A New Perspective on O(n) Mass-Matrix Inversion for Serial Revolute Manipulators

2006 ◽  
Author(s):  
Kiju Lee ◽  
G.S. Chirikjian
Keyword(s):  
Mass Matrix ◽  
Matrix Inversion ◽  
New Perspective

Closed Form Solutions to the Equation of Motion Avoiding Mass Matrix Inversion and Eigenvectors Decomposition

2001 ◽  
Author(s):  
Karine Reaud ◽  
Claude Vallee ◽  
Danielle Fortune
Keyword(s):  
Closed Form ◽  
Mass Matrix ◽  
Equation Of Motion ◽  
Matrix Inversion ◽  
Matrix Exponential ◽  
Linear Case ◽  
Closed Form Solutions ◽  
Damping Matrix ◽  
Ill Conditioned Matrices ◽  
Damping Systems

Abstract Solutions of the vibrations equations are generally obtained, in the linear case, by methods involving either matrix exponential computation or matrix eigendecomposition. However, these methods lead to a loss of symmetry because of the necessary inversion of the mass matrix. In doing so, one can introduce ill-conditioned matrices and, thus, compute eigenvectors with poor accuracy. In order to avoid these inconveniences, our method, which is an extension of Le Verrier-Souriau algorithm, provides solutions to the vibrations equations without inverting the mass matrix or computing eigenvectors. Moreover, we can solve damping systems even when the damping matrix has no specific properties such as the Basile property.

SREM observation of the interaction between the in-situ deposited Pd small particles and MgO cleavage surface

1986 ◽  
Vol 44 ◽  
pp. 382-383
Author(s):  
H.-J. Ou
Keyword(s):  
Electron Microscopy ◽  
Small Particle ◽  
Small Particles ◽  
Cleavage Surface ◽  
Metallic Particles ◽  
Microscopy Technique ◽  
Ceramic Surfaces ◽  
Reflection Electron Microscopy ◽  
New Perspective

The understanding of the interactions between the small metallic particles and ceramic surfaces has been studied by many catalyst scientists. We had developed Scanning Reflection Electron Microscopy technique to study surface structure of MgO hulk cleaved surface and the interaction with the small particle of metals. Resolutions of 10Å has shown the periodic array of surface atomic steps on MgO. The SREM observation of the interaction between the metallic particles and the surface may provide a new perspective on such processes.

Articulation Training: A New Perspective

1979 ◽  
Vol 10 (3) ◽  
pp. 145-151 ◽  
Author(s):  
Sallie W. Hillard ◽  
Laura P. Goepfert
Keyword(s):  
Life Experience ◽  
Remediation Measures ◽  
New Perspective

This paper describes the concept of teaching articulation through words which have inherent meaning to a child’s life experience, such as a semantically potent word approach. The approach was used with six children. Comparison of pre/post remediation measures indicated that it has promise as a technique for facilitating increased correct phoneme production.

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