Abstract: A spatial parallel mechanism comprises a platform. Three or more legs configured for extending from a base or ground to the platform, each leg has a distal link, one or more distal joint providing one rotational degree of freedom (DOF) about a distal rotational axis, the distal joint connecting a distal end of the distal link to the platform. A proximal joint provides at least two rotational DOFs at the proximal end of the distal link. Assemblies of joints and links provide DOFs to each said leg between the proximal joint and the base or ground. The distal rotational axes of the three legs are parallel to one another.

Abstract: A spatial parallel mechanism comprises a platform. Three or more legs configured for extending from a base or ground to the platform, each leg has a distal link, one or more distal joint providing one rotational degree of freedom (DOF) about a distal rotational axis, the distal joint connecting a distal end of the distal link to the platform. A proximal joint provides at least two rotational DOFs at the proximal end of the distal link. Assemblies of joints and links provide DOFs to each said leg between the proximal joint and the base or ground. The distal rotational axes of the three legs are parallel to one another.

Abstract: A method for providing communication protocol interoperability includes receiving a first request from a first endpoint for communication with a second endpoint. The first endpoint uses a first type of request of a first protocol, and the second endpoint uses a second type of request of a second protocol. The first type of request and first protocol are different than the second type of request and the second protocol. The method also includes retrieving a selected piece of information from a selected element of the first request. The selected element does not match an element of the second type of request. The method also includes generating a second request by mapping the selected piece of information of the first request to a selected element of the second type of request. The method also includes processing and sending the second request to the second endpoint based on the processing of the second request.

Abstract: A method to be executed in a session initiation protocol (SIP) environment is provided that includes detecting, by a first agent, a potential lost connection associated with a signaling path. The signaling path couples a first endpoint and a second endpoint and is operable to exchange signaling data. The potential lost connection is associated with a call between the first and the second endpoint, the first agent being associated with the first endpoint. The method also includes communicating a reinvite to a second agent that is associated with the second endpoint in order to determine whether the call between the first endpoint and the second endpoint is active.