In this paper we analyze a variant of the n-disk Towers of Hanoi problem with an arbitrary starting and ending configuration using transition graphs representing valid configurations. In particular, we show that starting with any configuration, there is a sequence of moves that goes through each valid configuration exactly once and back to the starting configuration. Also, we show how the origi...

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We present a general method for determining controllability of a class of kinematic legged robots. The method is general in that it is independent of the robot’s morphology; in particular, it does not depend upon the number of legs. Our method is based on an extension of a nonlinear controllability test for smooth systems to the legged case, where the relevant mechanics are not smooth. Our exte...

In order to develop a high performance working robot, we designed and developed a new robot based on the concept of "Limb Mechanism" for integration of legged locomotion and arm manipulation. The developed robot has six limbs which can be used for both locomotion and manipulation. Six limbs are set on vertices of regular hexagonal body so that this robot can have ominidirectional manipulability...

To study the design, control and energetics of autonomous dynamically stable legged machines we have built a planar one-legged robot, the ARL Monopod. Its top running speed of 4.3 km/h (1.2 m/s) makes it the fastest electrically actuated legged robot to date. We adapted Raibert's control laws for the low power electric actuation necessary for autonomous locomotion and performed a detailed energ...

Legged locomotion is used by most of the animals and human beings on the earth. Legged locomotion is preferred over the wheeled locomotion as it can be used for both flat and rough terrains. In this paper, an attempt has been made for the dynamic modelling and simulation of four legged jumping robots with compliant legs. Sagittal plane and bounding gait has been used. For energy saving passive ...

Non-repudiation is a security service that provides cryptographic evidence to support the settlement of disputes. In this paper, we introduce the state-of-the-art of multi-party non-repudiation protocols, and analyze the previous work where one originator is able to send the same message to many recipients. We propose a new multi-party non-repudiation protocol for sending different messages to ...

Towers, a consultant to the defense, presents an account of a homicide charge being processed against two Los Angeles physicians. At the family's request for withdrawal of life support systems, the doctors removed nasogastric and intravenous lines from a patient whose cardiac arrest after surgery resulted in severe brain damage. At the autopsy, dehydration was listed as a contributory cause o...

The collapse behaviour of the World Trade Centre (WTC) towers is considered formally as a propagating instability phenomenon. The application of associated concepts enables the residual capacities of both towers after the onset of collapse to be formally estimated. This information is combined into a simplified variable-mass collapse model of the overall dynamical behaviour. The resulting, non-...

Purpose – The aim of this study is to examine relation between employees’ participation in the organizations decisions making and their psychological empowerment in Iran Telecommunication Company subsidiary of Mazanderan Province. Design / methodology /approach- 250 employees from the Iran Telecommunication Company subsidiary of Mazanderan Province participated in this study. A Spearman's cor...