On the feasibility of utilising gearing to extend the rotational workspace of a class of parallel robots

Parallel manipulators provide several benefits compared to serial manipulators of similar size. These advantages typically include higher speed and acceleration, improved position accuracy and increased stiffness. However, parallel manipulators also suffer from several disadvantages. These drawbacks commonly include a small ratio of the positional workspace relative to the manipulator footprint and a limited rotational capability of the manipulated platform. A few parallel manipulators featuring a large ratio of the positional workspace relative to the footprint have been proposed. This paper investigates the feasibility of employing gearing to extend the range of the end-effector rotation of such mechanisms. The objective is to achieve parallel manipulators where both the positional and rotational workspace are comparable to that of serial manipulators.

Characterizing compactness of geometrical clusters using fuzzy measures

Certain tasks in image processing require the preservation of fine image details, while applying a broad operation to the image, such as image reduction, filtering, or smoothing. In such cases, the objects of interest are typically represented by small, spatially cohesive clusters of pixels which are to be preserved or removed, depending on the requirements. When images are corrupted by the noise or contain intensity variations generated by imaging sensors, identification of these clusters within the intensity space is problematic as they are corrupted by outliers. This paper presents a novel approach to accounting for spatial organization of the pixels and to measuring the compactness of pixel clusters based on the construction of fuzzy measures with specific properties: monotonicity with respect to the cluster size; invariance with respect to translation, reflection, and rotation; and discrimination between pixel sets of fixed cardinality with different spatial arrangements. We present construction methods based on Sugeno-type fuzzy measures, minimum spanning trees, and fuzzy measure decomposition. We demonstrate their application to generating fuzzy measures on real and artificial images.

Geometrical properties of coupled oscillators at synchronization

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

AN INVESTIGATION OF THE ELECTRONIC-STRUCTURE OF THE ANTITUMOR DRUG ELLIPTICINE AND ITS DERIVATIVES .1. GEOMETRICAL AM1 STUDY

Ellipticine and its derivatives are a class of molecules that show antitumor and cytotoxic activity with a multimodal mechanism of action. In this paper we report a preliminary Austin Method One (AM1) study of ellipticine and some molecules derived from it. We have observed a relationship between charge density distribution and biological selectivity. A mechanism that could improve cytotoxic activity is proposed.

Combinatorial and geometrical properties of a class of tilings

In this paper, we consider a tiling generated by a Pisot unit number of degree d >= 3 which has a finite expansible property. We compute the states of a finite automaton which recognizes the boundary of the central tile. We also prove in the case d = 3 that the interior of each tile is simply connected.

Geometrical Lagrangian for a supersymmetric Yang-Mills theory on the group manifold

Perhaps one of the main features of Einstein's General Theory of Relativity is that spacetime is not flat itself but curved. Nowadays, however, many of the unifying theories like superstrings on even alternative gravity theories such as teleparalell geometric theories assume flat spacetime for their calculations. This article, an extended account of an earlier author's contribution, it is assumed a curved group manifold as a geometrical background from which a Lagrangian for a supersymmetric N = 2, d = 5 Yang-Mills - SYM, N = 2, d = 5 - is built up. The spacetime is a hypersurface embedded in this geometrical scenario, and the geometrical action here obtained can be readily coupled to the five-dimensional supergravity action. The essential idea that underlies this work has its roots in the Einstein-Cartan formulation of gravity and in the 'group manifold approach to gravity and supergravity theories'. The group SYM, N = 2, d = 5, turns out to be the direct product of supergravity and a general gauge group g: G = g circle times <(SU(2, 2/1))over bar>.

Determination of the geometrical diarylpropenamine isomers in feces by high-performance liquid chromatography

Diarylpropenamine derivatives are a class of compounds which have been evaluated as potential drug candidates. Here a specific and reproducible HPLC method for the determination of cis- and trans-isomers of the unsubstituted derivative, 3-(4'-bromo-[1,1'-biphenyl]-4-yl)-3-(4-X-phenyl-N,N-dimethyl-2-propen-1-amine (I, where X=H) in feces is described. The analyte I and internal standard, nitro derivative (II, where X=NO2), were isolated from the basified biological matrix using a liquid-liquid extraction with ethyl acetate followed by a solid-phase procedure performed on a silica cartridge. The organic phase was evaporated to dryness, the residue was reconstituted in mobile phase and injected into the HPLC system. The analytes were eluted with ethyl acetate-hexane-triethylamine (59:40:1) in HPLC column (silica) and detected by UV spectrophotometry at 272 nm. Linearity, precision and accuracy data for feces standards after extraction were acceptable. The method has been applied to analyses of feces samples from rats dosed with I, in which it could be anticipated that fecal excretion is quantitatively the major route for I elimination. Copyright (C) 1999 Elsevier Science B.V.

Geometrical logarithmic and trigonometric hypercomplex functions of quaternionic type

Quaternionic theory has greatly been developed in recent years [1-12]. Thus, in our view, the study of trigonometric and logarithmic type quaternionic functions is important for the determination and realization of a hyper complex theory. In this paper, we intend to give a geometrical foundation for both logarithmic and trigonometric hyper complex functions based on the exponential function of quaternionic type recently introduced by Borges, Marão and Machado in their paper entitled Geometrical octonions II: Hyper regularity and hyper periodicity of the exponential function appearing. © 2011 Pushpa Publishing House.

Geometrical wave equation and the cauchy-like theorem for octonions

Riemann surfaces, cohomology and homology groups, Cartan's spinors and triality, octonionic projective geometry, are all well supported by Complex Structures [1], [2], [3], [4]. Furthermore, in Theoretical Physics, mainly in General Relativity, Supersymmetry and Particle Physics, Complex Theory Plays a Key Role [5], [6], [7], [8]. In this context it is expected that generalizations of concepts and main results from the Classical Complex Theory, like conformal and quasiconformal mappings [9], [10] in both quaternionic and octonionic algebra, may be useful for other fields of research, as for graphical computing enviromment [11]. In this Note, following recent works by the autors [12], [13], the Cauchy Theorem will be extended for Octonions in an analogous way that it has recentely been made for quaternions [14]. Finally, will be given an octonionic treatment of the wave equation, which means a wave produced by a hyper-string with initial conditions similar to the one-dimensional case.

Convergence Property of the Measurement Gross Error Correction in Power System State Estimation, Using Geometrical Background

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Fabrication of microenvironments with different geometrical features for cell growth studies

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Geometrical quaternionic coupling for three dimensional wave equations

The present work has the scope to show the relationship between four three-dimensional waves. This fact will be made in the form of coupling, using for it the Cauchy-Riemann conditions for quaternionic functions [#!BorgesZeMarcio!#], through certain Laplace's equation in [#!MaraoBorgesLP!#]. The coupling will relate those functions that determine the wave as well as their respective propagation speeds.

Geometrical coupling fields of a hypercomplex type

This paper presents an application of Laplace's equation obtained from a quaternionic function that satisfies the Cauchy-Riemann conditions determined earlier by Borges and Machado [#!BorgesZeMarcio!#]. Therefore, we show that it is possible to express in a single equation gravity, electric and magnetic potential fields, and this expression can only be provided due to a function that will be called here the coupling function.

Geometrical hypercomplex coupling between electric and gravitational fields

The present work shows a coupling of electrical and gravitational fields through Cauchy-Riemann conditions for quaternions present in a previous paper [1]. It is also obtained an extended version of the Laplace-like equations for quaternions, now written in terms of both electric and gravitational fields.