Magick dot net 7 4 3 0

Author: p | 2025-04-25

HBot is currently down due to some bug with Magick(dot)NET that's causing CPU/memory leaks. Using wix, how to install Dot net framework 4.5 for Windows 7/8 and dot net 4.0 from Xp and vista. 4. Install .net 4.6.2 with Wix 3.10. 4. Detect .Net 4.7 with Wix Installer 3.11.

Magick Spells - Best Dot Net Training Forums

AAI AAI AAI Dune image APNG APNG Animated Portable Network Graphics ART ART PFS: 1st Publisher AVI AVI Microsoft Audio/Visual Interleaved AVS AVS AVS X image BAYER BAYER Raw mosaiced samples BPG BPG Better Portable Graphics BRF BRF Braille Ready Format CALS CALS Continuous Acquisition and Life-cycle Support Type 1 image CIN CIN Kodak Cineon Image Format CMYK CMYK Raw cyan, magenta, yellow, and black samples CMYKA CMYKA Raw cyan, magenta, yellow, black, and alpha samples CUBE CUBE Cube Color lookup table converted to a HALD image CUR CUR Microsoft Cursor Icon CUT CUT DR Halo DCM DCM/DICOM Digital Imaging and Communications in Medicine (DICOM) image DCX DCX ZSoft IBM PC multi-page Paintbrush image DDS DDS Microsoft Direct Draw Surface DIB DIB Microsoft Windows Device Independent Bitmap DOT DOT Graph Visualization DPX DPX SMPTE Digital Moving Picture Exchange EMF EMF Microsoft Enhanced Metafile (32-bit) EPDF EPDF Encapsulated Portable Document Format EPI EPI Adobe Encapsulated PostScript Interchange format (requires Ghostscript to read) EPS2 EPS2 Adobe Level II Encapsulated PostScript (requires Ghostscript to read) EPS3 EPS3 Adobe Level III Encapsulated PostScript (requires Ghostscript to read) EPSF EPSF Adobe Encapsulated PostScript (requires Ghostscript to read) EPSI EPSI Adobe Encapsulated PostScript Interchange format (requires Ghostscript to read) EPT EPT Adobe Encapsulated PostScript Interchange format with TIFF preview (requires Ghostscript to read) EXR EXR High dynamic-range (HDR) file format developed by Industrial Light & Magic FARBFELD FARBFELD Farbfeld lossless image format FAX FAX Group 3 TIFF FITS FITS Flexible Image Transport System FL32 FL32 FilmLight floating point image format FLIF FLIF Free Lossless Image Format FPX FPX FlashPix Format FTXT FTXT Read and write multispectral channels as formatted text GRAY GRAY Raw gray samples GRAYA GRAYA Raw gray and alpha samples HDR HDR Radiance RGBE image format HRZ HRZ Slow Scan TeleVision ICO ICO/ICON Microsoft icon INFO INFO Format and characteristics of the image INLINE INLINE Base64-encoded inline image JBIG JBIG/BIE/JBG Joint Bi-level Image experts Group file interchange format JNG JNG Multiple-image Network Graphics JSON JSON JavaScript Object Notation, a lightweight data-interchange format JXL JXL JPEG XL image coding system KERNEL KERNEL Morphology kernel format MAT MAT MATLAB image format MIFF MIFF Magick image file format MONO MONO Bi-level bitmap in least-significant-byte first order MNG MNG Multiple-image Network Graphics MPC MPC Magick Persistent Cache image file format MSL MSL/MS Magick Scripting Language MTV MTV MTV Raytracing image format MVG MVG Magick Vector Graphics ORA ORA Open exchange format for layered raster based graphics OTB OTB On-the-air Bitmap P7 P7 Xv's Visual Schnauzer thumbnail format PALM PALM Palm pixmap PAM PAM Common 2-dimensional bitmap format CLIPBOARD CLIPBOARD Windows Clipboard (only for Windows) PBM PBM Portable bitmap format (black and white) PCD PCD Photo CD PCDS PCDS

