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Title: On Isotropic Sets of Points in the Plane. Application to the Design of Robot Archirectures |
Abstract: Various performance indices are used for the design of serial manipulators. One method of optimization relies on the condition number of the Jacobian matrix. The minimization of the condition number leads, under certain conditions, to isotropic configurations, for which the roundoff-error amplification is low... |
Title: The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator |
Abstract: Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but also multiple direct kinematic solutions. This property produces more c... |
Title: Uniqueness Domains in the Workspace of Parallel Manipulators |
Abstract: This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulator... |
Title: The Kinematic design of a 3-dof Hybrid Manipulator |
Abstract: This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one studied by Bajpai and Roth) a third revolute passing through the line of centers of the two actuated revolute ... |
Title: Definition sets for the Direct Kinematics of Parallel Manipulators |
Abstract: The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for such parallel manipulators. Then, it is shown that it is possible to lin... |
Title: Artificial Neural Networks and Support Vector Machines for Water Demand Time Series Forecasting |
Abstract: Water plays a pivotal role in many physical processes, and most importantly in sustaining human life, animal life and plant life. Water supply entities therefore have the responsibility to supply clean and safe water at the rate required by the consumer. It is therefore necessary to implement mechanisms and s... |
Title: A New Three-DOF Parallel Mechanism: Milling Machine Applications |
Abstract: This paper describes a new parallel kinematic architecture for machining applications, namely, the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with fixed orientation. The main interest of the... |
Title: Fuzzy Artmap and Neural Network Approach to Online Processing of Inputs with Missing Values |
Abstract: An ensemble based approach for dealing with missing data, without predicting or imputing the missing values is proposed. This technique is suitable for online operations of neural networks and as a result, is used for online condition monitoring. The proposed technique is tested in both classification and reg... |
Title: Strategies for the Design of a Slide-o-Cam Transmission |
Abstract: The optimization of the pressure angle in a cam-follower transmission is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design of Slide-o-Cam, a transmission intended to produce a sliding motion from a turn... |
Title: Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators |
Abstract: The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions. The manipulators considered in this study may have multiple direct and inverse kinematic solutions. The N-conn... |
Title: The Design of Parallel Kinematic Machine Tools Using Kinetostatic Performance Criteria |
Abstract: Most industrial machine tools have a serial kinematic architecture, which means that each axis has to carry the following one, including its actuators and joints. High Speed Machining highlights some drawbacks of such architectures: heavy moving parts require from the machine structure high stiffness to limit... |
Title: Mining Patterns with a Balanced Interval |
Abstract: In many applications it will be useful to know those patterns that occur with a balanced interval, e.g., a certain combination of phone numbers are called almost every Friday or a group of products are sold a lot on Tuesday and Thursday. In previous work we proposed a new measure of support (the number of occ... |
Title: S\'eparation des Solutions aux Mod\`eles G\'eom\'etriques Direct et Inverse pour les Manipulateurs Pleinement Parall\`eles |
Abstract: This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes to separate the solutions from the opposite geometrical model. Then, we define, for each working mode, the aspec... |
Title: On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators |
Abstract: Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying Jacobian matrix to a given isotropic matrix that is used as a reference model for purposes of performance evaluatio... |
Title: IDF revisited: A simple new derivation within the Robertson-Sp\"arck Jones probabilistic model |
Abstract: There have been a number of prior attempts to theoretically justify the effectiveness of the inverse document frequency (IDF). Those that take as their starting point Robertson and Sparck Jones's probabilistic model are based on strong or complex assumptions. We show that a more intuitively plausible assumpti... |
Title: Artificial Intelligence for Conflict Management |
Abstract: Militarised conflict is one of the risks that have a significant impact on society. Militarised Interstate Dispute (MID) is defined as an outcome of interstate interactions, which result on either peace or conflict. Effective prediction of the possibility of conflict between states is an important decision su... |
Title: Kinematic Calibration of the Orthoglide-Type Mechanisms |
