This paper presents an approach for optimal path planning on implicitly-defined configuration spaces such as those arising, for instance, when manipulating an object with two arms or with a multifingered hand. In this kind of situations, the kinematic and contact constraints induce configuration spaces that are manifolds embedded in higher dimensional ambient spaces. Existing sampling-based app...

Ambient Intelligence (AmI) is an innovative paradigm that promotes the advancement of science and technology to build smart environments. AmI proponents advocate an invisible technological support layer of information processing to improve the quality of life in public and private spaces. A robust AmI system requires a variety of algorithms and state of the art methodologies from the fields of ...

aims: bottled water is widely used in many countries and more than 100 different brands of bottled water are produced in iran. the aim of the present research was to assess the chemical compound of some iranian brands of bottled water and compare them with the mention information on their labels.     instrument & methods: this descriptive study was performed during march to december 2012 on the...

The rejuvenation of public spaces is a key policy concern in the UK. Drawing on a wide literature and on qualitative research located in a multi-ethnic area of East London, this paper explores their relationship to well-being and social relations. It demonstrates that ordinary spaces are a significant resource for both individuals and communities. The beneficial properties of public spaces are ...

Density is a critical typology in determining sustainable urban built-form patterns. Built-formrefers to the assemblage and arrangement of the building masses in a city reflecting the spatial layout of spaces.The relationship between density and urban character is also based on at certain densities (thresholds). In a widersense, sustainable cities are a matter of density. Recent debates about t...

Today’s housing, as a private realm of human life, has changed in comparison with the past which was made regardless of quality, desirability, and lack of paying attention to the human needs and its psychological consequences; That is to say, residential units have turned into a set of closed spaces and their open and semi-open spaces have been merged into the urban spaces which disrupted their...

in this paper, we deal with the subdierential concept onhadamard spaces. flat hadamard spaces are characterized, and nec-essary and sucient conditions are presented to prove that the subdif-ferential set in hadamard spaces is nonempty. proximal subdierentialin hadamard spaces is addressed and some basic properties are high-lighted. finally, a density theorem for subdierential set is establi...