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Full-Text Articles in Social and Behavioral Sciences
E-Learning Barriers In The United Arab Emirates: Preliminary Results From An Empirical Investigation, Lejla Vrazalic, Robert C. Macgregor, D Behl, Jean Fitzgerald
E-Learning Barriers In The United Arab Emirates: Preliminary Results From An Empirical Investigation, Lejla Vrazalic, Robert C. Macgregor, D Behl, Jean Fitzgerald
Faculty of Engineering and Information Sciences - Papers: Part A
E-learning is relatively new to the United Arab Emirates. Most tertiary institutions have allocated ICT resources to provide alternatives to the previously used teacher-centred "chalk and talk" approach to learning and teaching. However we have not yet developed a comprehensive understanding of the application of e-learning methods and resources in the tertiary education sector in the UAE. This paper describes a collaborative research project which empirically investigated the perceived barriers to e-learning for students studying at tertiary institutions in the UAE using an online questionnaire. The paper analyses the associations between e-learning barriers and students' age and gender. The ease …
Adoption Of Dynamic Simulation For Energy Performance Rating Tool For Korean Residential Buildings: Edem-Samsung, Saeeta Ghauri, Cameron Johnstone, Jaemin Kim, Georgios Kokogiannakis, Paul Tuohy, Kyung-Hun Woo
Adoption Of Dynamic Simulation For Energy Performance Rating Tool For Korean Residential Buildings: Edem-Samsung, Saeeta Ghauri, Cameron Johnstone, Jaemin Kim, Georgios Kokogiannakis, Paul Tuohy, Kyung-Hun Woo
Faculty of Engineering and Information Sciences - Papers: Part A
Currently, there is a high emphasis on reducing the energy consumption and carbon emissions of buildings worldwide. Korea is facing an emerging issue of energy savings in buildings in perspective of new green economic policy. In this context, various policy measures including the energy efficiency ratings for buildings are being implemented for domestic and non-domestic buildings. In practice, design teams tend to prefer easy to use assessment tools to optimise energy performance and carbon ratings while they are concerned about calculation accuracy and the accurate representation of the dynamics involved associated with the characteristics of Korean residential buildings. This paper …
A Terahertz System Of Units, R A. Lewis
A Terahertz System Of Units, R A. Lewis
Faculty of Engineering and Information Sciences - Papers: Part A
It is proposed that a system of units based on the THz frequency and the properties of the THz photon has both aesthetic and technical advantages.
Solution Of Inverse Kinematic Problem For Serial Robot Using Quaterninons, Emre Sariyildiz, Hakan Temeltas
Solution Of Inverse Kinematic Problem For Serial Robot Using Quaterninons, Emre Sariyildiz, Hakan Temeltas
Faculty of Engineering and Information Sciences - Papers: Part A
A new inverse kinematic solution for serial robot manipulators is represented in this paper. Major aims of this paper are to obtain singularity avoiding inverse kinematic solutions and formulize kinematic problems in a compact closed form. Our solution method is based on screw theory and it uses quaternions as a screw motion operator. Screw theory methods based on line transformation. All screw motions are represented as a rotation about a line together with a translation along the line with respect to base frame. Thus screw theory methods do not suffer from singularities. Two quaterninos are used to represent screw motion. …
The Didam Framework Disaggregated Demand And Assignment Models For Combined Passengers And Freight Transport, Johan Barthelemy, Sabine Limbourg, Jeremy Piotte, Eric Cornelis, Bart Jourquin, Philippe L. Toint
The Didam Framework Disaggregated Demand And Assignment Models For Combined Passengers And Freight Transport, Johan Barthelemy, Sabine Limbourg, Jeremy Piotte, Eric Cornelis, Bart Jourquin, Philippe L. Toint
Faculty of Engineering and Information Sciences - Papers: Part A
The objective of this paper is to present the methodological developments in the DIDAM (Disaggregated demand and assignment models for combined passengers and freight transport) research project, which aims at advancing fundamental research in transportation modelling and analysis, using two complementary methodologies. The first is to develop a joint methodological approach for both freight and passenger transport, and the second is to base this common approach on the use of models that are as disaggregate and realistic as possible. Furthermore, the methods will be designed to cope with the important question of competition for infrastructure. The project is mainly organized …
Steering A Humanoid Robot By Its Head, Manish Sreenivasa, Philippe Souères, Jean-Paul Laumond, Alain Berthoz
Steering A Humanoid Robot By Its Head, Manish Sreenivasa, Philippe Souères, Jean-Paul Laumond, Alain Berthoz
Faculty of Engineering and Information Sciences - Papers: Part B
We present a novel method of guiding a humanoid robot, including stepping, by allowing a user to move its head. The motivation behind this approach comes from research in the field of human neuroscience. In human locomotion it has been found that the head plays a very important role in guiding and planning motion. We use this idea to generate humanoid whole-body motion derived purely as a result of moving the head joint. The input to move the head joint is provided by a user via a 6D mouse. The algorithm presented in this study judges when further head movement …
