A Geometric Singular Characterization of the 6/6 Stewart Platform

2016 ◽  
Author(s):  
Michael Slavutin ◽  
Avshalom Sheffer ◽  
Offer Shai
Keyword(s):  
Main Idea ◽  
Singularity Analysis ◽  
Stewart Platform ◽  
Parallel Lines ◽  
Analysis Methods ◽  
The Common ◽  
Singular Configuration ◽  
Intersection Line ◽  
Special Case

The paper introduces the 3D Kennedy theorem and applies it for characterizing of the singular configuration of 6/6 Stewart Platform (SP). The main idea underlying the proposed singular characterization is as follows: we search for two lines, which cross four of the six leg lines of the robot. For these two lines we find two parallel lines that cross the remaining leg lines 5 and 6. Each pair of parallel lines defines a plane. Let m be the intersection line of these two planes. The proposed singular characterization is: the 6/6 SP is in a singular configuration if and only if the line m is perpendicular to the common normal of leg lines 5 and 6. In addition, the method developed for the singular characterization is also used for the analysis of the mobility of SP. Finally, the proposed method is compared to other singularity analysis methods, such as of Hunt’s and Fichter’s singular configuration and the 3/6 Stewart Platform singularity. The relation between the reported characterizations of the 6/6 SP and other reported works is highlighted. Moreover, it is shown that the known 3/6 singular characterization is a special case of the work reported in the paper.

A Complete Geometric Singular Characterization of the 6/6 Stewart Platform

2018 ◽  
Vol 10 (4) ◽  
Author(s):  
Michael Slavutin ◽  
Avshalom Sheffer ◽  
Offer Shai ◽  
Yoram Reich
Keyword(s):  
Three Dimensional ◽  
Parallel Line ◽  
Stewart Platform ◽  
New Approach ◽  
Singular Configurations ◽  
Geometric Relation ◽  
The Common ◽  
Singular Configuration ◽  
Special Case

This paper introduces the three-dimensional (3D) dual Kennedy theorem in statics, and demonstrates its application to characterize the singular configuration of the 6/6 Stewart Platform (6/6 SP). The proposed characterization is articulated as a simple geometric relation that is easy to apply and check. We find two lines that cross four of the six legs of the platform. Each one of these two lines has a parallel line that crosses the remaining two legs. Each pair of parallel lines defines a plane. The 6/6 SP is in a singular position if the intersection of these two planes is perpendicular to the common normal of the remaining two legs. The method developed for the singular characterization is also used for the analysis of the mobility and forces of the SP. Finally, the proposed method is compared to some known singular configurations, such as Hunt's and Fichter's singular configurations and the 3/6 Stewart Platform (3/6 SP) singularity. The relation between the reported characterizations of the 6/6 SP and other reported works is highlighted. Moreover, it is shown that the known 3/6 SP characterization is a special case of the results reported in the paper. Finally, a characterization of a platform that does not appear in the literature, 5/6 SP, is developed based on the new approach to demonstrate its utility.

Isolation and characterization of oleochemical compounds from watermelon seed

2020 ◽  
Vol 10 (4) ◽  
pp. 79-82
Author(s):  
Madhubhushan M ◽  
Seshaiah S ◽  
Chandrudu J ◽  
Sagar R ◽  
Akila CR
Keyword(s):  
Cutting Tool ◽  
Citrullus Lanatus ◽  
Fatty Esters ◽  
Mineral Oils ◽  
Light Yellow ◽  
Isolation And Characterization ◽  
The Common ◽  
Set Up ◽  
Natural Gradation

