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When a manipulator suuers a joint failure, its performance can be signiicantly affected. If the failed joint is locked, the resulting manipulator Jacobian is given by the original Jacobian, except that the column associated with the failed joint is removed. The rank of the resulting Jacobian then determines if the manipulator still has the ability to(More)
—This work considers kinematic failure tolerance when obstacles are present in the environment. It addresses the issue of finding a collision-free path such that a redundant robot can successfully move from a start to a goal position and/or orientation in the workspace despite any single locked-joint failure at any time. An algorithm is presented that(More)
—In this paper, the authors examine the problem of designing nominal manipulator Jacobians that are optimally fault tolerant to one or more joint failures. Optimality is defined here in terms of the worst-case relative manipulability index. While this approach is applicable to both serial and parallel mechanisms , it is especially applicable to parallel(More)
Kinematically redundant manipulators, by deenition, possess an innnite number of generalized inverse control strategies for solving the Jacobian equation. These control strategies are not, in general, repeatable in the sense that closed trajectories for the end eeector do not result in closed trajectories in the joint space. The Lie Bracket Condition (LBC)(More)
To study the density of nicotinic acetylcholine receptors on primary afferents and central nociceptive pathways, [3H](-)-nicotine binding was conducted in the cerebral cortex and spinal cord including dorsal roots and ganglia (DRG), of control rats and rats desensitized by neonatal capsaicin treatment. [3H](-)-nicotine binding in capsaicin-treated rats was(More)
In this paper, we consider pose estimation of 3-D objects from an aerial perspective using eigendecomposition. We first outline a sampling method to acquire images of the object from an aerial view by sampling the upper unit hemisphere. Using this hemispherical sampling pattern, the computational burden of computing the eigendecompo-sition can be reduced by(More)