HBot is currently down due to some bug with Magick(dot)NET

After 11 overs Over summary: 0 2 1 0 0 0; India 67/1 after 11 overs; Shubman Gill 35 (38), Virat Kohli 9 (13) Partnership: 36 (36) India need 175 runs to win in 39 overs Haris Rauf comes into the attack. Ball 6- Dot ball Ball 5- Play and a miss for Gill Ball 4- Dropped. Rauf is scratching his head as Khushdil drops in-form Gill. How costly will be this for Pakistan Ball 3- Kohli takes a single to backward point Ball 2- Kohli takes two runs to square leg Ball 1- Dot ball7:38 PMIND vs PAK LIVE SCORE UPDATES: Batting powerplay concludes Over summary: 0 0 0 0 1 0; India 64/1 after 10 overs; Shubman Gill 35 (35), Virat Kohli 6 (10) Partnership: 33 (30) India need 178 runs to win in 40 overs Naseem continues the attack. Ball 6- Dot ball Ball 5- Kohli put the ball to mid off and steals a quick single Ball 4- Kohli drives the ball to man at mid-wicket for no run Ball 3- Kohli defends on backfoot Ball 2- Kohli with full defence. No run Ball 1- Kohli plays the ball to mid wicket for no run7:34 PMIND vs PAK LIVE SCORE UPDATES: 50 up for India Over summary: 2 1Wd 4 0 0 4 2; India 63/1 after 9 overs; Shubman Gill 35 (34), Virat Kohli 5 (5) Partnership: 32 (24) India need 179 runs to win in 41 overs Afridi continues the attack. Ball 6- Gill flicks the ball to backward square leg for two runs Ball 5- Gill goes down the ground and sends the ball over bowlers head to long on for four runs Ball 4- Gill punches the ball to mid-off for no run Ball 3- Dot ball Ball 2- Gill just drives the ball to extra cover for four runs Ball 2- 2 WIDE Ball 1- Kohli flicks the ball to backward square leg for two runs7:29 PMIND vs PAK LIVE SCORE UPDATES: 3 runs from the over Over summary: 0 2 0 1 0 0; India 49/1 after 8 overs; Shubman Gill 25 (29), Virat Kohli 3 (4)Partnership: 18 (18)India need 193 runs to win in 42 overs Naseem continues the attack. Ball 6- Dot ball Ball 5- Dot ball Ball 4- Kohli takes a single to mid off Ball 3- Kohli just blocks the ball Ball 2- Kohli opens his account with two runs to backward square leg Ball 1- Kohli defends the ball for no run7:24 PMIND vs PAK LIVE SCORE UPDATES: Gill witth the counter attack Over summary: 2 4 0 4 4 0; India 46/1 after 7 overs; Shubman Gill 25 (27), Virat Kohli 0 (0)Partnership: 15 (12)India need 196 runs to win in 43 overs Afridi continues the attack. Ball 6- Dot ball Ball 5- Back-to-back boundaries for Gill Ball 4- Gill gets four runs to square leg Ball 3- Dot ball Ball 2- Gill jabs the ball to deep mid wicket for four runs Ball

