Accessibility and Controllability of Flexible Robotic Manipulators

1992 ◽  
Vol 114 (1) ◽  
pp. 50-58 ◽  
Author(s):  
Sabri Tosunoglu ◽  
Shyng-Her Lin ◽  
Delbert Tesar
Keyword(s):  
Case Studies ◽  
System Performance ◽  
Robotic Manipulators ◽  
Joint Space ◽  
Theoretical Framework ◽  
Robotic Systems ◽  
Full System ◽  
Distinct Concept ◽  
Robot Configurations ◽  
The Relationship

Although serial manipulator arms modeled with rigid links show full system controllability in the joint space, this condition does not necessarily hold for flexible robotic systems. In particular, in certain robot configurations, called inaccessible robot positions, one or more of the flexibilities may not be accessed directly by the actuators. This condition may significantly deteriorate system performance as reported earlier by the authors (Tosunoglu et al., 1988, 1989). The present study addresses the relationship between the accessibility and controllability concepts and establishes accessibility as a distinct concept from controllability. Although the theoretical framework is developed for general n-link, spatial manipulators modeled with m oscillation components, example case studies demonstrate the concepts on one- and two-link arms for brevity. Specifically, it is shown that although inaccessibility and uncontrollability may coincide in certain instances (as shown on a one-link arm), counter examples may be found where an arm in an inaccessible position can simultaneously demonstrate full system controllability (as shown on a two-link arm).

scholarly journals Theatre Photography as a Counterfactual Representation of Aesthetic Reality

2018 ◽  
Vol 14 (1) ◽  
pp. 62-73
Author(s):  
Olga Grzelak
Keyword(s):  
Visual Culture ◽  
Case Studies ◽  
Academic Discipline ◽  
Theoretical Framework ◽  
Art Forms ◽  
Theatre Studies ◽  
Narrative Forms ◽  
The Relationship ◽  
Made In ◽  
Prime Form

Summary The article is an attempt at applying the concept of counterfactuality, typically employed with reference to narrative forms, to the analysis of visual culture, particularly to theatre photography. The material for case studies is provided by the works of Polish photographers who redefine the function of this form of photography. Typically, photography is seen by theatre historians as the prime form of theatre documentation, and therefore treated as subservient to the needs of theatre studies as an academic discipline. Contrary to that, the photographic projects analysed in the present paper (particularly those of Ryszard Kornecki and Magda Hueckel), although made in theatre during performances, have been produced and distributed as autonomous art forms which neither represent nor document theatre productions. In the analysis of these projects, I employ Margaret Olin’s concept of “performative index”, which describes the relationship between the image and the viewer as a dynamic creation of meaning. With reference to this theoretical framework, I argue that counterfactuality of theatre photography is a strategy of turning this medium into an autonomous form of art.

scholarly journals Bridging the parallax gap: settler-colonialism and the relationship between Indigenous peoples and racialized migrants in Canada

2021 ◽  
Author(s):  
Jesse Root
Keyword(s):  
Case Studies ◽  
Indigenous Peoples ◽  
Theoretical Basis ◽  
Settler Colonialism ◽  
Theoretical Framework ◽  
Important Work ◽  
Migrant Communities ◽  
The Relationship

I intend to expand the idea of the immigrants as settler, and establish on a theoretical basis that 'settlerism' is about an ideology of neo-colonialism, not about movement to a place that is not your own. In this way, there can be migrants who are allies with Indigenous peoples, who reject settler and neo-colonial ideologies at the same time, as there can be migrants who adopt consciously, or unconsciously, these oppressive ideologies. After establishing this theoretical framework, the remainder of this MRP presents case studies which profile some of the important work being done by organizations to build bridges between Indigenous and migrant communities in Canada and to decolonize relations among these groups which make up much of Canada's population. A brief discussion about the policies and other stat tools used to separate these two communities with an analysis of why this is the case will also be included.

scholarly journals Bridging the parallax gap: settler-colonialism and the relationship between Indigenous peoples and racialized migrants in Canada

2021 ◽  
Author(s):  
Jesse Root
Keyword(s):  
Case Studies ◽  
Indigenous Peoples ◽  
Theoretical Basis ◽  
Settler Colonialism ◽  
Theoretical Framework ◽  
Important Work ◽  
Migrant Communities ◽  
The Relationship

