The Haft Saravan area is located in 90 km SE Arak in the central Iran. This area is a part of Malyer-Isfahan metallogenic belt. The article's objective is determining the most suitable method for identifying mineralized zones using original singularity and weighted singularity methods in three-dimensional space. In weighted singularity method, mineralized zones have a greater volume relative to...

this article addresses an efficient and novel method for singularity-free path planning and obstacle avoidance of parallel manipulator based on neural networks. a modified 4-5-6-7 interpolating polynomial is used to plan a trajectory for a spherical parallel manipulator. the polynomial function which is smooth and continuous in displacement, velocity, acceleration and jerk is used to find a pat...

in this paper, we present legendre wavelet method to obtain numerical solution of a singular integro-differential equation. the singularity is assumed to be of the cauchy type. the numerical results obtained by the present method compare favorably with those obtained by various galerkin methods earlier in the literature.

The kinematic and algorithmic singularities in controlling robotic manipulators have been investigated intensively because they are not predictable or difficult to avoid. The problem with handling these singularities is an unnecessary performance reduction in non-singular region and the difficulty in performance tuning. In this paper, we propose a method of avoiding kinematic and algorithmic si...

This paper shows the coordinates influence on singularity of a three degree-of-freedom structure, namely, three-Universal-Prismatic-Spherical (3-UPS) parallel manipulator. Rotational coordinates, which are chosen to define the orientation of the platform, affect the singularity of the manipulator. Euler parameters, which don't have any inherent geometrical singularity are utilized, however they...

In a recent paper [3], Y. Cao and Y. Xu established the Galerkin method for weakly singular Fredholm integral equations that preserves the singularity of the solution. Their Galerkin method provides a numerical solution that is a linear combination of a certain class of basis functions which includes elements that reflect the singularity of the solution. The purpose of this paper is to extend t...

In this paper, we present Legendre wavelet method to obtain numerical solution of a singular integro-differential equation. The singularity is assumed to be of the Cauchy type. The numerical results obtained by the present method compare favorably with those obtained by various Galerkin methods earlier in the literature.