Magick: ImageMagick-7/Magick/lib/Magick/Include.h

Virat Kohli hits 51st ODI century7:59 PMIND vs PAK LIVE SCORE UPDATES: India 93 for 1 after 16 overs Over summary: 2 0 0 0 1 1; India 93/1 after 16 overs; Shubman Gill 43 (47), Virat Kohli 27 (34) Partnership: 62 (66) India need 149 runs to win in 34 overs Abrar continues the attack. Ball 6- Ball 5- Kohli plays athe ball to cover for a single Ball 4- Dot ball Ball 3- Dot ball Ball 2- Dot ball Ball 1- Kohli starts the over with two runs7:57 PMIND vs PAK LIVE SCORE UPDATES: India 89 for 1 after 15 overs Over summary: 1 0 0 0 0 1; India 89/1 after 15 overs; Shubman Gill 42 (46), Virat Kohli 24 (29) Partnership: 56 (54) India need 153 runs to win in 35 overs Khushdil comes in the attack. Ball 6- Kohli keeps the strike with a single Ball 5- Kohli is failing to find gap. No run Ball 4- Dot ball again Ball 3- Kohli tries to setal a quick single. Gill refuses. No run Ball 2- Dot ball Ball 1- Gill takes a single to long off7:54 PMIND vs PAK LIVE SCORE UPDATES: India 87 for 1 after 14 overs Over summary: 1 1 1 0 0 0; India 87/1 after 14 overs; Shubman Gill 41 (45), Virat Kohli 23 (24) Partnership: 56 (54) India need 155 runs to win in 36 overs Abrar continues the attack. Ball 6- Dot ball Ball 5- Dot Ball Ball 4- Dot ball Ball 3- Gil;l takes a single to deep square leg Ball 2- Kohli takes a single to deep mid-wicket Ball 1- Gill takes a single to long on7:51 PMIND vs PAK LIVE SCORE UPDATES: India 84 for 1 after 13 overs Over summary: 2 4 1 3 0 4; India 84/1 after 13 overs; Shubman Gill 39 (43), Virat Kohli 22 (20) Partnership: 53 (48) India need 158 runs to win in 33 overs Rauf continues the attack. Ball 6- Kohli collects four more with cover drive Ball 5- Dot ball Ball 4- Gill takes three runs to mid wicket Ball 3- Kohli takes a single to cover point Ball 2- Kohli gets four to long on and compltes the much anticipated milestone of 14000 ODI runs Ball 1- Kohli takes two runs to cover7:47 PMIND vs PAK LIVE SCORE UPDATES: India 70 for 1 after 12 overs Over summary: 1 0 0 0 1 1; India 70/1 after 12 overs; Shubman Gill 36 (42), Virat Kohli 11 (15) Partnership: 39 (42) India need 172 runs to win in 38 overs Abrar Ahmed comes into the attack. Ball 6- Kohli takes a single to long on Ball 5- Gill takes a single to long on Ball 4- Dot ball Ball 3- Gill defends the ball on front foot Ball 2- Gill plays the ball back to bowler. No run Ball 1- Kohli takes a single to cover7:43 PMIND vs PAK LIVE SCORE UPDATES: India 67 for 1. HBot is currently down due to some bug with Magick(dot)NET that's causing CPU/memory leaks. Using wix, how to install Dot net framework 4.5 for Windows 7/8 and dot net 4.0 from Xp and vista. 4. Install .net 4.6.2 with Wix 3.10. 4. Detect .Net 4.7 with Wix Installer 3.11.

0 0 0 3 5 4 0 0 1 3 3 4 4 0 0 0 0 3 3 3 1 0 3 6 1 0 0 - fill-a

Related searches » nanosoft smart inv.net 7.0 » spread studio for net 7.0 v4 » spread studio for net 7.0 v4 version » secret net 7.0 скачать » rsnetworx for device net 7.0 » net 7.0 desktop runtime » dot net 7.0 » net 7.0 runtime » aspose.cells for net 2003 v4.7.0 » net extender 7.0 More Microsoft .NET Framework 6.0.11 Editor's Review: Microsoft .NET FrameworkThe Microsoft .NET Framework is a software development platform developed by Microsoft that offers a comprehensive and consistent programming model for building applications. more info... More Ashampoo Photo Optimizer 7 10.0.7.1 Ashampoo Photo Optimizer 7: A Comprehensive Image Editing ToolAshampoo Photo Optimizer 7 is a powerful software application developed by ashampoo GmbH & Co. KG, designed to enhance and optimize your digital images with ease. more info... More Windows 7 Manager 10 Windows 7 Manager by Yamicsoft is a multifunctional software utility designed to optimize, tweak, repair, and clean Windows 7 operating systems. more info... M M More 0 6.0.1036 Review of 0 by Atlas Business Solutions0 by Atlas Business Solutions is a comprehensive software application designed to help businesses manage their workforce efficiently. more info... More Easy Duplicate Finder 7 7.20.0.38 Easy Duplicate Finder 7: A Comprehensive ReviewEasy Duplicate Finder 7 by WebMinds, Inc. is a powerful software tool designed to help users easily identify and remove duplicate files on their computers. more info... Descriptions containing net 7.0 More Microsoft .NET Framework 6.0.11 Editor's Review: Microsoft .NET FrameworkThe Microsoft .NET Framework is a software development platform developed by Microsoft that offers a comprehensive and consistent programming model for building applications. more info... Additional titles containing net 7.0 More Microsoft .NET Framework 6.0.11 Editor's Review: Microsoft .NET FrameworkThe Microsoft .NET Framework is a software development platform developed by Microsoft that offers a comprehensive and consistent programming model for building applications. more info... M More Ashampoo Photo Optimizer 7 10.0.7.1 Ashampoo Photo Optimizer 7: A Comprehensive Image Editing ToolAshampoo Photo Optimizer 7 is a powerful software application developed by ashampoo GmbH & Co. KG, designed to enhance and optimize your digital images with ease. more info... M

