Abstract: A process for facilitating financial transactions between individuals residing in different locations. Independent sender agents and independent receiver agents handle the transactions, working through an intermediary and one or more financial institutions. An intermediary is established to function as a clearing house, guarantor, auctioneer, and/or tracker of the transaction. Information regarding the transactions are sent through a data network, such as via telephone or the Internet. The funds are sent through one or more financial mediums, such as by bank wires, ATM cards, smart cards, store credits, or similar financial vehicles. Thereby, the process functions to provide fast, safe, and economical monetary remittances.

Abstract: A hybrid position and force control system for a robotic manipulator. A displacement error signal of an end effector such as a robotic hand is multiplied by a pseudo-inverse of a matrix product of a selection matrix and a Jacobian matrix to provide a joint displacement error signal in the coordinates of the various joints of the manipulator. The system may be tuned for obstacle avoidance and the like by means of a joint tuning signal having displacement and force components each produced by multiplying a user-provided tuning signal by a matrix difference between an identity matrix and a matrix product of a pseudo-inverse of the Jacobian mattrix and the Jacobian matrix.

Abstract: A kinematic method to operate a multi-jointed robot to achieve coordinated, speed-invariant motion when the robot's end effector is moved along a predefined path. To accomplish such operation, a total execution time function is defined which is a function of acceleration time, slew time, and deceleration time for the joints. Values for the acceleration time, slew time, and deceleration time are calculated which minimize the total time function subject to constraints on the displacement, the limiting velocity, the limiting acceleration, and the limiting deceleration for the joints. Then, the end effector of the robot is operated such that all joints start moving at the same instant, all joints accelerate for the same period, all joints slew for the same period, and all joints decelerate for the same period.