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Title: Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study |
Abstract: The goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The singular and non-singular changes of assembly mode are described and compared to each other. The non-singular change o... |
Title: Conception Isotropique D'Une Morphologie Parall\`Ele : Application \`a L'Usinage |
Abstract: The aim of this paper is the isotropic design of a hybrid morphology dedicated to 3-axis machining applications. It is necessary to ensure the feasibility of continuous, singularity-free trajectories, as well as a good manipulability in position and velocity. We want to propose an alternative design to conven... |
Title: A distributed Approach for Access and Visibility Task under Ergonomic Constraints with a Manikin in a Virtual Reality Environment |
Abstract: This paper presents a new method, based on a multi-agent system and on digital mock-up technology, to assess an efficient path planner for a manikin for access and visibility task under ergonomic constraints. In order to solve this problem, the human operator is integrated in the process optimization to contr... |
Title: Exact Computation of Minimum Sample Size for Estimation of Binomial Parameters |
Abstract: It is a common contention that it is an ``impossible mission'' to exactly determine the minimum sample size for the estimation of a binomial parameter with prescribed margin of error and confidence level. In this paper, we investigate such a very old but also extremely important problem and demonstrate that t... |
Title: Exact Computation of Minimum Sample Size for Estimating Proportion of Finite Population |
Abstract: In this paper, we develop an exact method for the determination of the minimum sample size for estimating the proportion of a finite population with prescribed margin of error and confidence level. By characterizing the behavior of the coverage probability with respect to the proportion, we show that the comp... |
Title: Exact Computation of Minimum Sample size for Estimation of Poisson Parameters |
Abstract: In this paper, we develop an approach for the exact determination of the minimum sample size for the estimation of a Poisson parameter with prescribed margin of error and confidence level. The exact computation is made possible by reducing infinite many evaluations of coverage probability to finite many evalu... |
Title: Variable Selection and Model Averaging in Semiparametric Overdispersed Generalized Linear Models |
Abstract: We express the mean and variance terms in a double exponential regression model as additive functions of the predictors and use Bayesian variable selection to determine which predictors enter the model, and whether they enter linearly or flexibly. When the variance term is null we obtain a generalized additiv... |
Title: Mod\'elisation Dynamique d'un Robot Parall\`ele \`a 3-DDL : l'Orthoglide |
Abstract: In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are calculated starting from the elements of the dynamic model of the kinematic chain structure and equations of Newton-Eu... |
Title: Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators |
Abstract: This paper investigates two situations in which the forward kinematics of planar 3-RPR parallel manipulators degenerates. These situations have not been addressed before. The first degeneracy arises when the three input joint variables r1, r2 and r3 satisfy a certain relationship. This degeneracy yields a dou... |
Title: Kinematic Analysis of a Family of 3R Manipulators |
Abstract: The workspace topologies of a family of 3-revolute (3R) positioning manipulators are enumerated. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps that appear on these singular curves. The design parameters space is shown to... |
Title: The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture |
Abstract: A spherical wrist of the serial type with n revolute (R) joints is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all equal to sqrt(n/3). What isotropy brings about is robustness to manufacturing, assembly, and measurement errors, thereby guaranteeing a ... |
Title: A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications |
Abstract: This paper proposes a method to calculate the largest Regular Dextrous Workspace (RDW) of some types of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. Then a new performance index based on the RDW is introduced, the isocontours of this index are plotted in ... |
Title: A Bayes method for a Bathtub Failure Rate via two $$-paths |
Abstract: A class of semi-parametric hazard/failure rates with a bathtub shape is of interest. It does not only provide a great deal of flexibility over existing parametric methods in the modeling aspect but also results in a closed and tractable Bayes estimator for the bathtub-shaped failure rate (BFR). Such an estima... |
Title: Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot |
Abstract: The design of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger project, which aims to design and to build an eel robot for inspection of immersed piping. The kinematic analysis of the mechanism is presented first to characterize the singular configurat... |
Title: Passive Control Architecture for Virtual Humans |
Abstract: In the present paper, we introduce a new control architecture aimed at driving virtual humans in interaction with virtual environments, by motion capture. It brings decoupling of functionalities, and also of stability thanks to passivity. We show projections can break passivity, and thus must be used carefull... |
Title: Mixed Integer Linear Programming For Exact Finite-Horizon Planning In Decentralized Pomdps |
Abstract: We consider the problem of finding an n-agent joint-policy for the optimal finite-horizon control of a decentralized Pomdp (Dec-Pomdp). This is a problem of very high complexity (NEXP-hard in n >= 2). In this paper, we propose a new mathematical programming approach for the problem. Our approach is based on t... |