Influence Of Edge Rolling Reduction On Plate-Edge Stress Distribution During Finish Rolling, Hai-Liang Yu, Xiang-Hua Liu, Li-Qing Chen, Chang-Sheng Li, Ying Zhi, Xin-Wen Li
Influence Of Edge Rolling Reduction On Plate-Edge Stress Distribution During Finish Rolling, Hai-Liang Yu, Xiang-Hua Liu, Li-Qing Chen, Chang-Sheng Li, Ying Zhi, Xin-Wen Li
Faculty of Engineering and Information Sciences - Papers: Part A
Dimensions of one kind of stainless steel plate before finish rolling were obtained through analysis of the rough rolling processes by finite element method and updated geometrical method. The FE models of finish rolling process with a front edge roll were built, and influences of the edge rolling reduction on the stress change in the plate edge during finish rolling were analyzed. The results show that when the edge rolling reduction is increased from 0 mm to 2 mm, the compressive stress in plate corner clearly increases in edge rolling process, and the zone of tensile stress during whole rolling …
Action Research In Emerging Technologies In Health Information Systems: Creating A Mobile Information Environment In A Hospital Ward, Linda Dawson, Julie Fisher, Stephen Weeding, Liza Heslop, Andrew Howard
Action Research In Emerging Technologies In Health Information Systems: Creating A Mobile Information Environment In A Hospital Ward, Linda Dawson, Julie Fisher, Stephen Weeding, Liza Heslop, Andrew Howard
Faculty of Engineering and Information Sciences - Papers: Part A
Wireless networks, mobile devices and associated applications are key emerging technologies ideal for nomadic workers such as clinicians in hospital ward settings. These mobile information environments can potentially enhance clinicians' use of patient management and clinical systems by providing decision support and clinical information at the bedside or point of care. Such technologies need to be critically assessed in a hospital environment for their wider potential and application for delivery of information at the point of care. This paper describes the use of action research methods in a project which analysed an existing clinical Information Communication Technology (ICT) environment in …
User-Driven Lossy Compression For Images And Video, Nathan Brewer, Nianjun Liu, Li Cheng, Lei Wang
User-Driven Lossy Compression For Images And Video, Nathan Brewer, Nianjun Liu, Li Cheng, Lei Wang
Faculty of Engineering and Information Sciences - Papers: Part A
In any given scene, a human observer is typically more interested in some objects than others, and will pay more attention to those objects they are interested in. This paper aims to capture this attention focusing behavior by selectively merging a fine-scale oversegmentation of a frame so that interesting regions are segmented into smaller regions than uninteresting regions. This results in a new type of image partitioning which reflects in the image the amount of attention we pay to a particular image region. This is done using a novel, interactive method for learning merging rules for images and videos based …
Unified Geometric Calibration And Image Registration For Detached Small Animal Spect/Ct, Xuezhu Zhang, Fangfu Chen, Yongping Li, Qin Wei, Yujin Qi
Unified Geometric Calibration And Image Registration For Detached Small Animal Spect/Ct, Xuezhu Zhang, Fangfu Chen, Yongping Li, Qin Wei, Yujin Qi
Faculty of Engineering and Information Sciences - Papers: Part A
The aim of this study is to develop a unified optimization method to estimate the complete parameters about geometric calibration of system misalignment for both cone-beam CT and pinhole SPECT, and parameters about coordinate transformation of image registration for these detached systems. The uniform projection equations are derived for both cone-beam and pinhole imaging geometry. Complete geometric parameters are estimated by point object phantom with a priori relative position information. The cost function is structured as the least-squares about residual error. The implementation of nonlinear estimation utilizes the Powell method so as to constrain the optimization problem of this study …
Projection Of Undirected And Non-Positional Graphs Using Self Organizing Maps, Markus Hagenbuchner, Shujia Zhang, Ah Chung Tsoi, Alessandro Sperduti
Projection Of Undirected And Non-Positional Graphs Using Self Organizing Maps, Markus Hagenbuchner, Shujia Zhang, Ah Chung Tsoi, Alessandro Sperduti
Faculty of Engineering and Information Sciences - Papers: Part A
Kohonen's Self-Organizing Map is a popular method which allows the projection of high dimensional data onto a low dimensional display space. Models of Self-Organizing Maps for the treatment of graphs have also been defined and studied. This paper proposes an extension to the GraphSOM model which substantially improves the stability of the model, and, as a side effect, allows for an acceleration of training. The proposed extension is based on a soft encoding of the information needed to represent the vertices of an input graph. Experimental results demonstrate the advantages of the proposed extension.
