An optimal resolved rate law for kinematically redundant manipulators

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution has been found to cause large joint rates in some cases. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to non-planar manipulators

An optimal resolved rate law for kindematically redundant manipulators

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution was found to cause large joint rates in some case. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to nonplanar manipulators

Highly efficient synthesis of the tricyclic core of Taxol by cascade metathesis

An efficient enantioselective synthesis of the ABC tricyclic core of the anticancer drug Taxol is reported. The key step of this synthesis is a cascade metathesis reaction, which leads in one operation to the required tricycle if appropriate fine-tuning of the dienyne precursor is performed

The Minimal Length of a Lagrangian Cobordism between Legendrians

To investigate the rigidity and flexibility of Lagrangian cobordisms between Legendrian submanifolds, we investigate the minimal length of such a cobordism, which is a $1$-dimensional measurement of the non-cylindrical portion of the cobordism. Our primary tool is a set of real-valued capacities for a Legendrian submanifold, which are derived from a filtered version of Legendrian Contact Homology. Relationships between capacities of Legendrians at the ends of a Lagrangian cobordism yield lower bounds on the length of the cobordism. We apply the capacities to Lagrangian cobordisms realizing vertical dilations (which may be arbitrarily short) and contractions (whose lengths are bounded below). We also study the interaction between length and the linking of multiple cobordisms as well as the lengths of cobordisms derived from non-trivial loops of Legendrian isotopies.Comment: 33 pages, 9 figures. v2: Minor corrections in response to referee comments. More general statement in Proposition 3.3 and some reorganization at the end of Section

Acoustical Boundary Location through Texture Analysis of Multibeam Bathymetric Sonar Data

Texture analysis is performed on multibeam sonar signal returns discriminated angularity by beamforming. A collection of fourteen texture features are computed via co-occurrence matrices and data reduction is then performed using a principal components transformation. Acoustical boundaries (boundaries between regions with homogeneous acoustical properties) are evident from the features. Results indicate that seafloor bottom characteristics can be extracted from these texture features