A crucial problem is the risk that a manipulator arm would be damaged by twisting or bending during and after contacting a target satellite. This paper presents a solution to minimize the risk of damage to the arm and thereby enhance contact performance. First, a hand-eye servo controller is proposed as a method for accurately tracking and capturing a target satellite. Next, a motion planning strategy is employed to obtain the best-fit contacting moments. Also, an impedance control law is implemented to increase protection during operation and to ensure more accurate compliance. Finally, to overcome the challenge of verifying algorithms for a space manipulator while on the ground, a novel experimental system with a 6-DOF (degree of freedom) manipulator on a chaser field robot is presented and implemented to capture a target field robot; the proposed methods are then validated using the experimental platform.

Unimodality and strong unimodality of the distribution of ascendingly ordered random variables have been extensively studied in the literature, whereas these properties have not received much attention in the case of descendingly ordered random variates. In this paper, we show that log concavity of the reversed hazard rate implies that of the density function. Using this fundamental result, we establish some convexity properties of such random variables. To do this, we first provide a counterexample showing that a claim of Basak & Basak [7] about the lower record values is not valid. Then, we provide conditions under which unimodality properties of the distribution of lower k-record values would hold. Finally, some extensions to dual generalized order statistics in both univariate and multivariate cases are discussed.

A service center is a facility with multiple heterogeneous servers providing specialized service to multiple types of customers. An assignment policy specifies which server is enabled to serve which types of customer, and a routing policy specifies which server a customer will be routed to for service. Thus, a server can be enabled to serve many types of customer, and a customer may have many alternate servers who can serve him. This paper aims to provide decision models to determine optimal static assignment and routing policies, explicitly taking into account the stochastic fluctuations of demand along with the autocorrelations and cross-correlations of the different traffic streams. We consider several possible performance measures and formulate the optimization problem as a mixed integer nonlinear programming problem. We also develop an efficient heuristic algorithm to enhance scalability. Finally, we compare the different policies using the heuristic algorithms. We observe numerically that the routing policy tries to combine the negatively correlated traffic streams, and separate the positively correlated traffic streams.

This paper presents a nonlinear distributed control strategy for flexible-link manipulators to solve the tracking control problem in the joint space and cancel vibrations of the links. First, the dynamic of an n-flexible-link manipulator is decomposed into n subsystems. Each subsystem has a pair of one joint and one link. The distributed control strategy is applied to each subsystem starting from the last subsystem. The strategy of control consists in controlling the nth joint and stabilizing the nth link by assuming that the remaining subsystems are stable. Then, going backward to the (n − 1)th subsystem, the same control strategy is applied to each corresponding joint-link subsystem until the first. Sliding mode technique is used to develop the control law of each subsystem and the global stability of the resulting tracking errors is proved using the Lyapunov technique. This algorithm was tested on a two-flexible-link manipulator and gave effective results, a good tracking performance, and capability to eliminate the links' vibrations.

This paper proposes an analytical method of solving the inverse kinematic problem for a humanoid manipulator with five degrees-of-freedom (DOF) under the condition that the target orientation of the manipulator's end-effector is not constrained around an axis fixed with respect to the environment. Since the number of the joints is less than six, the inverse kinematic problem cannot be solved for arbitrarily specified position and orientation of the end-effector. To cope with the problem, a generalized unconstrained orientation is introduced in this paper. In addition, this paper conducts the singularity analysis to identify all singular conditions.

This paper deals with the design of 3-legged distributed-compliance XYZ compliant parallel manipulators (CPMs) with minimised parasitic rotations, based on the kinematically decoupled 3-PPPRR (P: prismatic joint, and R: revolute joint) and 3-PPPR translational parallel mechanisms (TPMs). The designs are firstly proposed using the kinematic substitution approach, with the help of the stiffness center (SC) overlapping based approach. This is done by an appropriate embedded arrangement so that all of the SCs associated with the passive compliant modules overlap at the point where all of the input forces applied at the input stages intersect. Kinematostatic modelling and characteristic analysis are then carried out for the proposed large-range 3-PPPRR XYZ CPM with overlapping SCs. The results from finite element analysis (FEA) are compared to the characteristics found for the developed analytical models, as are experimental testing results (primary motion) from the prototyped 3-PPPRR XYZ CPM with overlapping SCs. Finally, issues on large-range motion and dynamics of such designs are discussed, as are possible improvements of the actuated compliant P joint. It is shown that the potential merits of the designs presented here include a) minimised parasitic rotations by only using three identical compliant legs; b) compact configurations and small size due to the use of embedded designs; c) approximately kinematostatically decoupled designs capable of easy controls; and d) monolithic fabrication for each leg using existing planar manufacturing technologies such as electric discharge machining (EDM).

We show that the expected time for a random walk on a (multi-)graph G to traverse all m edges of G, and return to its starting point, is at most 2m2; if each edge must be traversed in both directions, the bound is 3m2. Both bounds are tight and may be applied to graphs with arbitrary edge lengths. This has interesting implications for Brownian motion on certain metric spaces, including some fractals.

In this paper we characterise the categories of Lawvere theories and equational theories that correspond to the categories of analytic and polynomial monads on Set, and hence also to the categories of the symmetric and rigid operads in Set. We show that the category of analytic monads is equivalent to the category of regular-linear theories. The category of polynomial monads is equivalent to the category of rigid theories, that is, regular-linear theories satisfying an additional global condition. This solves a problem posed by A. Carboni and P. T. Johnstone. The Lawvere theories corresponding to these monads are identified via some factorisation systems. We also show that the categories of analytic monads and finitary endofunctors on Set are monadic over the category of analytic functors. The corresponding monad for analytic monads distributes over the monad for finitary endofunctors and hence the category of (finitary) monads on Set is monadic over the category of analytic functors. This extends a result of M. Barr.