Iexplorer 4 3 7 0 - coolnfil

Despite a 23-point road victory, the Boise State men’s basketball team still took a hit in the NCAA NET Rankings. The Broncos (22-8, 14-5) had no issues with Air Force (4-26, 1-18) in Tuesday’s Mountain West Conference game, cruising to a comfortable 80-57 win. It was Boise State’s fifth straight victory and ninth in its last 10 games.The metrics weren’t impressed with the performance as the Broncos fell three spots to No. 45 in the NET Rankings. Air Force is the MWC’s lowest NET team at No. 317. Boise State, an NCAA Tournament bubble team, holds a 3-5 record in Quad 1 games. The Broncos are much better in Quad 2 at 4-1.Utah State (24-6, 14-5) is the top MWC in the NET at No. 40. The Aggies have dropped two straight games entering Saturday’s 2 p.m. Mountain time regular-season finale against Air Force. New Mexico (24-6, 16-3), which earned a hard-fought 71-67 road victory at Nevada (16-14, 8-11) Tuesday night to clinch the MWC regular-season title, is next in the NET at No. 44. Boise State is third at No. 45, followed by No. 52 San Diego State (20-8, 13-6) and No. 56 Colorado State (21-9, 15-4). The winner of Friday’s 8 p.m. matchup between the Broncos and Rams at ExtraMile Arena will clinch the No. 2 seed for the MWC Tournament. Here is a closer look at each Mountain West member’s NCAA Tournament resume through the lens of the NET Rankings.NET Ranking: 40Record: 24-6, 14-5 Q1: 3-3 Q2: 7-3 Q3: 4-0 Q4: 9-0NET Ranking: 44Record: 24-6, 16-3 Q1: 5-3 Q2: 7-1 Q3: 1-2 Q4: 10-0NET Ranking: 45Record: 22-8, 14-5 Q1: 3-5 Q2: 4-1 Q3: 4-2 Q4: 10-0NET Ranking: 52Record: 20-8, 13-6 Q1: 4-5 Q2: 4-2 Q3: 3-1 Q4: 8-0NET Ranking: 56Record: 21-9, 15-4 Q1: 1-5 Q2: 6-2 Q3: 3-2 Q4: 11-0NET Ranking: 74Record: 16-14, 8-11 Q1: 1-5 Q2: 2-6 Q3: 4-3 Q4: 9-0NET Ranking: 93Record: 17-13, 11-8 Q1: 1-7 Q2: 3-5 Q3: 4-0 Q4: 9-1NET Ranking: 188Record: 13-18, 6-13 Q1: 0-7 Q2: 1-6 Q3: 4-3 Q4: 6-2NET Ranking: 194Record: 12-19, 5-15 Q1: 0-8 Q2: 2-5 Q3: 1-4 Q4: 8-2NET Ranking: 274Record: 6-24, 2-17 Q1: 0-8 Q2: 0-7 Q3: 0-5 Q4: 6-4NET Ranking: 317Record: 4-26, 1-18 Q1: 0-5 Q2: 0-9 Q3: 1-7 Q4: 3-5MORE BOISE STATE NEWS & ANALYSISFOLLOW US ON SOCIAL MEDIAContinue to follow our Boise State coverage on social media by liking us on Facebook and following us on Twitter.

dot net 4 issues on Windows 7 ultimate - Experts Exchange

We have just released .NET Reflector 7 0 votes 0 comments Update experience 0 votes 0 comments Remove the gold plating 0 votes 0 comments **.NET Reflector 7 Beta 5 Now Available** 0 votes 0 comments Expiry 0 votes 1 comment Clicking Open in Reflect kills DevStudio 2010 0 votes 2 comments Disassembler fails if you are not running under elevated use 0 votes 6 comments Decompie event 0 votes 1 comment Invalid object initializer generated in C# and VB.NET 0 votes 0 comments Unexpected character $ in generated C# file 0 votes 2 comments Unable to open project properties on generated .csproj file 0 votes 15 comments Beta 4 0 votes 1 comment **.NET Reflector 7 Beta 4 Now Available** 0 votes 0 comments Pointers 0 votes 1 comment Missing single assembly refresh action 0 votes 1 comment Invalid C# statement 0 votes 1 comment Can't activate Pro version 0 votes 1 comment **.NET Reflector 7 Beta 3 Now Available** 0 votes 0 comments IEnumerable<> issue 0 votes 0 comments Private method access - wrong 0 votes 4 comments Mono support! 0 votes 1 comment Incomplete export 0 votes 1 comment Cast not valid issue 0 votes 0 comments foreach nevereding loop issue 0 votes 6 comments missing using directive 0 votes 3 comments Pointers support 0 votes 2 comments Operator ++ 0 votes 1 comment Decompilation problem 0 votes 1 comment .resources display 0 votes 0 comments CTRL+F4 can't close opened assembly 0 votes 0 comments

