Recent Advances in Intelligent Manufacturing and Service Systems

Background: Traditional manipulator requires professionals to write control programs for specific job requirements so that the end-effector of the manipulator can work following the control instructions. However, the flexibility of the manipulator is not high under the control of off-line programming. With the diversification of the job requirements, the complexity of the work environment has gradually increased. Therefore, the relevant scholars focused their research on the automatic trajectory planning method of the manipulator. They used some algorithms to plan optimal trajectories for the manipulator to automatically avoid obstacles in the complex environment. Researches show that the hybrid optimal trajectory with parameter optimization such as time, energy and impact can be planned by automated programming under some constraint conditions. The trajectory planning is helpful to improve the automation and working efficiency of manipulators for the development of intelligent manufacturing. Objective: Providing references for researchers from related fields by reviewing recent advances of the manipulator trajectory planning. Methods: This paper reviews the latest patents and current representative articles related to the manipulator trajectory planning. The key methods of some references are introduced in several aspects of the algorithm, innovation and principle. Results: Researches on the manipulator trajectory planning in recent 10 years are reviewed. The differences between algorithms in latest patents and current articles are introduced and analyzed and the future developments and potential problems of the manipulator trajectory optimization are discussed. Conclusion: The manipulator trajectory planning reduces complicated operator and hard programming tasks, improving the intelligence of robots and the work efficiency. Current researches focus on collision- free, parameter-optimized and high-efficiency solution which can be used to solve the problem of the end-trajectory planning of the manipulator in the complicated space with obstacles. The aspects that need to be improved in the future include: algorithm reliability, operational security and intelligence, human-computer interaction, efficient simulation, and so on. More patents on manipulator trajectory planning should be invented.

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Recent Advances in High Dispersion Spectroscopy of Globular Cluster Stars

Symposium - International Astronomical Union ◽

10.1017/s0074180900035610 ◽

1988 ◽

Vol 132 ◽

pp. 525-530

Author(s):

Raffaele G. Gratton

Keyword(s):

Globular Cluster ◽

Globular Clusters ◽

High Dispersion ◽

Photographic Material ◽

Recent Advances ◽

Metal Abundances ◽

Ccd Detectors ◽

Major Progress

The use CCD detectors has allowed a major progress in abundance derivations for globular cluster stars in the last years. Abundances deduced from high dispersion spectra now correlates well with other abundance indicators. I discuss some problems concerning the derivation of accurate metal abundances for globular clusters using high dispersion spectra from both the old photographic and the most recent CCD data. The discrepant low abundances found by Cohen (1980), from photographic material for M71 giants, are found to be due to the use of too high microturbulences.

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Chelation-assisted transition metal-catalysed C–H chalcogenylations

Organic Chemistry Frontiers ◽

10.1039/c9qo01497g ◽

2020 ◽

Vol 7 (8) ◽

pp. 1022-1060 ◽

Cited By ~ 7

Author(s):

Wenbo Ma ◽

Nikolaos Kaplaneris ◽

Xinyue Fang ◽

Linghui Gu ◽

Ruhuai Mei ◽

...

Keyword(s):

Transition Metal ◽

Recent Advances ◽

Site Selectivity ◽

Transition Metal Catalyzed ◽

Metal Catalyzed

This review summarizes recent advances in C–S and C–Se formations via transition metal-catalyzed C–H functionalization utilizing directing groups to control the site-selectivity.

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Nucleosome dynamics

Biochemical Society Symposium ◽

10.1042/bss0730109 ◽

2006 ◽

Vol 73 ◽

pp. 109-119 ◽

Cited By ~ 2

Author(s):

Chris Stockdale ◽

Michael Bruno ◽

Helder Ferreira ◽

Elisa Garcia-Wilson ◽

Nicola Wiechens ◽

...

Keyword(s):

High Resolution ◽

Chromatin Structure ◽

Current Knowledge ◽

Dynamic Properties ◽

Structure And Dynamics ◽

Nucleosome Dynamics ◽

Sharp Focus ◽

Recent Advances ◽

Insight Into ◽

Chromatin Structure And Dynamics

In the 30 years since the discovery of the nucleosome, our picture of it has come into sharp focus. The recent high-resolution structures have provided a wealth of insight into the function of the nucleosome, but they are inherently static. Our current knowledge of how nucleosomes can be reconfigured dynamically is at a much earlier stage. Here, recent advances in the understanding of chromatin structure and dynamics are highlighted. The ways in which different modes of nucleosome reconfiguration are likely to influence each other are discussed, and some of the factors likely to regulate the dynamic properties of nucleosomes are considered.

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