Editorial: Special Issue Contributed From Chemeca 2008 - Mathematical Modeling, Mark Nelson, Brent Young, Harvinder Sidhu
Editorial: Special Issue Contributed From Chemeca 2008 - Mathematical Modeling, Mark Nelson, Brent Young, Harvinder Sidhu
Faculty of Engineering and Information Sciences - Papers: Part A
The papers in this issue of Chemical Product and Process Modeling are substantially those that arose from special sessions on "mathematical modeling" at the 36th Australasian Chemical Engineering Conference (held between 28th September to 1st October 2008, in Newcastle, Australia).
Security Vulnerability Of Id-Based Key Sharing Schemes, Jung Yeon Hwang, Taek-Young Youn, Willy Susilo
Security Vulnerability Of Id-Based Key Sharing Schemes, Jung Yeon Hwang, Taek-Young Youn, Willy Susilo
Faculty of Engineering and Information Sciences - Papers: Part A
Recently, several ID-based key sharing schemes have been proposed, where an initiation phase generates users' secret key associated with identities under the hardness of integer factorization. In this letter, we show that, unfortunately any key sharing scheme with this initiation phase is intrinsically insecure in the sense that the collusion of some users enables them to derive master private keys and hence, generating any user's secret key.
Statistical Analysis Of Overvoltages Due To The Energisation Of A 132 Kv Underground Cable, M Z. Daud, P Ciufo, S Perera
Statistical Analysis Of Overvoltages Due To The Energisation Of A 132 Kv Underground Cable, M Z. Daud, P Ciufo, S Perera
Faculty of Engineering and Information Sciences - Papers: Part A
Analysis by means of simulation studies is essential for providing useful information to distribution engineers and researchers regarding high frequency switching transients in cable systems. The behaviour of transients due to switching is strongly dependent on the pole closing span of the circuit breaker and also the closing angle of the power frequency voltage. This behaviour requires the study of overvoltage magnitude distributions to be carried out using a statistical approach. This paper presents an analysis of overvoltage sensitivity due to circuit breaker operations when energising an unloaded 132 kV underground cable system. Based on two approaches, the overvoltage values …
Survey Response As Organisational Behaviour: An Analysis Of The Annual Enterprise Survey, 2003-2007, Walter R. Davis, Nathaniel Pihama
Survey Response As Organisational Behaviour: An Analysis Of The Annual Enterprise Survey, 2003-2007, Walter R. Davis, Nathaniel Pihama
Faculty of Engineering and Information Sciences - Papers: Part A
Non-response is a matter of great concern to national statistical offices and a key issue for any survey because it can introduce bias to survey estimation. However, in this presentation, we focus on a business's decision to participate in a survey as an example of organisational behaviour and draw on basic organisational theory to explain why businesses may not respond to surveys (eg Tomaskovic-Devey et al 1994). The data are drawn from the Statistics New Zealand Respondent Management System, which links the response history of individual businesses in all Statistics NZ surveys with information from the Statistics NZ Business Frame. …
A Low-Complexity Iterative Channel Estimation And Detection Technique For Doubly Selective Channels, Qinghua Guo, Li Ping, Defeng (David) Huang
A Low-Complexity Iterative Channel Estimation And Detection Technique For Doubly Selective Channels, Qinghua Guo, Li Ping, Defeng (David) Huang
Faculty of Engineering and Information Sciences - Papers: Part A
In this paper, we propose a low-complexity iterative joint channel estimation, detection and decoding technique for doubly selective channels. The key to the proposed technique is a segment-by-segment processing strategy under the assumption that the channel is approximately static within a short segment of a data block. Through a virtual zero-padding technique, the proposed segment-by-segment equalization approach inherits the low-complexity advantage of the conventional frequency domain equalization (FDE), but does not need the assistance of guard interval (for cyclic-prefixing or zero-padding), thereby avoiding the spectral and power overheads. Furthermore, we develop a low-complexity bidirectional channel estimator, where the Gaussian message …