.NET 7, NET 7, NET7, dotnet 7, dot net 7 - Free ASP Hosting .NET

I have a web app that has a file upload form with an end goal of saving the uploaded file as a jpeg when the filetype is heic.Because System.Drawing.Imaging does NOT support heic, and it appears Magick does (possible HEIC requires the libheif delegate library.) not sure how you would do this in a C# or VB.Net web app, or if I actually need the library for converting a uploaded file from HEIC to Jpeg.What I am doing now is taking the uploaded file, convert to Byte() then put in a MemoryStream, then try and MagickImage it with a settings file where I tell Magick that the in file format is heic. ( had to specify the format to get past the "no decode delegate for this image format `' @ error/blob.c/BlobToImage/458" error).Now I get a "Invalid input: No 'ftyp' box `' @ error/heic.c/IsHeifSuccess/134" which searching the Magick github I see no code reference to ftpy, but when I search the library that magick says is required, I do see references to this. But the libheif seems to be only c++ code, and have no clue how to use that library in a .NET web app.Here is the code I am using to try and convert the heic byte data to jpeg byte data. Error occurs at the MagickImage line.VB Dim DataBytes As Byte() Dim settings As MagickReadSettings = New MagickReadSettings() settings.Format = MagickFormat.Heic Using m As MemoryStream = New MemoryStream() Using image As MagickImage = New MagickImage(heicfile, settings) image.Format. HBot is currently down due to some bug with Magick(dot)NET that's causing CPU/memory leaks. Using wix, how to install Dot net framework 4.5 for Windows 7/8 and dot net 4.0 from Xp and vista. 4. Install .net 4.6.2 with Wix 3.10. 4. Detect .Net 4.7 with Wix Installer 3.11.

Postbox 7 0 4 0 -

Blue = ButtonBrightnessOff; } TraktorX1MK2.controller.setOutput(group, padKey + "R", red, false); TraktorX1MK2.controller.setOutput(group, padKey + "G", green, false); TraktorX1MK2.controller.setOutput(group, padKey + "B", blue, !TraktorX1MK2.batchingLEDUpdate); }; TraktorX1MK2.outputHotcueCallback = function (value, group, key) { var hotcueNumber = key.charAt(7); var color; if (engine.getValue(group, "hotcue_" + hotcueNumber + "_status")) { color = colorCodeToObject(engine.getValue(group, "hotcue_" + hotcueNumber + "_color")); // hotcue_X_color reports red, green, and blue on a 0-255 scale, but the controller LEDs // only support values 0 - 127. color.red /= 2; color.green /= 2; color.blue /= 2; } else { color = { red: 0, green: 0, blue: 0 }; } TraktorX1MK2.sendPadColor(group, hotcueNumber, color); }; TraktorX1MK2.displayCharDigit = function (group, charPos, character) { // charPost is 0 or 1 for first or second character on the display // the display is placed like this: // o -- 4 -- // | | // 5 3 // | | // -- 1 -- // | | // 6 2 // | | // -- 7 -- // Where the numbers respresent each segment of the display // and the dot before it is 0 (but this is dealt with in displayCharDot) var numArray = { "": [], //empty 0: [2, 3, 4, 5, 6, 7], 1: [2, 3], 2: [1, 3, 4, 6, 7], 3: [1, 2, 3, 4, 7], 4: [1, 2, 3, 5], 5: [4, 5, 1, 2, 7], 6: [4, 5, 1, 2, 6, 7], 7: [4, 3, 2], 8: [1, 2, 3, 4, 5, 6, 7], 9: [5, 4, 1, 3, 2, 7], // Add a few special characters "h": [5, 1, 6, 2], "n": [6, 1, 2], "o": [6, 1, 2, 7], "-": [1], "b": [5, 6, 7, 2, 1], "c": [1, 6, 7], "u": [6, 2, 7], }; for (var j = 0; j 8; j++) { var seg = 8 * charPos + j; var key = "!display_segment" + seg; TraktorX1MK2.controller.setOutput( group, key, (numArray[character].indexOf(j) > -1) * OutputBrightnessMax, // if it's in the array turn it on, off otherwise !TraktorX1MK2.batchingLEDUpdate); } }; TraktorX1MK2.displayCharDot = function (group, charPos, on) { var key = "!display_segment" + 8 * charPos; TraktorX1MK2.controller.setOutput(group, key,