The common watermelon item (Citrullus lanatus) seeds were gained from castoffs verdant nourishments for use by decorating, sun ventilation and pulverizing. Light yellow-toned oil was gotten by dissolvable withdrawal using oil atmosphere and the going with traits were gotten using oil ether: pH, refractive rundown, thickness, dissolvable miscibility, coagulating temperature, fire nature, express gravity, streak point and warmth of consuming. With a shallow level of unsaturation, stepped level of smoothness, and proximity of raised degree of the sensible proportion of free unsaturated fats. The low assessment of the solidifying temperature of the oil offered a hint that the oil can be managed in various areas paying little heed to the qualification in temperature. The following level of linoleic destructive of the oil offers a hint of natural gradation of solidarity. Fatty esters are increasing expanding significance as a biodegradable swap for mineral oils. In some request regions, for example, cutting tool oil, gearbox, pressure-driven oils, and greases for raw petroleum creation, the oleochemical items are set up. Nonetheless, certain particular wellsprings of fatty esters are hitherto to be abused for this comparative reason. This exploration subsequently tests into one of the less used wellsprings of fatty esters in watermelon. The oil from the kernels demonstrations a top-notch yield presents significant utilitarian gatherings for change and thus was utilized to set up an assortment of oleochemicals which demonstrated excellence materials in contrast with the routinely utilized oils feed frameworks for oleochemicals after portrayal. The photopolymers acquired indicated piercing vinyl protons for consistent polymerize.

Reason as an Idea

2017 ◽  
Author(s):  
Michael LeBuffe
Keyword(s):  
The Common ◽  
Rational Knowledge ◽  
Human Kind

Spinoza’s characterization of ideas of reason in Ethics 2 makes reason distinctive both psychologically and epistemologically. Psychologically, ideas of reason are frequently present to mind and, as a result, powerful influences on human belief and action; a notable class of ideas of reason, the common notions, are always present to mind. Within such ideas we always regard certain properties to be present in the objects of our experience. Epistemologically, ideas of reason are a distinctively human kind of knowledge, where we cannot immediately know the essences of singular things, as on many views gods or angels might. Instead, in the first instance, rational knowledge is knowledge of properties of things in experience. From such knowledge, Spinoza argues, we can also come to further knowledge by means of processes, and it is these processes that closely resemble what many readers today will recognize as reasoning.

scholarly journals Subtype Characterization and Zoonotic Potential of Cryptosporidium felis in Cats in Guangdong and Shanghai, China

Pathogens ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 89
Author(s):  
Jiayu Li ◽  
Fuxian Yang ◽  
Ruobing Liang ◽  
Sheng Guo ◽  
Yaqiong Guo ◽  
...  
Keyword(s):  
Genetic Diversity ◽  
Phylogenetic Analysis ◽  
Genetic Characterization ◽  
Zoonotic Potential ◽  
Common Occurrence ◽  
High Genetic Diversity ◽  
Gp60 Gene ◽  
The Common ◽  
Subtyping Tool

Cryptosporidiumfelis is an important cause of feline and human cryptosporidiosis. However, the transmission of this pathogen between humans and cats remains controversial, partially due to a lack of genetic characterization of isolates from cats. The present study was conducted to examine the genetic diversity of C. felis in cats in China and to assess their potential zoonotic transmission. A newly developed subtyping tool based on a sequence analysis of the 60-kDa glycoprotein (gp60) gene was employed to identify the subtypes of 30 cat-derived C. felis isolates from Guangdong and Shanghai. Altogether, 20 C. felis isolates were successfully subtyped. The results of the sequence alignment showed a high genetic diversity, with 13 novel subtypes and 2 known subtypes of the XIXa subtype family being identified. The known subtypes were previously detected in humans, while some of the subtypes formed well-supported subclusters with human-derived subtypes from other countries in a phylogenetic analysis of the gp60 sequences. The results of this study confirmed the high genetic diversity of the XIXa subtype family of C. felis. The common occurrence of this subtype family in both humans and cats suggests that there could be cross-species transmission of C. felis.

scholarly journals Income and Wealth Distribution in Macroeconomics: A Continuous-Time Approach

2021 ◽  
Author(s):  
Yves Achdou ◽  
Jiequn Han ◽  
Jean-Michel Lasry ◽  
Pierre-Louis Lions ◽  
Benjamin Moll
Keyword(s):  
Continuous Time ◽  
Wealth Distribution ◽  
Closed Form Solution ◽  
Form Solution ◽  
Heterogeneous Agent ◽  
Saving Behavior ◽  
Income And Wealth Distribution ◽  
Heterogeneous Agent Models ◽  
Special Case

