This paper investigates the problem of paint surface estimation and trajectory planning for automated painting process using a six-degree-of-freedom (6DOF) robot. We first present kinematic model 6DOF articulated spraying robot calculate coordinate transformation robot's end effector relative to base position. Then we design size joints ensure sufficient working space outer coverings automobile...

samples of participants’ writing were scored by two raters using toefl writing scoring rubric. the readability index of each text was calculated through the use of six readability formulae and graphs, i.e., flesch-kincaid index, reading ease index, fog index, smog formula, fry’s graph, and dale-chall readability index. the scores given to each essay were later compared to the obtained readabili...