YorkSpace

YorkSpace is York University's Institutional Repository. It supports York University's Senate Policy on Open Access by providing York community members with a place to preserve their research online in an institutional context.

Photo by NASA on Unsplash

Communities in YorkSpace

Select a community to browse its collections.

Now showing 1 - 63 of 63

Recent Submissions

  • Thumbnail Image
    Item type: Item , Access status: Open Access ,
    space-robot-dq - a Python library for dual quaternion kinematics, dynamics, and control of free-floating space robot manipulators
    (Frontiers Media, 2026-11-11) Jahanshahi, Hadi; Zhu, Zheng Hong
    This article presents space-robot-dq, an open-source Python library for the kinematics, dynamics, and resolved-rate control of free-floating space robot manipulators using dual quaternion algebra. Unlike ground-based robots, space manipulators operate on platforms with no fixed base. When the arm moves, the spacecraft reacts to conserve momentum, changing the mapping between joint motion and end-effector motion. The library implements Product of Exponentials forward kinematics in dual quaternion arithmetic, numerical and analytical Jacobians, optimization-based inverse kinematics, the Umetani–Yoshida generalized Jacobian for momentum-coupled systems, and closed-loop resolved-rate controllers for a momentum-conserving free-floating plant with base pose propagation. It supports arbitrary N-DOF serial chains of revolute joints through a declarative configuration interface. The implementation is verified by 153 unit tests across four robot architectures and a 19-check benchmark suite. Independent validation covers forward-kinematics agreement below 10–11 m against two reference implementations that share no code with the library and first-order-convergent stationarity of the system’s center of mass, while construction-level consistency checks confirm momentum residuals at the 10–15 level. Two control studies quantify the practical consequences of the free-floating coupling. In Cartesian tracking of a 0.27 m maneuver, a controller using the fixed-base Jacobian accumulates 26.372 mm root mean square (RMS) error even with feedback, whereas the generalized-Jacobian controller tracks at 0.2512 mm RMS (a 105-fold difference that measures the cost of the model mismatch alone, because both controllers run on the same plant). In a capture-approach scenario, the end-effector maintains a full 6-DOF grasp pose against a client tumbling at 5° per second, holding 0.008429 mm and 0.000581° RMS with the generalized Jacobian versus 4.267 mm and 0.22° with the fixed-base model (506-fold and 379-fold differences attributable to the neglected coupling), while the spacecraft base drifts 2.4°, an attitude cost the library quantifies for mission design. All figures and numbers in this article are reproduced by a single, deterministic script included in the repository.
  • Thumbnail Image
    Item type: Item , Access status: Open Access ,
    A Castle of Consumption: The Horrors of Feudal Persistence and Capitalist Desire in Horace Walpole’s The Castle of Otranto
    (2025-11-29) MacPhail, Maryann
    This paper examines how Horace Walpole's The Castle of Otranto reflects anxieties of the late eighteenth century in which inherited feudal authority was displaced by the emerging logic of modern capitalism and material consumption. Drawing on the consumer culture theories of Neil McKendrick and Bill Brown, alongside Tom Duggett's insights on Gothic transitions, this work argues that Manfred treats feudal power not as a fixed birthright, but as a commodity to be acquired, expanded, and defended through material manipulation. Driven by an obsessive urge to legitimize his rule and outpace supernatural prophecy, Manfred turns the castle into a living extension of his identity, fetishizes and weaponizes its artifacts for means of authority, and reduces women, namely Hippolita and Isabella, to replaceable, transactional resources. Ultimately, Manfred's frantic attempts to preserve his lineage through consumerist impulses end up hollowing out the very feudal structures he seeks to protect. This depiction of Gothic monstrosity in Walpole's novel exposes the inherent instability of aristocratic rank when reshaped by market and consumer logic.
  • Thumbnail Image
    Item type: Item , Access status: Open Access ,
    DYA 7.3 PROD UPG research paper
    (2026) Leong, Jack Hang-tat; Jon, Genny
  • Thumbnail Image
    Item type: Item , Access status: Open Access ,
    DYA 7.3 PROD UPG presentation
    (2026-11) Quail, Stephanie; Leong, Jack Hang-tat
    Test presentation with 2 authors
  • Thumbnail Image
    Item type: Item , Access status: Open Access ,
    DYA 7.3 PROD UPG article (Nov 2026)
    (YorkU, 2026) Leong, Jack Hang-tat
    This is a test article for Nov PROD upg.