV) are being used for decreasing the existing extra pressure in the water distribution network. however, they dissipate a considerable amount of energy. Therefore, the idea of application of Soft Pressure Reducing Systems (SPRS) is proposed, where a PRV is replaced by a hydropower station. The heart of An SPRS is the turbo-generator. One of the advantages of this typ...

The roles of the several parameters that influences railway track deterioration most, are examined in this research with a view to make railway track maintenance more effective and cost efficient. The results presented are based on a comprehensive study of railway track degradation on super structure, sub-structure and geometrical aspects. The changes in TQI (Track Quality Index), the track set...

For binary neural networks (BNNs), constructive covering frameworks have been investigated recently. While these frameworks are fast, they have limitations of generalization and accurate classification for learning from limited number of samples. In this paper, we propose modified constructive-covering algorithm (MCCA), which consists of two processes: generalization process and modification pr...

In this paper a modification of the time domain passivity controller is presented to improve its performance and transparency in case of multi degrees of freedom (dof) haptic interaction. In multi-dof application the concept needs to be extended by additional conditions to distribute the adaptive damping appropriately among the degrees of freedom. This can be solved by using the geometrical inf...

The iterative proportional fitting procedure (IPF-P) is an algorithm to compute approximately probability measures with prescribed marginals. We propose two extensions of the IPF-P, called conditional iterative proportional fitting procedures (CIPF-P), so that, additionally, given conditional distributions are taken into account. This modification is carried out by using the geometrical interpr...

some physical properties such as geometrical, gravimetrical, frictional and aerodynamic features of seeds of desi chickpea and its splits were studied at a moisture content of 8.2 and 9.0% w., respectively from north-western of iran. geometrical and gravimetrical properties including the average length, width, thickness, the geometric mean of diameter, sphericity, 1000-seed weight, unit weight,...