Title: Animation of virtual mannequins, robot-like simulation or motion captures |
Abstract: In order to optimize the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products, the numerical model. However, in order to be able to avoid definitively physical model, old support of the design, without loss of inform... |
Title: A Framework to Illustrate Kinematic Behavior of Mechanisms by Haptic Feedback |
Abstract: The kinematic properties of mechanisms are well known by the researchers and teachers. The theory based on the study of Jacobian matrices allows us to explain, for example, the singular configuration. However, in many cases, the physical sense of such properties is difficult to explain to students. The aim of... |
Title: Coverage Probability of Random Intervals |
Abstract: In this paper, we develop a general theory on the coverage probability of random intervals defined in terms of discrete random variables with continuous parameter spaces. The theory shows that the minimum coverage probabilities of random intervals with respect to corresponding parameters are achieved at discr... |
Title: A Comparative Study between Two Three-DOF Parallel Kinematic Machines using Kinetostatic Criteria and Interval Analysis |
Abstract: This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of the first machine are orthogonal whereas these of the second are parallel. In both cases, the mobile platform m... |
Title: The Virtual Manufacturing concept: Scope, Socio-Economic Aspects and Future Trends |
Abstract: The research area "Virtual Manufacturing (VM)'' is the use of information technology and computer simulation to model real world manufacturing processes for the purpose of analysing and understanding them. As automation technologies such as CAD/CAM have substantially shortened the time required to design prod... |
Title: A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace |
Abstract: A classification of a family of 3-revolute (3R) positining manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps and nodes that appear... |
Title: Optimal Design of Ad Hoc Injection Networks by Using Genetic Algorithms |
Abstract: This work aims at optimizing injection networks, which consist in adding a set of long-range links (called bypass links) in mobile multi-hop ad hoc networks so as to improve connectivity and overcome network partitioning. To this end, we rely on small-world network properties, that comprise a high clustering ... |
Title: Universal Reinforcement Learning |
Abstract: We consider an agent interacting with an unmodeled environment. At each time, the agent makes an observation, takes an action, and incurs a cost. Its actions can influence future observations and costs. The goal is to minimize the long-term average cost. We propose a novel algorithm, known as the active LZ al... |
Title: Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances |
Abstract: The Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular workspace and homogeneous performances) and parallel kinematic architectures (good dynamic performances and st... |
Title: Neutrality and Many-Valued Logics |
Abstract: In this book, we consider various many-valued logics: standard, linear, hyperbolic, parabolic, non-Archimedean, p-adic, interval, neutrosophic, etc. We survey also results which show the tree different proof-theoretic frameworks for many-valued logics, e.g. frameworks of the following deductive calculi: Hilbe... |
Title: International Standard for a Linguistic Annotation Framework |
Abstract: This paper describes the Linguistic Annotation Framework under development within ISO TC37 SC4 WG1. The Linguistic Annotation Framework is intended to serve as a basis for harmonizing existing language resources as well as developing new ones. |
Title: A Formal Model of Dictionary Structure and Content |
Abstract: We show that a general model of lexical information conforms to an abstract model that reflects the hierarchy of information found in a typical dictionary entry. We show that this model can be mapped into a well-formed XML document, and how the XSL transformation language can be used to implement a semantics ... |
Title: Consistency of the group Lasso and multiple kernel learning |
Abstract: We consider the least-square regression problem with regularization by a block 1-norm, i.e., a sum of Euclidean norms over spaces of dimensions larger than one. This problem, referred to as the group Lasso, extends the usual regularization by the 1-norm where all spaces have dimension one, where it is commonl... |
Title: A Generalized Information Formula as the Bridge between Shannon and Popper |
Abstract: A generalized information formula related to logical probability and fuzzy set is deduced from the classical information formula. The new information measure accords with to Popper's criterion for knowledge evolution very much. In comparison with square error criterion, the information criterion does not only... |
Title: Quantum Algorithms for Learning and Testing Juntas |
Abstract: In this article we develop quantum algorithms for learning and testing juntas, i.e. Boolean functions which depend only on an unknown set of k out of n input variables. Our aim is to develop efficient algorithms: - whose sample complexity has no dependence on n, the dimension of the domain the Boolean functio... |
Title: Workspace and Kinematic Analysis of the VERNE machine |
Abstract: This paper describes the workspace and the inverse and direct kinematic analysis of the VERNE machine, a serial/parallel 5-axis machine tool designed by Fatronik for IRCCyN. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table. The parallel module cons... |
Title: The Kinetostatic Optimization of a Novel Prismatic Drive |
Abstract: The design of a mechanical transmission taking into account the transmitted forces is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design of Slide-o-Cam, a transmission intended to produce a sliding motio... |
Title: Degenerating families of dendrograms |
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