Structure Design, Kinematics and Grasp Constraint of a Metamorphic Robotic Hand for Meat Deboning Operation

A four-fingered metamorphic robotic hand with a reconfigurable palm is presented in this paper with the application in deboning operation of meat industry. This robotic hand has a reconfigurable palm that generates changeable topology and augments dexterity and versatility for the hand. Mechanical structure and design of the robotic hand are presented and based on mechanism decomposition, kinematics of the metamorphic hand is investigated with closed-form solutions leading to the workspace characterization of the robotic hand. Based on the kinematics of the four-fingered metamorphic hand, utilizing product-of-exponentials formula, grasp map and grasp constraint of the hand are then formulated revealing the grasp robustness and manipulability performed by the metamorphic hand. A prototype of the four-fingered metamorphic hand is consequently fabricated and integrated with low level control and sensor systems leading to a scenario of applying the hand in the field of meat industry for deboning operation.

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KINEMATIC ANALYSIS AND PROTOTYPE OF A METAMORPHIC ANTHROPOMORPHIC HAND WITH A RECONFIGURABLE PALM

International Journal of Humanoid Robotics ◽

10.1142/s0219843611002538 ◽

2011 ◽

Vol 08 (03) ◽

pp. 459-479 ◽

Cited By ~ 42

Author(s):

GUOWU WEI ◽

JIAN S. DAI ◽

SHUXIN WANG ◽

HAIFENG LUO

Keyword(s):

Closed Form ◽

Matrix Equation ◽

Kinematic Analysis ◽

Structure Design ◽

Characteristic Matrix ◽

Robotic Hand ◽

Closed Form Solutions ◽

First Time

A novel metamorphic anthropomorphic hand is for the first time introduced in this paper. This robotic hand has a reconfigurable palm that generates changeable topology and augments dexterity and versatility of the hand. Structure design of the robotic hand is presented and based on mechanism decomposition kinematics of the metamorphic anthropomorphic hand is characterized with closed-form solutions leading to the workspace investigation of the robotic hand. With characteristic matrix equation, twisting motion of the metamorphic robotic hand is investigated to reveal both dexterity and manipulability of the metamorphic hand. Through a prototype, grasping and prehension of the robotic hand are tested to illustrate characteristics of the new metamorphic anthropomorphic hand.

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Optimal consumption of multiple goods in incomplete markets

Journal of Applied Probability ◽

10.1017/jpr.2018.51 ◽

2018 ◽

Vol 55 (3) ◽

pp. 810-822

Author(s):

Oleksii Mostovyi

Keyword(s):

Closed Form ◽

Incomplete Markets ◽

Existence And Uniqueness ◽

Dual Problem ◽

Optimal Consumption ◽

Closed Form Solutions ◽

Uniqueness Of The Solution ◽

Incomplete Models

Abstract We consider the problem of optimal consumption of multiple goods in incomplete semimartingale markets. We formulate the dual problem and identify conditions that allow for the existence and uniqueness of the solution, and provide a characterization of the optimal consumption strategy in terms of the dual optimizer. We illustrate our results with examples in both complete and incomplete models. In particular, we construct closed-form solutions in some incomplete models.

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Stresses in Multilayered Ceramics Subjected to Biaxial Flexure Tests

Materials Science Forum ◽

10.4028/www.scientific.net/msf.606.79 ◽

2008 ◽

Vol 606 ◽

pp. 79-92 ◽

Cited By ~ 2

Author(s):

C.H. Hsueh

Keyword(s):

Solid Oxide Fuel Cells ◽

Closed Form ◽

Analytical Description ◽

Test Methods ◽

Standard Test ◽

Fracture Load ◽

Closed Form Solutions ◽

American Society ◽

Biaxial Flexure

Although standard test methods for biaxial strength measurements of ceramics have been established and the corresponding formulas for relating the biaxial strength to the fracture load have been approved by American Society for Testing and Materials (ASTM) and International Organization for Standardization, respectively, they are limited to the case of monolayered discs. Despite the increasing applications of multilayered ceramics, characterization of their strengths using biaxial flexure tests has been difficult because the analytical description of the relation between the strength and the fracture load for multilayers subjected to biaxial flexure tests is unavailable until recently. Using ring-on-ring tests as an example, the closed-form solutions for stresses in (i) monolayered discs based on ASTM formulas, (ii) bilayered discs based on Roark’s formulas, and (iii) multilayered discs based on Hsueh et al.’s formulas are reviewed in the present study. Finite element results for ring-on-rings tests performed on (i) zirconia monolayered discs, (ii) dental crown materials of porcelain/zirconia bilayered discs, and (iii) solid oxide fuel cells trilayered discs are also presented to validate the closed-form solutions. With Hsueh et al.’s formulas, the biaxial strength of multilayered ceramics can be readily evaluated using biaxial flexure tests.

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Entropy-regularized 2-Wasserstein distance between Gaussian measures

Information Geometry ◽

10.1007/s41884-021-00052-8 ◽

2021 ◽

Author(s):

Anton Mallasto ◽

Augusto Gerolin ◽

Hà Quang Minh

Keyword(s):

Fixed Point ◽

Closed Form ◽

Numerical Study ◽

Wasserstein Distance ◽

Iteration Algorithm ◽

Probability Measures ◽

Gaussian Distributions ◽

Closed Form Solutions ◽

Special Cases

AbstractGaussian distributions are plentiful in applications dealing in uncertainty quantification and diffusivity. They furthermore stand as important special cases for frameworks providing geometries for probability measures, as the resulting geometry on Gaussians is often expressible in closed-form under the frameworks. In this work, we study the Gaussian geometry under the entropy-regularized 2-Wasserstein distance, by providing closed-form solutions for the distance and interpolations between elements. Furthermore, we provide a fixed-point characterization of a population barycenter when restricted to the manifold of Gaussians, which allows computations through the fixed-point iteration algorithm. As a consequence, the results yield closed-form expressions for the 2-Sinkhorn divergence. As the geometries change by varying the regularization magnitude, we study the limiting cases of vanishing and infinite magnitudes, reconfirming well-known results on the limits of the Sinkhorn divergence. Finally, we illustrate the resulting geometries with a numerical study.

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