In this paper a step toward making a toolbox for industrial robot modelling based on the computer algebra tool Maple is taken. It can be seen as a modelling platform for efficient derivation of the necessary equations for doing, e.g., sensor fusion or state estimation by an Extended Kalman Filter (EKF) algorithm. Forward kinematics is studied and the position and orientation of the robot tool a...

Respiratory activity is an essential vital sign of life that can indicate changes in typical breathing patterns and irregular body functions such as asthma and panic attacks. Many times, there is a need to monitor breathing activity while performing day-to-day functions such as standing, bending, trunk stretching or during yoga exercises. A single IMU (inertial measurement unit) can be used in ...

In this paper a flexible software framework is presented, that allows for the easy configuration, modeling, simulation, and collision avoidance for the manipulators of a service robot. The configuration of the robot including the number of manipulators, their degrees of freedom, the corresponding Denavit-Hartenberg parameters, geometry, fieldbus parameters etc. can be specified easily in xml co...

This paper presents a new and comprehensive method for modeling robots having highly flexible members such as flexure joints. An accurate model of large deformation bending is important for precisely describing the configuration of the flexible member. Additionally, the accuracy of the Jacobian and Hessian of the forward kinematics are critically important at large angles for predicting the def...

During molecular simulations, three-dimensional conformations of biomolecules are calculated from the values of their bond angles, bond lengths, and torsional angles. In this paper we study how to efficiently derive three-dimensional molecular conformations from the values of torsional angles. This case is of broad interest as torsional angles greatly affect molecular shape and are always taken...

A conformation of a molecule is defined by the relative positions of atoms and by the chirality of asymmetric atoms in the molecule. The three main representations for conformations of molecules are Cartesian coordinates, a distance geometry descriptor (which consists of a distance matrix and the signs of the volumes of quadruples of atoms), and internal coordinates. In biochemistry, conformati...

In this paper, a new modified particle swarm optimization, m-PSO, is proposed, in which the novelty consists of proposing fitness-based optimization algorithm, PSO, adapts particles’ behavior rather than PSO parameters and where particles evolve differently considering their level optimality. A multi-objective MO, approach then built based on m-PSO. proposed method, with fitness better mean loc...

Thyroid dysfunction is one of the most commonly encountered endocrine abnormalities. The screening of thyroid dysfunction is recommended in Nepal with its high risk population. Many factors are responsible for exacerbating the thyroid dysfunction in the context of Nepal. Therefore, this study was designed to assess the prevalence of thyroid dysfunction in Dhulikhel Hospital-Kathmandu University...