I intend to expand the idea of the immigrants as settler, and establish on a theoretical basis that 'settlerism' is about an ideology of neo-colonialism, not about movement to a place that is not your own. In this way, there can be migrants who are allies with Indigenous peoples, who reject settler and neo-colonial ideologies at the same time, as there can be migrants who adopt consciously, or unconsciously, these oppressive ideologies. After establishing this theoretical framework, the remainder of this MRP presents case studies which profile some of the important work being done by organizations to build bridges between Indigenous and migrant communities in Canada and to decolonize relations among these groups which make up much of Canada's population. A brief discussion about the policies and other stat tools used to separate these two communities with an analysis of why this is the case will also be included.

Diplomacy and Revolution

2017 ◽  
Author(s):  
Noé Cornago
Keyword(s):  
Case Studies ◽  
World Order ◽  
Theoretical Framework ◽  
Historical Change ◽  
Theoretical Approaches ◽  
International Theory ◽  
Global Exploitation ◽  
World Systems Analysis ◽  
The Relationship

The relationship between diplomacy and revolution is often intertwined with the broader issue of the international dimensions of revolution. Diplomacy can offer important insights into both the historical evolution of world order and its evolving functional and normative needs. In other words, the most important dimension of diplomacy, beyond its concrete symbolic and pragmatic operational value, is its very existence as raison de système. A number of scholarly works that explore the link between revolution and the international arena have given rise to a minority subfield of scholarly research and debate which is particularly vibrant and plural. Three basic lines of research can be identified: case studies undertaken by historians and area studies scholars that focus on the international dimensions surrounding particular revolutions; comparative political studies that address the international implications of revolutions by departing from a more comprehensive theoretical framework but still based in comprehensive case studies; and more theoretically comprehensive literature which, in addition to careful case studies, aims to provide a general and far-reaching explanatory theoretical framework on the relationship between revolution and long-term historical change from different perspectives: English school international theory, neorealism, world systems analysis, postmarxism, or constructivism. In a context of growing inequality and global exploitation, the international dimension of revolutions is receiving renewed attention from scholars using innovative critical theoretical approaches.

scholarly journals Accountability in Translation Within and Beyond the Sentence as the Key Functional UT: Three Case Studies

2005 ◽  
Vol 50 (1) ◽  
pp. 312-335 ◽  
Author(s):  
Chunshen Zhu
Keyword(s):  
Functional Status ◽  
Case Studies ◽  
Speech Acts ◽  
Speech Act ◽  
Theoretical Framework ◽  
Thematic Structure ◽  
Information Presentation ◽  
Linear Mode ◽  
The Relationship

Abstract The article is a sequel to Zhu (1999). It provides three case studies of translation from English into Chinese, which are designed to substantiate the theoretical framework established therein. It discusses the relationship between a sentence’s internal linear mode of information presentation and its textual potential, the relationship between a sentence’s thematic structure and its functional status in the text, and the necessity and possibility to align sentential speech acts with the textual speech act through appropriate syntactic management. The three case studies, independent as they may seem, are correlated and have been arranged in a progressive order. This article is intended to replace the second part of Zhu (1996a).

scholarly journals Simulación del Modelo Matemático de la Cinemática Diferencial de Robots Seriales Planos Configuración RRR y RPR

2019 ◽  
pp. 1-8
Author(s):  
Patricio Martinez-Zamudio ◽  
Victor Gonzalez-Villela ◽  
Hector Leon-Nuñez
Keyword(s):  
Jacobian Matrix ◽  
Kinematic Model ◽  
Joint Space ◽  
Differential Model ◽  
End Effector ◽  
Model And Simulation ◽  
Serial Robot ◽  
Serial Chains ◽  
Robot Configurations ◽  
The Relationship

This article presents the model and simulation of the serial robot configurations of the types RRR and RPR, applying the theories of differential kinematics, to obtain the representation of its mathematical model (Jacobian matrix) and its simulation. The differential kinematics in robotics is the relationship between vector spaces, so it is possible to make the velocity map in the joint space in the end effector workspace. We present the differential kinematic model that is obtained from the position kinematics by differentiation techniques and with the help of the asymmetric matrix we obtain the information that is part of the Jacobian matrix, which allows us to know the velocities of the joint variables as a function of linear and angular velocity in the end effector and vice versa. The simulation of the manipulators is carried out validating the mathematical differential model; through the validation of the differential kinematics of serial chains it is possible to apply the procedure to complicated manipulator robots. The method presented here is the basis of a useful tool for solving complex robots, as in the case of redundant, parallel and hybrid serial manipulator robots.

