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This paper introduces a motion planning method to generate ladder climbing motion for a four-limbed robot. This method contains the following points: (1) independent planning of path and time in 3 dimensional space for trajectory planning; (2) path length minimization according to given midpoints. In trajectory planning, arc-length parameterization is used to separate path planning and time planning...
This paper describes a trajectory planning method of ladder climbing for a four-limbed robot. The overall design of the four-limbed robot and the specific design of its end-effector is explained. The trajectory planning consists of two components: path planning and time planning, and the separation of these two parts are realized by arc-length parameterization. In path planning, we use cubic spline...
A direct rational approximation method based on Thiele interpolating continued fractions theory is proposed for fast frequency sweep analysis of electromagnetic problems. And an adaptive algorithm is also formed. Compared with the conventional rational approximation method, the proposed method can get a rational approximation directly without a great number of matrix inverse computations and doesn't...
Microarray techniques provide new methods to find coregulated genes based on their coexpression profiles. Under the assumption that coregulated genes share cis acting regulatory elements, it is important to investigate the upstream sequences controlling the transcription of these genes. A modified Gibbs sampling algorithm with background interpolated Markov model (IMM) has been developed to detect...
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