Abstract We recast the Aiyagari-Bewley-Huggett model of income and wealth distribution in continuous time. This workhorse model – as well as heterogeneous agent models more generally – then boils down to a system of partial differential equations, a fact we take advantage of to make two types of contributions. First, a number of new theoretical results: (i) an analytic characterization of the consumption and saving behavior of the poor, particularly their marginal propensities to consume; (ii) a closed-form solution for the wealth distribution in a special case with two income types; (iii) a proof that there is a unique stationary equilibrium if the intertemporal elasticity of substitution is weakly greater than one. Second, we develop a simple, efficient and portable algorithm for numerically solving for equilibria in a wide class of heterogeneous agent models, including – but not limited to – the Aiyagari-Bewley-Huggett model.

scholarly journals Genetic characterization at the species and symbiovar level of indigenous rhizobial isolates nodulating Phaseolus vulgaris in Greece

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Evdoxia Efstathiadou ◽  
Georgia Ntatsi ◽  
Dimitrios Savvas ◽  
Anastasia P. Tampakaki
Keyword(s):  
Phaseolus Vulgaris ◽  
Common Bean ◽  
Phylogenetic Affiliation ◽  
Rhizobial Inoculation ◽  
Rhizobial Species ◽  
The Common ◽  
First Time ◽  
Of Greece ◽  
Rhizobial Isolates

AbstractPhaseolus vulgaris (L.), commonly known as bean or common bean, is considered a promiscuous legume host since it forms nodules with diverse rhizobial species and symbiovars. Most of the common bean nodulating rhizobia are mainly affiliated to the genus Rhizobium, though strains belonging to Ensifer, Pararhizobium, Mesorhizobium, Bradyrhizobium, and Burkholderia have also been reported. This is the first report on the characterization of bean-nodulating rhizobia at the species and symbiovar level in Greece. The goals of this research were to isolate and characterize rhizobia nodulating local common bean genotypes grown in five different edaphoclimatic regions of Greece with no rhizobial inoculation history. The genetic diversity of the rhizobial isolates was assessed by BOX-PCR and the phylogenetic affiliation was assessed by multilocus sequence analysis (MLSA) of housekeeping and symbiosis-related genes. A total of fifty fast-growing rhizobial strains were isolated and representative isolates with distinct BOX-PCR fingerpriniting patterns were subjected to phylogenetic analysis. The strains were closely related to R. anhuiense, R. azibense, R. hidalgonense, R. sophoriradicis, and to a putative new genospecies which is provisionally named as Rhizobium sp. I. Most strains belonged to symbiovar phaseoli carrying the α-, γ-a and γ-b alleles of nodC gene, while some of them belonged to symbiovar gallicum. To the best of our knowledge, it is the first time that strains assigned to R. sophoriradicis and harbored the γ-b allele were found in European soils. All strains were able to re-nodulate their original host, indicating that they are true microsymbionts of common bean.

scholarly journals Congruence pairs of principal MS-algebras and perfect extensions

2020 ◽  
Vol 70 (6) ◽  
pp. 1275-1288
Author(s):  
Abd El-Mohsen Badawy ◽  
Miroslav Haviar ◽  
Miroslav Ploščica
Keyword(s):  
Boolean Algebra ◽  
Congruence Lattices ◽  
Descriptive Solution ◽  
The One ◽  
Special Case ◽  
Congruence Pair

AbstractThe notion of a congruence pair for principal MS-algebras, simpler than the one given by Beazer for K2-algebras [6], is introduced. It is proved that the congruences of the principal MS-algebras L correspond to the MS-congruence pairs on simpler substructures L°° and D(L) of L that were associated to L in [4].An analogy of a well-known Grätzer’s problem [11: Problem 57] formulated for distributive p-algebras, which asks for a characterization of the congruence lattices in terms of the congruence pairs, is presented here for the principal MS-algebras (Problem 1). Unlike a recent solution to such a problem for the principal p-algebras in [2], it is demonstrated here on the class of principal MS-algebras, that a possible solution to the problem, though not very descriptive, can be simple and elegant.As a step to a more descriptive solution of Problem 1, a special case is then considered when a principal MS-algebra L is a perfect extension of its greatest Stone subalgebra LS. It is shown that this is exactly when de Morgan subalgebra L°° of L is a perfect extension of the Boolean algebra B(L). Two examples illustrating when this special case happens and when it does not are presented.