The relationship of a retinal-gain index to system performance.

1960 ◽  
Author(s):  
S. Seidenstein ◽  
R. Chernikoff ◽  
F. V. Taylor
Keyword(s):  
System Performance ◽  
Relationship Of ◽  
The Relationship

Flesh Searches in China

Asian Survey ◽  
2016 ◽  
Vol 56 (2) ◽  
pp. 325-347 ◽  
Author(s):  
Patrick Gorman
Keyword(s):  
Case Studies ◽  
Communist Party ◽  
Chinese Communist Party ◽  
Social Space ◽  
Contemporary China ◽  
Chinese State ◽  
The Chinese Communist Party ◽  
The Relationship

This article explores the relationship between netizens and the Chinese Communist Party by investigating examples of “flesh searches” targeting corrupt officials. Case studies link the initiative of netizens and the reaction of the Chinese state to the pattern of management of social space in contemporary China.

Anti-Politics, Depoliticization, and Governance

2017 ◽  
Keyword(s):  
Case Studies ◽  
Political Process ◽  
Common Interest ◽  
Collective Agency ◽  
Nation State ◽  
Growing Body ◽  
Varied Range ◽  
The Relationship

There is a growing body of evidence pointing towards rising levels of public dissatisfaction with the formal political process. Depoliticization refers to a more discrete range of contemporary strategies politicians employ that tend to remove or displace the potential for choice, collective agency, and deliberation. This book examines the relationship between these trends of dissatisfaction and displacement, as understood within the broader shift towards governance. It brings together a number of contributions from scholars who have a varied range of concerns but who nevertheless share a common interest in developing the concept of depoliticization through their engagement with a set of theoretical, conceptual, methodological, and empirical questions. The contributions in this volume explore these questions from a variety of different perspectives by using a number of different empirical examples and case studies from both within the nation state and from other regional, global, and multilevel arenas. In this context, this volume examines the limits and potential of depoliticization as a concept and its contribution to the larger and more established literatures on governance and anti-politics.

The Subject Matter of Intellectual Property

2017 ◽  
Author(s):  
Justine Pila
Keyword(s):  
Intellectual Property ◽  
Subject Matter ◽  
Final Stage ◽  
Theoretical Framework ◽  
Trade Mark ◽  
Second Stage ◽  
Essential Properties ◽  
The Subject ◽  
Three Stages ◽  
The Relationship

This book offers a study of the subject matter protected by each of the main intellectual property (IP) regimes. With a focus on European and UK law particularly, it considers the meaning of the terms used to denote the objects to which IP rights attach, such as ‘invention’, ‘authorial work’, ‘trade mark’, and ‘design’, with reference to the practice of legal officials and the nature of those objects specifically. To that end it proceeds in three stages. At the first stage, in Chapter 2, the nature, aims, and values of IP rights and systems are considered. As historically and currently conceived, IP rights are limited (and generally transferable) exclusionary rights that attach to certain intellectual creations, broadly conceived, and that serve a range of instrumentalist and deontological ends. At the second stage, in Chapter 3, a theoretical framework for thinking about IP subject matter is proposed with the assistance of certain devices from philosophy. That framework supports a paradigmatic conception of the objects protected by IP rights as artifact types distinguished by their properties and categorized accordingly. From this framework, four questions are derived concerning: the nature of the (categories of) subject matter denoted by the terms ‘invention’, ‘authorial work’, ‘trade mark’, ‘design’ etc, including their essential properties; the means by which each subject matter is individuated within the relevant IP regime; the relationship between each subject matter and its concrete instances; and the manner in which the existence of a subject matter and its concrete instances is known. That leaves the book’s final stage, in Chapters 3 to 7. Here legal officials’ use of the terms above, and understanding of the objects that they denote, are studied, and the results presented as answers to the four questions identified previously.

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