A geometrical argument is outlined to show the (already known) instability of an inflected liquid bridge between parallel planes in the case of equal contact angles. In contrast to the behavior of liquid bridges between parallel planes, it is shown that a liquid bridge between spheres exists which is stable and has two inflections. Along the way, a result relating stability and dH/dV for a fami...

We present a parametric method to automatically identify people in monocular low-resolution video by estimating the height and stride parameters of their gait. Stride parameters (stride length and cadence) are functions of body height, weight, and gender. Previous work has demonstrated effective use of these biometrics for identification and verification of people. In this paper, we show that p...

A free gait algorithm is proposed utilizing a new method of gait generation called primary/secondary gait. The primary gait is a fixed sequence of leg transfers with modified legend kinematic limits according to the obstacle presence, while the secondary gait is a flexible gait which is generated to adjust the leg-end position. The primary gait is generated considering the following four constr...

This article presents the design of the base molecule for the RobMAT modular robot and the simulation tool MAVES (Modular Agents Virtual Environment Simulator). The base molecule is formed by 3 link atoms, 2-foot accessories and 2 joint atoms with 3 d.o.f. With the developed simulator, it is possible to analyse the kinematics morphology and dynamics behaviour of different configurations. MAVES ...

in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

The paper proposes a new architecture for a lower exoskeleton with five degrees of freedom (DOF) per each leg, where, the design and synthesis of the kinematic chains is based on human leg parameters in terms of ratios, range of motion, and physical length. This research presents the design and simulation of lower limb exoskeleton for rehabilitation of patients with paraplegia. This work presen...

The small uncertainties of geometric parameters industrial robot, which are caused by links manufacturing and service wear errors, can deteriorate the positioning accuracy end-effector through multi-level propagation is difficult to be measured compensated high-precision instruments. Hence, an efficient inverse identification method parameter uncertainty based on global sensitivity analysis opt...

In this notewe give a new effective proofmethod for the equivalence of the notions of testability and nondeterministic testability for uniform hypergraph parameters. We provide the first effective upper bound on the sample complexity of any nondeterministically testable r-uniform hypergraph parameter as a function of the sample complexity of its witness parameter for arbitrary r. The dependence...

This paper considers the problem of robust stabilization for a class of uncertain nonlinear systems which involve a base system with a control input and a forwarding structure. Both parts of the system are allowed to be nonlinear, multidimensional, and containing uncertain parameters. We present a new approach to design stabilizing controllers which assure both robust global asymptotic stabilit...

Position analysis is an essential step in the design, analysis and control of robots. In this article, a basic introduction to the position analysis of serial manipulators is given. This topic is invariably covered in all the textbooks on this subject. Therefore, instead of repeating the standard details of forward kinematics, such as, the designation of the reference frames, determination of t...