This paper represents an analytical approach for solving forward kinematics problem of a serial robot manipulator with six degrees of freedom and a specific combination of joints and links to formulate the position of the gripper by a given set of joint angles. In addition, a direct geometrical solution for the robot’s inverse kinematics problem will be defined in order to calculate the robot’s...

We present a parametrization of T 3 and S ×S2 Gowdy cosmological models which allows us to study both types of topologies simultaneously. We show that there exists a coordinate system in which the general solution of the linear polarized special case (with both topologies) has exactly the same functional dependence. This unified parametrization is used to investigate the existence of Cauchy hor...

This paper describes how coordination has been integrated into a broad coverage statistical Minimalist Grammar parser currently under development, and presents a unified analysis for a number of coordinate (and related) constructions sometimes considered problematic for transfor-mational syntax; these include across-the-board (ATB) head and phrasal movements, argument cluster coordination, righ...

Internet systems provide a variety of ways to exchange information, contain large amounts and variety of data, and have become quite complex, making them vulnerable to attacks from determined hackers. There are many products used currently to stop these attacks but they suffer from lack of completeness, they only apply to one type of attack. Several mechanisms are needed for a comprehensive def...

The hypercube Qn is the graph whose vertex set is {0, 1}n and where two vertices are adjacent if they differ in exactly one coordinate. For any subgraph H of the cube, let ex(Qn,H) be the maximum number of edges in a subgraph of Qn which does not contain a copy of H. We find a wide class of subgraphs H, including all previously known examples, for which ex(Qn,H) = o(e(Qn)). In particular, our m...

We present an interactive spherical terrain rendering system employing a hierarchical subdivision of the HEALPix coordinate system using quadtrees. Compared to other parameterizations, the scheme avoids singularities and allows for efficient fusion of mixed-resolution digital elevation models and imagery. A Level-of-Detail heuristic is used to guarantee both high performance and visual fidelity...

We present a unified framework for online learning of structured classifiers. This framework handles a wide family of convex loss functions that includes as particular cases CRFs, structured SVMs, and the structured perceptron. We introduce a new aggressive online algorithm that optimizes any loss in this family; for the structured hinge loss, this algorithm reduces to 1-best MIRA; in general, ...

We describe a new library named picasso, which implements a unified framework of pathwise coordinate optimization for a variety of sparse learning problems (e.g., sparse linear regression, sparse logistic regression, sparse Poisson regression and sparse square root loss linear regression), combined with efficient active set selection strategies. Besides, the library allows users to choose diffe...

Intrinsic dynamics of the central vestibular system (CVS) appear to be at least partly determined by the symmetries of its connections. The CVS contributes to whole-body functions such as upright balance and maintenance of gaze direction. These functions coordinate disparate senses (visual, inertial, somatosensory, auditory) and body movements (leg, trunk, head/neck, eye). They are also unified...

The role of protein motions in promoting the chemical step of enzyme catalysed reactions remains a subject of considerable debate. Here, a unified view of the role of protein dynamics in dihydrofolate reductase catalysis is described. Recently the role of such motions has been investigated by characterising the biophysical properties of isotopically substituted enzymes through a combination of ...