On the workspace boundary determination of serial manipulators with non-unilateral constraints

2008 ◽  
Vol 24 (1) ◽  
pp. 60-76 ◽  
Author(s):  
Jingzhou Yang ◽  
Karim Abdel-Malek ◽  
Yunqing Zhang
2021 ◽  
Vol 13 (3) ◽  
pp. 1569
Author(s):  
Namki Choi ◽  
Byongjun Lee ◽  
Dohyuk Kim ◽  
Suchul Nam

System strength is an important concept in the integration of renewable energy sources (RESs). However, evaluating system strength is becoming more ambiguous due to the interaction of RESs. This paper proposes a novel scheme to define the actual interaction boundaries of RESs using the power flow tracing strategy. Based on the proposed method, the interaction boundaries of RESs were identified at the southwest side of Korea Electric Power Corporation (KEPCO) systems. The test results show that the proposed approach always provides the identical interaction boundaries of RESs in KEPCO systems, compared to the Electric Reliability Council of Texas (ERCOT) method. The consistent boundaries could be a guideline for power-system planners to assess more accurate system strength, considering the actual interactions of the RESs.


ChemPhysChem ◽  
2008 ◽  
Vol 9 (6) ◽  
pp. 882-890 ◽  
Author(s):  
Miles G. Page ◽  
Thomas Zemb ◽  
Monique Dubois ◽  
Helmut Cölfen

Author(s):  
Peregrine E. J. Riley ◽  
Louis E. Torfason

Abstract General, complex geometry forms of RRR regional structures are often avoided due to the presence of inner boundaries within the workspace which tend to complicate robot guidance. Despite the added complexity, certain RRR geometries may have useful applications as they contain large workspace regions where four alternate configurations may be used to reach a given spatial location. Cusp points often appear on the workspace boundaries of general RRR regional structures, and determining their precise location may be useful for both design and guidance purposes. A twelfth degree polynomial equation in the outer joint variable is derived which defines the location of non-trivial cusps in the workspace. A new closed form workspace boundary equation is derived in the outer joint variable and x coordinate of the toroidal surface generated by rotation of the two outer revolutes. If the outer joint variable is incremented, a quadratic in x is formed at each step which enables a very efficient determination of the workspace boundaries while also providing the coordinates of the boundary on the toroidal surface.


2015 ◽  
Vol 22 (12) ◽  
pp. 4608-4615 ◽  
Author(s):  
Zhi-fang Liu ◽  
Yuan-xin Luo ◽  
Xing-chun Yan ◽  
Yong-qin Wang

2019 ◽  
Vol 6 (02) ◽  
pp. 1
Author(s):  
Lei Wang ◽  
Peder C. Pedersen ◽  
Emmanuel Agu ◽  
Diane Strong ◽  
Bengisu Tulu

2003 ◽  
Vol 34 (1) ◽  
pp. 135
Author(s):  
Graham Beever

In 1996, New Zealand experienced its first election under MMP, a system of proportional representation. MMP had been recommended ten years earlier by the Royal Commission on the Electoral System. However, some of the details surrounding the operation of the new system differ significantly from the original recommendations of the Royal Commission.In relation to the determination of electoral boundaries, an issue of considerable importance under the previous First Past the Post system but of diminished significance under MMP, there are two particularly important differences. One of these is the retention of two political representatives on the Representation Commission, the body responsible for determining electoral boundaries. The other is the retention of the electoral tolerance at the relatively low level of five percent. The electoral tolerance is the quantity that determines the acceptable variation in population between electorates.The paper concludes that the political representatives should be removed from the Representation Commission, and that the tolerance should be raised to ten percent, as originally envisaged by the Royal Commission. The entrenched status of these provisions makes reform especially challenging. However, there is evidence to suggest, at least in relation to the tolerance level, that cross-party consensus may be able to be achieved.


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