0 ( 1 / 2 3 4 4 5 6 . 4 7 5 - . 7 8 3 . 3 9 : ' )

Viewing Distance for 4.0" LEDs are 100 ft. Model Zones Grid Rows Grid Col. Time Disp. Label Disp. Max. Pages Inches QTY on Hand Time Zone Spec Sheet Buy a Multi-Color LED Clock Online or order through GSA Advantage. GSA orders please call with zone labels H W 6612U 4 2 2 4.0" 2.0" 6 24.25 40.25 0 6612M 6 2 3 4.0" 2.0" 4 24.25 60.25 0 6612N 8 2 4 4.0" 2.0" 3 24.25 80.25 0 6612O 10 2 5 4.0" 2.0" 2 24.25 99.25 0 6612AF 6 3 2 4.0" 2.0" 4 36.25 40.25 0 6612P 9 3 3 4.0" 2.0" 2 36.25 60.25 0 6612Q 12 3 4 4.0" 2.0" 2 36.25 80.25 0 6612R 15 3 5 4.0" 2.0" 1 36.25 99.25 0 6612Z 8 4 2 4.0" 2.0" 3 48.25 40.25 0 6612AC 10 5 2 4.0" 2.0" 2 60.25 40.25 0 BRG Time Zone Clocks can be configured to display the following special information when specified at the time of purchase. Not all features can be included in every clock due to memory constraints or operational conflicts: ATO Military Day Code (alpha displays only) ISO8601 Work Week (alpha and/or numeric displays) Julian Date (day of the year - alpha and/or numeric displays) Week of the Year (alpha displays only) Sunrise and/or Sunset Time (alpha and/or numeric displays) Military Shipping Code A-Z, no I or O (alpha displays only) Call 866-252-2704 or 316-530-8854 Download Spec Sheet Additional Videos Model Number Number of Zones Click on button to launch All Models Programmable Time Zone Page Flipping Example 6612B 8 Zone Clock with 1.8 " red LEDs for time, .2" green dot matrix LEDs for the zone labels 6612C 10 Zone Clock with blue 1.8 " LEDs for time, red LED timer, blue 1.2" dot matrix LEDs for the zone labels 6612H 8 Zone Clock with 2.5" LEDs for time, green 1.2" dot matrix LEDs for the zone labels 6612I 10 Zone Clock with 2.5" blue LEDs for time, 1.2" blue dot matrix LEDs for the zone labels. 6612I 10 Zone Clock with 2.5" LEDs for time, yellow 1.2" dot matrix LEDs for the zone labels & green 1.2" dot matrix LEDs for the date. 6612S 4 Zone Clock with 1.8 " LEDs for time, green 1.2" dot matrix LEDs for the zone labels Color Options Photo Below is a 6610L with user changeable multi-color LEDs Change to red, blue, green, yellow, magenta, cyan or white any time you want. HBot is currently down due to some bug with Magick(dot)NET that's causing CPU/memory leaks. Using wix, how to install Dot net framework 4.5 for Windows 7/8 and dot net 4.0 from Xp and vista. 4. Install .net 4.6.2 with Wix 3.10. 4. Detect .Net 4.7 with Wix Installer 3.11.