Detection and characterization of Leptospira spp. in dogs diagnosed with kidney and/or liver disease in Selangor, Malaysia

2021 ◽  
pp. 104063872110245
Author(s):  
Sabri A. Rahman ◽  
Kuan H. Khor ◽  
Siti Khairani-Bejo ◽  
Seng F. Lau ◽  
Mazlina Mazlan ◽  
...  
Keyword(s):  
Liver Disease ◽  
Mortality Rate ◽  
Direct Detection ◽  
Bacterial Disease ◽  
Pathogenic Leptospira ◽  
Wide Range ◽  
Leptospira Spp ◽  
Rrna Sequencing ◽  
The Common

Leptospirosis is a serious bacterial disease that affects both humans and animals. A wide range of symptoms have been described in humans; the disease in dogs is commonly associated with kidney and/or liver disease. In Malaysia, information about the common serovars infecting dogs is limited. Therefore, we investigated the occurrences of leptospirosis in 124 pet dogs diagnosed with kidney and/or liver disease. Blood, urine, abdominal effusion, and/or kidney and liver were collected from the dogs. Based on microscopic agglutination testing, 53 of 124 (42.7%) dogs were seropositive for leptospiral exposure. Sera were frequently positive to serovars Bataviae ( n = 12), Javanica ( n = 10), and Icterohaemorrhagiae ( n = 10). Direct detection using PCR showed that 42 of 124 (33.9%) of the whole blood and 36 of 113 (31.9%) urine samples were positive for pathogenic Leptospira spp. By PCR, 2 of 23 (9.1%) kidney and 2 of 23 (9.1%) liver were positive for pathogenic Leptospira spp. Abdominal effusion from 4 dogs were PCR-positive for pathogenic Leptospira spp. The species detected were L. interrogans, L. borgpetersenii, L. kirschneri, and L. kmetyi by partial 16S rRNA sequencing. We further identified and characterized 11 Leptospira spp. isolates from 8 dogs as serovars Bataviae, Javanica, and Australis. The mortality rate of the Leptospira-infected dogs was high (18 of 53; 34%).

scholarly journals Characterization of a Natural, Stable, Reversible and Colourful Anthocyanidin Network from Sphagnum Moss Based Mainly on the Yellow Trans-Chalcone and Red Flavylium Cation Forms

Molecules ◽  
2021 ◽  
Vol 26 (3) ◽  
pp. 709
Author(s):  
Helge Berland ◽  
Øyvind M. Andersen
Keyword(s):  
Nuclear Magnetic Resonance ◽  
Cell Wall ◽  
Peat Moss ◽  
Sphagnum Moss ◽  
Naturally Occurring ◽  
Two Component ◽  
Colour System ◽  
The Common ◽  
Cis And Trans

Anthocyanins with various functions in nature are one of the most important sources of colours in plants. They are based on anthocyanidins or 3-deoxyanthocyanidins having in common a C15-skeleton and are unique in terms of how each anthocyanidin is involved in a network of equilibria between different forms exhibiting their own properties including colour. Sphagnorubin C (1) isolated from the cell wall of peat moss (Sphagnum sp.) was in fairly acidic and neutral dimethyl sulfoxide characterized by nuclear magnetic resonance (NMR) and ultraviolet–visible (UV–vis) absorption techniques. At equilibrium, the network of 1 behaved as a two–component colour system involving the reddish flavylium cationic and the yellow trans–chalcone forms. The additional D- and E-rings connected to the common C15-skeleton extend the π-conjugation within the molecule and provide both bathochromic shifts in the absorption spectra of the various forms as well as a low isomerization barrier between the cis- and trans-chalcone forms. The hemiketal and cis-chalcone forms were thus not observed experimentally by NMR due to their short lives. The stable, reversible network of 1 with good colour contrast between its two components has previously not been reported for other natural anthocyanins and might thus have potential in future photochromic systems. This is the first full structural characterization of any naturally occurring anthocyanin chalcone form.

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