Novel Redesign Of A Pressure Leach Autoclave By A South African Platinum Producer, Joseph O. Roux, Madeleine Du Toit, David Shklaz
Novel Redesign Of A Pressure Leach Autoclave By A South African Platinum Producer, Joseph O. Roux, Madeleine Du Toit, David Shklaz
Faculty of Engineering and Information Sciences - Papers: Part A
The Impala Platinum Limited Base Metals Refinery in Springs, South Africa, refines convertor matte containing base metals and PGM's (platinum group metals) using a hydrometallurgical process. In addition to a PGM-rich concentrate that is further refined, the Base Metals Refinery produces nickel (in powder or briquette form), copper cathodes and cobalt powder. Five leaching stages are utilized to remove the base metals and impurities from the PGM concentrate. The project described in this paper involves a radical redesign of the second stage leach autoclave with the aim of reducing maintenance costs and downtime, increasing throughput and ensuring a safer working …
Estimated Breeding Values And Association Mapping For Persistency And Total Milk Yield Using Natural Cubic Smoothing Splines, Klara L. Verbyla, Arunas P. Verbyla
Estimated Breeding Values And Association Mapping For Persistency And Total Milk Yield Using Natural Cubic Smoothing Splines, Klara L. Verbyla, Arunas P. Verbyla
Faculty of Engineering and Information Sciences - Papers: Part A
Background. For dairy producers, a reliable description of lactation curves is a valuable tool for management and selection. From a breeding and production viewpoint, milk yield persistency and total milk yield are important traits. Understanding the genetic drivers for the phenotypic variation of both these traits could provide a means for improving these traits in commercial production. Methods. It has been shown that Natural Cubic Smoothing Splines (NCSS) can model the features of lactation curves with greater flexibility than the traditional parametric methods. NCSS were used to model the sire effect on the lactation curves of cows. The sire solutions …
Observations Of Decomposition Of Martensite During Heat Treatment Of Steels Using Atom Probe Tomography, Elena V. Pereloma, Simon Peter Ringer, Ilana B. Timokhina, Peter D. Hodgson
Observations Of Decomposition Of Martensite During Heat Treatment Of Steels Using Atom Probe Tomography, Elena V. Pereloma, Simon Peter Ringer, Ilana B. Timokhina, Peter D. Hodgson
Faculty of Engineering and Information Sciences - Papers: Part A
The decomposition of martensite during tempering or ageing is an important phenomenon as it leads to changes in the mechanical properties. These changes could take place during both steel manufacturing or in-service. Thus, their understanding is required to predict the material performance. Recent advances in the development of local electrode atom probes has led to a significant increase in the analysed volume of material (up to 100 millions of atoms) and at the same time reduced the acquisition times. This allows improvement in data statistics when investigating fine nanoscale features, such as solute segregation, clustering and ultrafine precipitation. Selected results …
A Method For Reducing Wave Based Teleoperator Reflections, L H. Bate, C D. Cook, Z Li
A Method For Reducing Wave Based Teleoperator Reflections, L H. Bate, C D. Cook, Z Li
Faculty of Engineering and Information Sciences - Papers: Part A
Wave variables guarantee stability for delayed teleoperation. They also introduce reflections which can prove very disorientating for an operator. This paper presents a new method for reducing the wave reflections when operating in nonlinear and unknown environments. Simulations and laboratory experiments shows the new method does not only guarantee stability but also reduce wave reflections allowing for improved velocity tracking and force feedback.
