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Scientific space missions require a very high accuracy of positioning and orientation of the satellites in order to meet their objectives. Such accuracy can be obtained through a set of positioning thrusters, which need to be able to generate very low forces with high precision. This result can be obtained using cold gas thrusters. A method for the design and the forecast of the expected performance...
In this work, we propose a method to compute the stiffness of flexible joints and its realization in order to let the fingers track a certain predefined trajectory. We refer to tendon-driven, underactuated and passively compliant hands composed of deformable joints and rigid links. Specific stiffness and pre-form shapes can be assigned to the finger joints can be given s such that a single-cable actuation...
Hardness is among the most important attributes of an object that humans learn about through touch. However, approaches for robots to estimate hardness are limited, due to the lack of information provided by current tactile sensors. In this work, we address these limitations by introducing a novel method for hardness estimation, based on the GelSight tactile sensor, and the method does not require...
The current strict emission regulations lead to fuel injection being inevitable in internal combustion engines. Complex high pressure injection is not always applicable in small two stroke engines which are preferred to be light, cheap and simple. Therefore development of simple low pressure injection system is desirable. This paper describes set up of scavenging flow simulation in ANSYS FLUENT which...
In autonomous suturing with a surgical robot, needle shape, diameter, and path are critical parameters that directly affect suture depth and tissue trauma. This paper presents an optimization-based approach to specify these parameters. Given clinical suturing guidelines, a kinematic model of needle-tissue interaction was developed to quantify suture parameters and constraints. The model was further...
Texture is an important feature in RS image classification of land-use, and its precision mainly depends on the scale parameters, which are strongly correlated with the geometry characteristics of the classified objects. However, there is no a recognized reliable method for texture scale extraction. So this paper proposes an new approach to indirectly extract them with the assistance of domain GIS...
Real-time rendering (Simulation, virtual Visits, 3D interactive, Games 3D) constitutes a major element of computer graphics, but the constraint of rendering speed does not allow to have high definition of all objects constituting the 3D scene. The traditional approach consists in using high definition meshes, having a very large number of vertices and triangles, but it is inappropriate for real-time...
Image registration which is frequently required in Medical, Computer vision and remote sensing field is used to align two images geometrically. This paper presents efficient method for providing speedup and more accuracy in compared to current state of the art existing methods. This paper focuses on Feature detection using Harris detector which gives best result based on performance and has firm invariance...
The paper deals with an approach to design the pole shape of inset permanent magnet fractional-slot tubular-linear synchronous machines (IPM T-LSMs). The study is initiated by a 2D finite element analysis (FEA)-based investigation of the effects of the pole-shaping on the machine no-load features. Such investigation is carried out while varying a single geometrical parameter: that is the angle characterizing...
Image classification and recognition algorithms are useful for industrial manufacturing processes; however, the algorithms have limitations. If the products have no special features, images may be unclear. Then, it is difficult to correctly classify or recognize a product using traditional algorithms. Therefore, this paper proposes a technique to enhance a recognition algorithm by using additional...
A novel procedure is presented for the evaluation of integrals involving singular Green function and Rao-Wilton-Glisson basis functions with arbitrary mutual non-planar geometrical configuration which appear in surface integral equations representation of Maxwell equations. The proposed procedure constitutes a generalization of our previously reported result valid for planar geometries. The method...
In this paper a modified broadband 1–18 GHz double ridged guide horn antenna (DRGH) with a feeding section including coaxial input and a back shorting plate is introduced. The major differences with the conventional version are in shape of H-plane flares, removal of E-plane flares, shape of ridges and sizes of various parts. Since there is no explanation for the effects of most of the antenna parameters...
The use of an edge condition in scattering problems is investigated. Various numerical schemes such as conformal transformation, Fourier expansion, and Fourier expansion with edge correction are examined. The developed numerical methods are then applied to investigate the dynamic range of each techniques and their validity.
A numerical method is presented to formulate the plane wave scattering from dielectric bodies of finite sizes. The formulations use the equivalence principle which casts the scattered field in terms of the unknown equivalent electric and magnetic currents. An application of the boundary conditions leads to a linear system of equations for the coefficients of the unknown currents. The resulted coupled...
Construction of field lines for vector fields can be performed by a variety of analytical or graphical methods. Except for a small number of simple geometries, where closed analytical expressions can be obtained, the shape of the field lines is determined by numerical computation or evaluated approximately by physical modelling techniques [1]. In this paper, we consider irrotational vector fields...
The tongue is a basic organ in Traditional Chinese Medicine (TCM). Tongue image diagnoses the health status of a human based on shape characteristics of the tongue. Tongue shape is a very important feature in tongue diagnosis. Different tongue shapes like circle, rectangle and triangle indicate presence of certain pathologies. In this paper, we propose a method for automated recognition of diseases...
STandard for the Exchange of Product Model Data (STEP) is a neutral format file that carries life cycle information of solid models. The main objective of the neutral file is to communicate or exchange the data with different CAD/CAM systems. There are different neutral files before the evolution of STEP file like IGES, DXF, STL etc., but these neutral files could not carry the lifecycle data of the...
Geometry is an interesting area of mathematics. It opens to many different approaches and closely relates to our everyday lives. However, when students recall their experiences of learning geometry, many of them regards it as not only unpleasant experiences but often also difficult experiences. The traditional materials and tools such as pens, papers, blackboards, textbooks and/or classical methodologies...
Equivalent surface currents are known to grow to infinity close to a sharp edge. In the Method of Moments, the linear or higher order basis functions representing those currents are always finite. Special basis functions have been derived, that allow infinite currents on sharp edges, but their efficient use requires to know the exact analytical behavior. In this paper we derive this exact behavior...
In the collision avoidance problem, it is a common practice to approximate the shapes of the robots and obstacles by circles or spheres. However, such approximations can be overly conservative when the objects are more elongated in one direction when compared to another, and/or non-convex. This paper develops two analytical collision avoidance laws, which do not require any approximations to the object...
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