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This paper presents the design of a robot wrist with zero hand length and unlimited mutually orthogonal joints. This design is an improvement over existing ones. When equipped with this type of wrist, a robot's entire reachable workspace becomes the dexterous workspace. Because some wrist joint limitations may need to be imposed under practical(More)
Complete motion profile for parametric curves is difficult to be planned because analytic solution of exact arc length does not exist. This paper proposes a hybrid parametric interpolation method, which takes advantage on the fact that the exact curve dimension in parametric domain is naturally available. This hybrid parametric interpolator is a combination(More)
Magnetite-hydrogel nanocomposites were fabricated through the combination of sol-gel process and radical polymerization. The incorporation of magnetite clusters into silica matrix was facilely conducted by the sol-gel reaction of APTMS-complexed CMNPs (citrate-stabilized magnetites) and tetraethoxysilane (TEOS) in ethanol solution. The core-shell magnetic(More)
Today most of the Computer-Aided Manufacturing (CAM) software are predominantly surface modellers. The toolpaths are generated mainly based on the areas that are to be manufactured. However, in many occasions, it is more desirable to make use of the information of the entire cut volume rather than just specifying the surfaces. This paper presents a(More)
The deposition of nanosized Ag on the TiO2 matrix was first prepared by the sonochemical reduction of silver precursor and the Ag-deposited TiO2 was subsequently encapsulated with titanium oxide layer through an ultrasonic-assisted sol-gel process. The resulting Ag-TiO2 nanocomposites (Ag-TiO2@TiOx) exhibited the lower PL spectra and higher photocatalytic(More)