Towards Problem Solving Methods In Multi-Agent Systems, Paul Bogg, Ghassan Beydoun, Graham Low
Towards Problem Solving Methods In Multi-Agent Systems, Paul Bogg, Ghassan Beydoun, Graham Low
Faculty of Engineering and Information Sciences - Papers: Part A
Problem Solving Methods (PSM) are abstract structures that describe specific reasoning processes employed to solve a set of similar problems and have proved very effective at enhancing reuse and extensibility in developing knowledge-based systems. We envisage that off-the-shelf PSMs can similarly assist in the development of agent-oriented solutions using Multi-Agent Systems (MAS). A challenge towards the effective use of PSMs in MAS is that current approaches to formulating PSMs do not adequately address the complexity of problems to which agent-oriented systems are suited. Towards addressing this, this paper focuses on providing an approach to guide developers in adequately formulating PSMs …
Frp Composites In Structures: Some Recent Research, J G. Teng, L Lam, J F. Chen, J G. Dai, T Yu
Frp Composites In Structures: Some Recent Research, J G. Teng, L Lam, J F. Chen, J G. Dai, T Yu
Faculty of Engineering and Information Sciences - Papers: Part A
An on-going research programme led by the first author at The Hong Kong Polytechnic University (PolyU) has addressed many issues in the application of fibre-reinforced polymer (FRP) composites in civil engineering structures. While the main focus of the programme has been on the behaviour and modelling of reinforced concrete (RC) and metallic structures strengthened with bonded FRP reinforcement, increasing attention has also been devoted to the use of FRP composites in new construction. This paper presents a brief summary of some of the latest advances of the research programme, covering the strengthening of RC structures with bonded FRP reinforcement, seismic …
A Control Strategy For Output Maximisation Of A Pmsg-Based Variable-Speed Wind Turbine, M E. Haque, K M. Muttaqi, M Negnevitsky
A Control Strategy For Output Maximisation Of A Pmsg-Based Variable-Speed Wind Turbine, M E. Haque, K M. Muttaqi, M Negnevitsky
Faculty of Engineering and Information Sciences - Papers: Part A
This paper presents a control strategy for output maximisation of a direct drive permanent magnet synchronous generator (PMSG)-based small-scale variable-speed wind turbine. The control topology uses a single switch three-phase switch-mode rectifi er and the generator torque, and power is controlled by controlling the switch duty cycle of the switch. To extract maximum power from the wind, the torque reference of the PMSG is calculated from generator speed and wind turbine characteristics. From this torque reference, a current reference is calculated using measured DC link voltage and generator speed. The current error is then used to control the duty cycle …
Recent Developments With Ultrathin Cast Strip Products Produced By The Castrip® Process, Daniel G. Edelman, Peter C. Campbell, Chris R. Killmore, Kristin R. Carpenter, Harold R. Kaul, James G. Williams, Walter N. Blejde
Recent Developments With Ultrathin Cast Strip Products Produced By The Castrip® Process, Daniel G. Edelman, Peter C. Campbell, Chris R. Killmore, Kristin R. Carpenter, Harold R. Kaul, James G. Williams, Walter N. Blejde
Faculty of Engineering and Information Sciences - Papers: Part B
Recent product developments at the Castrip facility at Nucor's Crawfordsville, Ind., plant have focused on expanding its range of light-gauge hot rolled products. This paper presents an overview of these recent product development experiences.
