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We propose a novel approach to the problem of inverse kinematics for possibly redundant planar manipulators. We show that, by considering the joints as point masses in a fictitious gravity field, and by adding proper constraints to take into account the length of the links, the kinematic inversion may be cast as a convex programming problem. Convex constraints in the decision variables (in particu
The basement membrane of the compound eye of four insect species and three crustacean species was investigated employing electron microscopy. The basement membrane consists of an extracellular (basal lamina) and a cellular portion, the latter being composed of the flattened terminal extensions of cone cells and accessory pigment cells in insects and distal pigment cells in crustaceans. Other cells
Recent literature has suggested how late-medieval families may have used financial markets to navigate the life cycle. Precious little is known about the precise connections between the life cycle and family on the one hand and investments in financial instruments on the other, though. We analyse late-medieval investment behaviour using a new dataset of hundreds of life annuities. Our data give ag
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This paper presents a method based on the phase dierence of arrival and the non-linear least square estimation to lo- calize a radio-frequency (RF) source, e.g a wireless capsule endoscope, inside the human body. The phase dierence of arrival at multiple frequencies of a signal is used to estimate the distance of the source to a receiver. The linear least square estimation is used to estimate the
The notion of legacy was intrinsic to London’s 2012 bid, drawing upon the Olympic spirit in the form of personal challenges designed to motivate and mobilize individuals and communities in Britain and around the world. However, with the economic crisis and change in government in 2010, a distinct discourse of economic legacy also emerged. This increasingly saw the citizen mobilization associated w
Local species richness of butterflies can be expected to benefit from both local habitat properties as well as the availability of suitable habitats and source populations in the surrounding landscape. Whether local species richness is dependent on local or landscape factors can be assessed by examining the relationship between local and landscape species richness. Here we studied how local specie
Droughts affect ecosystems at multiple time scales, but their sub-seasonal legacy effects on vegetation activity remain unclear. Combining the satellite-based enhanced vegetation index MODIS EVI with a novel location-specific definition of the growing season, we quantify drought impacts on sub-seasonal vegetation activity and the subsequent recovery in the Northern Hemisphere. Drought legacy effec
In a circular system, consumers need to acquire, use, look after and part with products in ways that recirculate or reuse materials and minimise waste. Thus, although seldom made explicit, consumer care is built into the circular economy project. In this article, we aim to contribute to the emerging body of sociological work on circular consumption by foregrounding the role of care in the performa
This article traces the life and activities of the Indian anti-colonial nationalist Virendranath ‘Chatto’ Chattopadhyaya in the European anarchist movement from 1910 to 1927. While Chatto is better known for his role as secretary for the Comintern-led League Against Imperialism (1927-1933), this article argues that his peripatetic movements in European revolutionary networks during the early decad
In this paper, we argue that information researchers should use images as a source of data. The information systems field is overwhelmingly visual in nature. Not only is the Internet crammed with images, but also almost every detail observed during fieldwork in different research settings can be captured in the form of digital images. Yet, we rarely engage with those images. Except for sporadic vi
The results of thermodynamic modeling of superhard materials based on cubic boron nitride (cBN) with a tantalum nitride (TaN) binder and additions of aluminum, as well as microfibers of various physicochemical nature (oxide (Al2O3, Mg2B2O5) and non-oxide (SiC, Si3N4)), are presented. The theoretically calculated chemical interactions between the components of superhard composite materials are expe
Hur såg det svenska stödet ut för Norges rätt att lämna unionen 1905.
Planetary urbanization exacerbates the spread of infectious disease and the emergence of pandemics. As COVID-19 cases continue to swell in cities around the world, the pandemic has visibilized urban health inequities. In the Global North, emerging trends show that lower income residents are often at greater risk for infection and death due to COVID-19, due in part to inequitable living, working an
