Many scientific experiments are modeled as workflows. Workflows usually output massive amounts of data. To guarantee the reproducibility workflows, they orchestrated by Workflow Management Systems (WfMS), that capture provenance Provenance represents lineage a data fragment throughout its transformations activities in workflow. traces represented graphs. These graphs allows scientists to analyz...

Abstracz This paper addresses the modeling and control of a compliant micromanipulator for use in such$elh as microsurgery, telesurgery, and microassembly, The unique flexure-based manipulator utilizes revolute flexure joints in achieving well-behaved kinematic characteristics, without the backlash and stick-slip phenomena that would otherwise impede precision control. A mathematical model of t...

In this paper we consider the dynamic modelling of compliant micropositioning mechanisms using flexure hinges. A simple modelling method is presented that is particularly useful for modelling parallel micropositioning mechanisms. This method is based upon linearisation of the geometric constraint equations of the compliant mechanism. This results in a linear kinematic model, a constant Jacobian...