Central spar and module joint Patent

Design and development of module joint clamping device for application to solar array constructio

A finger mechanism for adaptive end effectors

This paper presents design and analysis of a rigid link finger, which may be suitable for a number of adaptive end effectors. The design has evolved from an industrial need for a tele-operated system to be used in nuclear environments. The end effector is designed to assist repair work in nuclear reactors during retrieval operation, particularly for the purpose of grasping objects of various shape, size and mass. The work is based on the University of Southampton's Whole Arm Manipulator, which has a special design consideration for safety and flexibility. The paper discusses kinematic issues associated with the finger design, and to the end of the paper specifies the limits of finger operating parameters for implementing control law

Designing a dexterous reconfigurable packaging system for flexible automation

This paper presents a design for a reconfigurable packaging system that can handle cartons of different shape and sizes and is amenable to ever changing demands of packaging industries for perfumery and cosmetic products. The system takes structure of a multi-fingered robot hand, which can provide fine motions, and dexterous manipulation capability that may be required in a typical packaging-assembly line. The paper outlines advanced modeling and simulation undertaken to design the packaging system and discusses the experimental work carried out. The new packaging system is based on the principle of reconfigurability, that shows adaptability to simple as well as complex carton geometry. The rationale of developing such a system is presented with description of its human equivalent. The hardware and software implementations are also discussed together with directions for future research

Optimal object grasp using Tactile sensors and fuzzy logic

Robotica, Volume 17, Issue 06, Nov 1999, pp 685-693 doi

Default and Punishment in General Equilibrium

We extend the standard model of general equilibrium with incomplete markets to allow for default and punishment. The equilibrating variables include expected delivery rates, along with the usual prices of assets and commodities. By reinterpreting the variables, our model encompasses a broad range of moral hazard, adverse selection, and signalling phenomena (including the Akerlof lemons model and Rothschild--Stiglitz insurance model) in a general equilibrium framework. We impose a condition on the expected delivery rates for untraded assets that is similar to the trembling hand refinements used in game theory. Despite earlier claims about the nonexistence of equilibrium with adverse selection, we show that equilibrium always exists, even with exclusivity constraints on asset sales, and transactions-liquidity costs or information-evaluation costs for asset trade. We show that more lenient punishment which encourages default may be Pareto improving because it allows for better risk spreading. We also show that default opens the door to a theory of endogenous assets.

The Vanishing Role of Money in the Macroeconomy - An Empirical Investigation Based On Spectral and Wavelet Analysis

The recent de-emphasizing of the role of money in both theoretical macroeconomics as well as in the practical conduct of monetary policy sits uneasily with the idea that inflation is a monetary phenomenon. Empirical evidence has, however, been accumulating, pointing to an important leading indicator role for money and credit aggregates with respect to long term inflationary trends. Such a role could arise from monetary aggregates furnishing a nominal anchor for inflationary expectations, from their influence on the term structure of interest rates and from their affecting transactions costs in markets. Our paper attempts to assess the informational content role of money in the Indian economy by a separation of these effects across time scales and frequency bands, using the techniques of wavelet analysis and band spectral analysis respectively. Our results indicate variability of causal relations across frequency ranges and time scales, as also occasional causal reversals.Money, inflation, Cointegration, Causality, Decomposition, band spectra, wavelets

On the categories of L-Valued and Q-Valued 6 deterministic fuzzy automata

Automata and languages have been studied in the context of different lattice structures by several authors. This paper is toward the categorical study of deterministic lattice-valued (L-valued) fuzzy automata and deterministic quantale-valued (Q-valued) fuzzy automata. The existence of initial and final objects in the subcategory of category of deterministic lattice-valued fuzzy automata is shown. We also show that there is an adjunction between the category of deterministic lattice-valued and quantale-valued fuzzy automata