Abstract: The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It employs a low-cost measuring system composed of standard comparator indicators attached to the universal magneti... |
Title: The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine |
Abstract: The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-O-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design of Slide-O-Cam was reported elsewhere. This drive thus provides pure-rolling motion, thereby reducing the frict... |
Title: Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide |
Abstract: The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between the specific test postures and employs a low-cost measuring system comp... |
Title: Evolving Symbolic Controllers |
Abstract: The idea of symbolic controllers tries to bridge the gap between the top-down manual design of the controller architecture, as advocated in Brooks' subsumption architecture, and the bottom-up designer-free approach that is now standard within the Evolutionary Robotics community. The designer provides a set of... |
Title: Causal inference in longitudinal studies with history-restricted marginal structural models |
Abstract: A new class of Marginal Structural Models (MSMs), History-Restricted MSMs (HRMSMs), was recently introduced for longitudinal data for the purpose of defining causal parameters which may often be better suited for public health research or at least more practicable than MSMs \citejoffe,feldman. HRMSMs allow in... |
Title: Design of a 3 Axis Parallel Machine Tool for High Speed Machining: The Orthoglide |
Abstract: The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to isotropic and manipulability constraints that allowed the optmization of its kinematic architecture and legs arch... |
Title: The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators |
Abstract: The subject of this paper is a special class of parallel manipulators. First, we analyze a family of three-degree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations between the joint-rate and the Cartesian-velocity vectors, which are called the "inverse kinematics" and the "direc... |
Title: A Novel method for the design of 2-DOF Parallel mechanisms for machining applications |
Abstract: Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative study of two simple two-degree-of-freedom PKM dedicated to machining applications is led through this method: ... |
Title: Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide |
Abstract: The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with fixed orientation. The orthoglide has been designed as function of a pre... |
Title: Workspace Analysis of the Orthoglide using Interval Analysis |
Abstract: This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with fixed orientation. The work... |
Title: P\'eriph\'eriques haptiques et simulation d'objets, de robots et de mannequins dans un environnement de CAO-Robotique : eM-Virtual Desktop |
Abstract: This paper presents the development of a new software in order to manage objects, robots and mannequins in using the possibilities given by the haptic feedback of the Phantom desktop devices. The haptic device provides 6 positional degree of freedom sensing but three degrees force feedback. This software call... |
Title: Robust Multi-Cellular Developmental Design |
Abstract: This paper introduces a continuous model for Multi-cellular Developmental Design. The cells are fixed on a 2D grid and exchange "chemicals" with their neighbors during the growth process. The quantity of chemicals that a cell produces, as well as the differentiation value of the cell in the phenotype, are con... |
Title: The Optimal Design of Three Degree-of-Freedom Parallel Mechanisms for Machining Applications |
Abstract: The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but most of them are designed for three- or six-axis machining applications. In the last case, the position and the or... |
Title: Classification of one family of 3R positioning Manipulators |
Abstract: The aim of this paper is to classify one family of 3R serial positioning manipulators. This categorization is based on the number of cusp points of quaternary, binary, generic and non-generic manipulators. It was found three subsets of manipulators with 0, 2 or 4 cusp points and one homotopy class for generic... |
Title: The Orthoglide: Kinematics and Workspace Analysis |
Abstract: The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which moves in the Cartesian x-y-z space with fixed orientation. New solution... |
Title: Subjective Evaluation of Forms in an Immersive Environment |
Abstract: User's perception of product, by essence subjective, is a major topic in marketing and industrial design. Many methods, based on users' tests, are used so as to characterise this perception. We are interested in three main methods: multidimensional scaling, semantic differential method, and preference mapping... |
Title: Realistic Rendering of Kinetostatic Indices of Mechanisms |
Abstract: The work presented in this paper is related to the use of a haptic device in an environment of robotic simulation. Such device introduces a new approach to feel and to understand the boundaries of the workspace of mechanisms as well as its kinetostatic properties. Indeed, these concepts are abstract and thus ... |
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