9 8 7 6 5 1 3 4 4 4 3 0 2 2 1 0

\(k=0\) is configured, then \(r_P=r_B\); when \(k=1\) is configured, then \(r_P=r_A\); when \(0, \(r_P\) is strictly between points \(r_A\) and \(r_B\). The redundancy resolution for kinematic control of the manipulator needs to finish the two tasks, 1) let the end-effector track the desired path accurately; and 2) satisfy the RCM constraint to make \(r_P\) vary in a very small range or almost static during motion planning and control. In an application scenario, the last link (e.g., \(r_A-r_B\)) of the manipulator can penetrate a small hole (e.g., \(r_P\)) and simultaneously make the end-effector (e.g., \(r_A\)) perform the path tracking task.3 Problem FormulationAs the RCM constraint makes point \(r_P\) is between \(r_A\) and \(r_B\), \(r_P\) can be depicted by the equation \(r_p-r_B=k(r_A-r_B)\). Since \(r_A\) and \(r_B\) are obtained through the forward kinematics with resolved joint angles \(\theta \), thus the state variable pair \((\theta , k)\) can describe the redundancy resolution of the manipulator with RCM constraints. By differentiating the both sides of equation \(r_p-r_B=k(r_A-r_B)\) which depicts the RCM constraint, one can obtain$$\begin{aligned} \dot{r}_P-\dot{r}_B=\dot{k}(r_A-r_B)+k(\dot{r}_A-\dot{r}_B) \end{aligned}$$ (3) When combining it with the aforementioned Eq. (1), one can further have$$\begin{aligned} \dot{r}_P-J_2\dot{\theta }=\dot{k}(r_A-r_B)+k(J_1-J_2)\dot{\theta } \end{aligned}$$ (4) As the position of RCM point \(r_P\) can be described by the following linear combination between \(r_A\) and \(r_B\)$$\begin{aligned} r_P=k(r_A-r_B)+r_B \end{aligned}$$ (5) Combining the aforementioned equations, then we have$$\begin{aligned} \dot{k}(r_A-r_B)+kJ_1\dot{\theta }+(1-k)J_2\dot{\theta }+\dot{r}_P=0 \end{aligned}$$ (6) i.e.,$$\begin{aligned} \begin{aligned} \dot{k}(r_A-r_B)+[kJ_1+(1-k)J_2]\dot{\theta }+\dot{r}_P=0 \end{aligned} \end{aligned}$$ (7) where we can call the equality above as the RCM constraint for redundancy resolution.Based on the derivations and discussions above, we propose the quadratic programming formulation for redundancy resolution of manipulators with RCM constraints as follows$$\begin{aligned} \begin{aligned}&\arg \min _{\theta ,k}~~\dot{\theta }^T\dot{\theta }/2+c_2\dot{k}^2/2\\&\text {s.t.}\left\{ \begin{array}{ll} \dot{k}(r_A-r_B)+[kJ_1+(1-k)J_2]\dot{\theta }+\dot{r}_P=0\\ J_1\dot{\theta }+c_3(r_A-r_d)-\dot{r}_d=0 \end{array} \right. \end{aligned} \end{aligned}$$ (8) where \(c_2>0\) and \(c_3>0\) denote the scaling parameters for the objective function and the last equality constraint respectively. In order to satisfy RCM constraints during redundancy resolution for kinematic control, the time-derivative \(\dot{r}_P\) of \(r_P\) should follow some rules to make \(r_P\) converge to a constant position value.As the point \(r_P\) should not hold static as much as possible to sanctify the RCM constraint, then the time derivative of \(r_P\) can be concisely depicted by$$\begin{aligned} \dot{r}_P=-c_1(r_P-r_P(0)) \end{aligned}$$ (9) to make the RCM point \(r_P\) converge to a fixed position \(r_P(0)\), where \(c_1\ge 0\) is used to scale the convergence of \(r_P\) which shows how the corresponding RCM constraint’s dynamic response changes.In the proposed optimization formulation for redundancy resolution with RCM constraints, the position of \(r_P\) is dynamically adjusted by parameter k with simultaneous positions \(r_A\) and \(r_B\). The initial value k(0) is chosen according to the specific scenarios for safe manipulation, e.g., when \(t=0\), \(r_P\) can be chosen in the middle of the line \(A-B\), and thus \(k(0)=0.5\). To maintain the RCM constraint, \({\dot{\theta }}\) and \(\dot{k}\) are used as decision variables, and the variable which really controls the manipulator is \(\dot{\theta }\) as the control input action. In practice, we can therefore solve \(\dot{k}\) and substitute it into the aforementioned proposed optimization formulation and