Cable-driven parallel robots are mechanisms that control the position and attitude of an object using multiple cables. Typical cable-driven have been studied for use on land, but not in water. This is because motion analysis become difficult underwater due to large deformation cables caused by fluid forces. In this paper, we propose robot consisting on-water derive a dynamics model considers ca...

An old conjecture by Jünger, Reinelt and Pulleyblank states that every 2-edgeconnected planar graph can be decomposed into paths of length 3 and triangles, provided its size is divisible by 3. We prove the conjecture for a class of planar graphs including all 2-edge-connected series-parallel graphs. We also present a 2edge-connected non-planar graph that can be embedded on the torus and admits ...

In this paper, we describe the circuit polytope on series-parallel graphs. We first show the existence of a compact extended formulation. Though not being explicit, its construction process helps us to inductively provide the description in the original space. As a consequence, using the link between bonds and circuits in planar graphs, we also describe the bond polytope on series-parallel graphs.

In this paper we show that every 3-connected (3-edge-connected) planar graph contains a 2-connected (respectively, 2-edge-connected) spanning partial 2-tree (seriesparallel) graph. In contrast, a recent result by [4] implies that not all 3-connected graphs contain 2-edge-connected series-parallel spanning subgraphs.

 In practice, clearances in the joints are inevitable due to tolerances, and defects arising from design and manufacturing. In the presence of clearance at a joint, a mechanism gains some additional, uncontrollable degrees of freedom which are the source of error. Moreover, joints undergo wear and backlashes and so cannot be used in precision mechanisms. In this study, the dynamic behaviour of ...

This paper describes the design, construction, and control of a planar three degree-of-freedom (dof) inparallel-actuated manipulator at Ohio University. The actuators are three pneumatic cylinders. Using real-time closed-loop feedback control for each actuator length independently, we develop inverse pose and resolved-rate control for this manipulator. The objective of this work is to implement...

In this paper, we analyze ips over triangulations. Given a convex quadrilateral divided into two triangles in the triangulation, a ip consists in removing the triangle and replacing them by the two whose common side is the opposite diagonal. A parallel ip is a series of ips on disjoint quadrilaterals performed at the same time. We analyze the number of parallel ips that are necessary to transfo...

Four-bar mechanisms are widely used in the industry especially in rotary engines. These mechanisms are usually applied for attaining a special motion duty like path generation; their high speeds in the industry cause an unbalancing problem. Hence, dynamic balancing is essential for their greater efficiency. In this research study, a multi-objective differential evolution algorithm is used for P...