Bolt Profile Configuration And Load Transfer Capacity Optimisation, Naj Aziz, Jan Nemcik, Chen Cao, Hossein Jalalifar
Bolt Profile Configuration And Load Transfer Capacity Optimisation, Naj Aziz, Jan Nemcik, Chen Cao, Hossein Jalalifar
Faculty of Engineering and Information Sciences - Papers: Part A
Both bolt profile shape and spacing (rib spacing) have been found to influence the bonding capacity of the grouted rock bolt. The bolt surface profile configuration has greater importance to rock bolting in strata reinforcement in mining than the steel rebar used in civil engineering construction. This is because a rock bolt in mining usually is subjected to greater dynamic loading than the steel rebar in civil engineering construction. The increased bonding capacity of a bolt is important when supported ground is either heavily fractured, faulted or the supported ground is of soft formation, typically that of coal measure rocks. …
Superposition Coded Modulation With Peak-Power Limitation, Jun Tong, Li Ping, Xiao Ma
Superposition Coded Modulation With Peak-Power Limitation, Jun Tong, Li Ping, Xiao Ma
Faculty of Engineering and Information Sciences - Papers: Part A
We apply clipping to superposition coded modulation (SCM) systems to reduce the peak-to-average power ratio (PAPR) of the transmitted signal. The impact on performance is investigated by evaluating the mutual information driven by the induced peak-power-limited input signals. It is shown that the rate loss is marginal for moderate clipping thresholds if optimal encoding/decoding is used. This fact is confirmed in examples where capacityapproaching component codes are used together with the maximum a posteriori probability (MAP) detection. In order to reduce the detection complexity of SCM with a large number of layers, we develop a suboptimal soft compensation (SC) method …
Numerical Study On Self-Similar Pulses In Mode-Locking Fiber Laser By Coupled Ginzburg-Landau Equation Model, Ting Lei, Chenghou Tu, Fuyun Lu, Yixin Deng, Enbang Li
Numerical Study On Self-Similar Pulses In Mode-Locking Fiber Laser By Coupled Ginzburg-Landau Equation Model, Ting Lei, Chenghou Tu, Fuyun Lu, Yixin Deng, Enbang Li
Faculty of Engineering and Information Sciences - Papers: Part A
A theoretical model is established to study the self-similar pulses in nonlinear polarization evolution (NPE) mode-locked fiber lasers. The propagation of pulse in single mode fibers and gain fibers are described by coupled Ginzburg- Landau equation (GLE). Two wave plates and a polarizer are considered to realize the NPE mechanism in simulation. This model describes the laser completely and provides some useful pulses' information. In our simulation the laser generates high quality self-similar pulses output. The region of steady self-similar pulses operation is found. The polarization states of different parts across the pulse are simulated along the laser cavity. It …
Bauschinger Effect In Nb And V Alloyed Line-Pipe Steels, Andrii Kostryzhev, Martin Strangwood, Claire L. Davis
Bauschinger Effect In Nb And V Alloyed Line-Pipe Steels, Andrii Kostryzhev, Martin Strangwood, Claire L. Davis
Faculty of Engineering and Information Sciences - Papers: Part A
The UOE process is used for cold forming of large diameter steel line-pipes. Pipe strength has been found to increase (work hardening) or decrease (Bauschinger effect) after the UOE process compared to the plate depending on the steel grade, plate and pipe processing history. The steel chemistry, through the presence of microalloy precipitates, and prior processing, through the size and distribution of microalloy precipitates and presence of retained work hardening, affects the magnitude of the Bauschinger effect. In this paper the microstructures of two (Nb and Nb-V alloyed) steel plates, in terms of (Nb,V)(C,N) particle distributions and dislocation densities, have …
Developments In Coal Mine Methane Drainage And Utilisation In Australia, Dennis John Black, Naj Aziz
Developments In Coal Mine Methane Drainage And Utilisation In Australia, Dennis John Black, Naj Aziz
Faculty of Engineering and Information Sciences - Papers: Part A
In recent years there has been significant development in the field of coalbed and coal mine methane drainage and utilisation in Australia. This development has, in part, been necessitated by the rapid increase in mine production capacity and the need to maintain the safety of the mine and its employees through effective management of coal seam gas emission and outburst risk. The increased awareness of the contribution of coal mine gas emission, estimated to account for 4-5% of Australia's 559 million tonnes of CO2 equivalent (MtCO2-e) annual greenhouse gas (GHG) emissions, is placing additional pressure on operators to increase coal …
Solution Of Inverse Kinematic Problem For Serial Robot Using Dual Quaterninons And Plucker Coordinates, Emre Sariyildiz, Hakan Temeltas
Solution Of Inverse Kinematic Problem For Serial Robot Using Dual Quaterninons And Plucker Coordinates, Emre Sariyildiz, Hakan Temeltas
Faculty of Engineering and Information Sciences - Papers: Part A
In this paper we present a new formulation method to solve kinematic problem of serial robot manipulators. In this method our major aims are to formulize inverse kinematic problem in a compact closed form and to avoid singularity problem. This formulation is based on screw theory with dual - quaternion. Compared with other methods, screw theory methods just establish two coordinates, and its geometrical meaning is obvious. We used dual-quaternion in plücker coordinates as a screw operator for compactness. 6R-DOF industrial robot manipulators forward and inverse kinematic equations are derived using this new formulation and simulation results are given.