In object-oriented programming (OOP), proxies are entities that act as an intermediary between client objects and target objects. Dynamic proxies can be used to construct distributed systems that support the open implementation approach and promote code reuse. The OO paradigm supports code reuse through various ways including inheritance, polymorphism and aggregation. In this paper, we adopt a definition of software reuse restricted to reuse of code components and address the question of constructing distributed systems based on dynamic proxies. Different networking techniques and programming paradigms such as Java's Remote Method Invocation (RMI), the Common Object Request Broker Architecture (CORBA) and Java Servlets are used to implement the distributed client/server architecture. Copyright © 2004 John Wiley & Sons, Ltd.

The static characteristics of a three-degree-of-freedom in-parallel actuated manipulator are discussed, along with its desired static actuator characteristics for clamping and bracing applications, where the term 'bracing' refers to a strategy to rigidize the wrist for subsequent fine motion performed by the end-effector or a second manipulator. The short-arm manipulator is characterized by its rigidity, high force-to-weight ratio, and relatively simple inverse kinematics. Particular attention is given to the influences of the joint reactions on the manipulator performance and the appropriate control strategy for clamping and bracing. The static analysis, along with the static representation of velocity and force ellipsoids, establishes a rational basis for minimizing the bending moments which tend to cause an increase in nonlinear friction. Also, it predicts the reaction forces acting at the ball joint for a specified payload, which appear as time-varying external forces/moments on the link actuation.>