In this paper we compare two formulations for the kine-matic control of redundant manipulators, based on task prioritization. We also propose an incremental method to speed up the evaluation of the solution. This is especially interesting when dealing with multiple task-priority levels and with highly redundant structures. Finally, the effectiveness of the approach in the context of posture con...

We present results for response functions and asymmetries in the nuclear reactions 37 Ar(e, e ′ n) 36 Ar and 37 K(e, e ′ p) 36 Ar at quasifree kine-matics. We compare PWIA results obtained using deformed HF wave functions with PWIA and DWIA results obtained assuming a spherical mean field. We show that the complex structure of the deformed orbitals can be probed by coincidence measurements with...

A computer aided tolerancing tool is presented that assists the designer in functional tolerance specification. The theoretical concepts for subsequent tolerance analysis are also provided. The computer aided tolerancing tool is part of a feature based object oriented (re)–design support system, called FROOM. FROOM’s assembly modelling capabilities provide basic information for functional toler...

Recent developments in wireless capture of muscle activity signals have improved the freedom of motion and the ease of use. Nevertheless, no study has examined the quality of wireless electromyographic technology during water activities. In this study the performance of a surface electromyography (SEMG) wireless system on dry land and in water was compared. Tibialis anterior muscle activity of ...

We present the results of new 3D TIGER spectro-scopic observations and archived HST/WFPC2 and NICMOS images of the central region of M 104. The [N ii]+Hα images reveal the presence of a nuclear spiral structure, and the gaseous kinematics in the central arcsecond shows evidence for kine-matical decoupling of the central peak. A straight nuclear dust lane, with a weak symmetric counterpart, is s...

A kinematic singularity occurs when the Jacobian matrix associated with the forward kinematic map loses rank. At a singular connguration, the end-eeector velocities are restricted to a subspace of the task space velocities. Also, rate control schemes that require the inversion of the Jacobian matrix fail at such singulari-ties. However, even at a singular connguration, if the kinematic map is g...