A complete analytical solution for the inverse instantaneous kinematics of a spherical-revolute-spherical (7R) redundant manipulator

Using a method based upon resolving joint velocities using reciprocal screw quantities, compact analytical expressions are generated for the inverse solution of the joint rates of a seven revolute (spherical-revolute-spherical) manipulator. The method uses a sequential decomposition of screw coordinates to identify reciprocal screw quantities used in the resolution of a particular joint rate solution, and also to identify a Jacobian null-space basis used for the direct solution of optimal joint rates. The results of the screw decomposition are used to study special configurations of the manipulator, generating expressions for the inverse velocity solution for all non-singular configurations of the manipulator, and identifying singular configurations and their characteristics. Two functions are therefore served: a new general method for the solution of the inverse velocity problem is presented; and complete analytical expressions are derived for the resolution of the joint rates of a seven degree of freedom manipulator useful for telerobotic and industrial robotic application

A study of the dynamics of rotating space stations with elastically connected counterweight and attached flexible appendages. Volume 1: Theory

The formulation of a mathematical model for predicting the dynamic behavior of rotating flexible space station configurations was conducted. The overall objectives of the study were: (1) to develop the theoretical techniques for determining the behavior of a realistically modeled rotating space station, (2) to provide a versatile computer program for the numerical analysis, and (3) to present practical concepts for experimental verification of the analytical results. The mathematical model and its associated computer program are described

Sex workers perspectives on strategies to reduce sexual exploitation and HIV risk: a qualitative study in Tijuana, Mexico.

Globally, female sex workers are a population at greatly elevated risk of HIV infection, and the reasons for and context of sex industry involvement have key implications for HIV risk and prevention. Evidence suggests that experiences of sexual exploitation (i.e., forced/coerced sex exchange) contribute to health-related harms. However, public health interventions that address HIV vulnerability and sexual exploitation are lacking. Therefore, the objective of this study was to elicit recommendations for interventions to prevent sexual exploitation and reduce HIV risk from current female sex workers with a history of sexual exploitation or youth sex work. From 2010-2011, we conducted in-depth interviews with sex workers (n = 31) in Tijuana, Mexico who reported having previously experienced sexual exploitation or youth sex work. Participants recommended that interventions aim to (1) reduce susceptibility to sexual exploitation by providing social support and peer-based education; (2) mitigate harms by improving access to HIV prevention resources and psychological support, and reducing gender-based violence; and (3) provide opportunities to exit the sex industry via vocational supports and improved access to effective drug treatment. Structural interventions incorporating these strategies are recommended to reduce susceptibility to sexual exploitation and enhance capacities to prevent HIV infection among marginalized women and girls in Mexico and across international settings

Scale separation in granular packings: stress plateaus and fluctuations

It is demonstrated, by numerical simulations of a 2D assembly of polydisperse disks, that there exists a range (plateau) of coarse graining scales for which the stress tensor field in a granular solid is nearly resolution independent, thereby enabling an `objective' definition of this field. Expectedly, it is not the mere size of the the system but the (related) magnitudes of the gradients that determine the widths of the plateaus. Ensemble averaging (even over `small' ensembles) extends the widths of the plateaus to sub-particle scales. The fluctuations within the ensemble are studied as well. Both the response to homogeneous forcing and to an external compressive localized load (and gravity) are studied. Implications to small solid systems and constitutive relations are briefly discussed.Comment: 4 pages, 4 figures, RevTeX 4, Minor corrections to match the published versio

Exact Computation of Influence Spread by Binary Decision Diagrams

Evaluating influence spread in social networks is a fundamental procedure to estimate the word-of-mouth effect in viral marketing. There are enormous studies about this topic; however, under the standard stochastic cascade models, the exact computation of influence spread is known to be #P-hard. Thus, the existing studies have used Monte-Carlo simulation-based approximations to avoid exact computation. We propose the first algorithm to compute influence spread exactly under the independent cascade model. The algorithm first constructs binary decision diagrams (BDDs) for all possible realizations of influence spread, then computes influence spread by dynamic programming on the constructed BDDs. To construct the BDDs efficiently, we designed a new frontier-based search-type procedure. The constructed BDDs can also be used to solve other influence-spread related problems, such as random sampling without rejection, conditional influence spread evaluation, dynamic probability update, and gradient computation for probability optimization problems. We conducted computational experiments to evaluate the proposed algorithm. The algorithm successfully computed influence spread on real-world networks with a hundred edges in a reasonable time, which is quite impossible by the naive algorithm. We also conducted an experiment to evaluate the accuracy of the Monte-Carlo simulation-based approximation by comparing exact influence spread obtained by the proposed algorithm.Comment: WWW'1

Leaf segmentation and tracking using probabilistic parametric active contours

Active contours or snakes are widely used for segmentation and tracking. These techniques require the minimization of an energy function, which is generally a linear combination of a data fit term and a regularization term. This energy function can be adjusted to exploit the intrinsic object and image features. This can be done by changing the weighting parameters of the data fit and regularization term. There is, however, no rule to set these parameters optimally for a given application. This results in trial and error parameter estimation. In this paper, we propose a new active contour framework defined using probability theory. With this new technique there is no need for ad hoc parameter setting, since it uses probability distributions, which can be learned from a given training dataset

Stress response inside perturbed particle assemblies

The effect of structural disorder on the stress response inside three dimensional particle assemblies is studied using computer simulations of frictionless sphere packings. Upon applying a localised, perturbative force within the packings, the resulting {\it Green's} function response is mapped inside the different assemblies, thus providing an explicit view as to how the imposed perturbation is transmitted through the packing. In weakly disordered arrays, the resulting transmission of forces is of the double-peak variety, but with peak widths scaling linearly with distance from the source of the perturbation. This behaviour is consistent with an anisotropic elasticity response profile. Increasing the disorder distorts the response function until a single-peak response is obtained for fully disordered packings consistent with an isotropic description.Comment: 8 pages, 7 figure captions To appear in Granular Matte

Elastic medium confined in a column versus the Janssen experiment

We compute the stresses in an elastic medium confined in a vertical column, when the material is at the Coulomb threshold everywhere at the walls. Simulations are performed in 2 dimensions using a spring lattice, and in 3 dimensions, using Finite Element Method. The results are compared to the Janssen model and to experimental results for a granular material. The necessity to consider elastic anisotropy to render qualitatively the experimental findings is discussed