Shaheen Ahmad

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Abstruct-In order to use a wrist-mounted sensor (such as a camera) for a robot task, the position and orientation of the sensor with respect to the robot wrist frame must be known. We can find the sensor mounting position by moving the robot and observing the resulting motion of the sensor. This yields a homogeneous transform equation of the form A X = XB,(More)
An important feature of heat exchanger network design is the energy-capital tradeoff. This tradeoff has been regarded as complex due to the number of structural network alternatives usually available, each being subject to continuous optimization. Current procedures tend to first identify minimum energy networks. The total cost (capital and energy) can then(More)