Kinematic Fixturing With Respect to a Plane Using Contact Sensing

Author(s):  
Walter W. Nederbragt ◽  
Bahram Ravani

Abstract This paper presents a method for determining the location of geometric elements that compose the external features of referencing fixtures. Since in most applications parts that are handled in robotic work-cells are on a worktable or a floor, this paper focuses on fixture geometries that reside on a plane of known location. The location of the unknown geometric elements are found using contacts to the geometric elements and spatial constraints between the geometric elements. Geometric equations for contacts between lines, planes, points, spheres, and cylinders are derived. Spatial constraint equations are also derived. An algorithm is given for locating the geometric elements that form the fixture. The algorithm uses the contact equations and spatial constraint equations to locate the geometric elements. To illustrate the use of this algorithm, two examples are described in detail.

2006 ◽  
Vol 16 (05n06) ◽  
pp. 533-547 ◽  
Author(s):  
LU YANG

A systematic approach making use of distance geometry to solve spatial constraints is introduced. We demonstrate how to create the constraint equations by means of a relevant distance coordinate system. A short program is made (in Maple) which implements the algorithm producing automatically a complete set of constraint equations for a given point-plane configuration. The point-line-plane configurations are converted into point-plane ones beforehand.


2018 ◽  
Vol 11 (1) ◽  
pp. 29 ◽  
Author(s):  
Xinwei Jiang ◽  
Xin Song ◽  
Yongshan Zhang ◽  
Junjun Jiang ◽  
Junbin Gao ◽  
...  

Dimensionality Reduction (DR) models are of significance to extract low-dimensional features for Hyperspectral Images (HSIs) data analysis where there exist lots of noisy and redundant spectral features. Among many DR techniques, the Graph-Embedding Discriminant Analysis framework has demonstrated its effectiveness for HSI feature reduction. Based on this framework, many representation based models are developed to learn the similarity graphs, but most of these methods ignore the spatial information, resulting in unsatisfactory performance of DR models. In this paper, we firstly propose a novel supervised DR algorithm termed Spatial-aware Collaborative Graph for Discriminant Analysis (SaCGDA) by introducing a simple but efficient spatial constraint into Collaborative Graph-based Discriminate Analysis (CGDA) which is inspired by recently developed Spatial-aware Collaborative Representation (SaCR). In order to make the representation of samples on the data manifold smoother, i.e., similar pixels share similar representations, we further add the spectral Laplacian regularization and propose the Laplacian regularized SaCGDA (LapSaCGDA), where the two spectral and spatial constraints can exploit the intrinsic geometric structures embedded in HSIs efficiently. Experiments on three HSIs data sets verify that the proposed SaCGDA and LapSaCGDA outperform other state-of-the-art methods.


2021 ◽  
Author(s):  
Eric Mandela ◽  
Christopher J. Stubenrauch ◽  
David Ryoo ◽  
Hyea Hwang ◽  
Eli J. Cohen ◽  
...  

ABSTRACTThe cell envelope of Gram-negative bacteria consists of two membranes surrounding a periplasm and peptidoglycan layer. Molecular machines spanning the cell envelope dictate protein and lipid transport and drug resistance phenotypes, and depend on spatial constraints across the envelope and load-bearing forces across the cell surface. The mechanisms dictating spatial constraints across the cell envelope remain incompletely defined. In Escherichia coli, the coiled-coil lipoprotein Lpp contributes the only covalent linkage between the outer membrane and the underlying peptidoglycan layer. Using proteomics, molecular dynamics and a synthetic lethal screen we show that lengthening Lpp to the upper limit does not change periplasmic width and spatial constraint, but rather impacts the load-bearing capacity across the outer membrane. E. coli expressing elongated Lpp activate potent homeostatic mechanisms to enforce a wild-type spatial constraint: they increase steady-state levels of factors determining cell stiffness, decrease membrane integrity, increase membrane vesiculation and depend on otherwise non-essential tethers to maintain lipid transport and peptidoglycan biosynthesis. Our findings demonstrate complex regulatory mechanisms for tight control over periplasmic width to enable spatial constraint essential for membrane spanning processes. They further show that the periplasm cannot be widened by engineering approaches, with implications for understanding how spatial constraint across the envelope controls processes such as flagellum-driven motility, cellular signaling and protein translocation.


1981 ◽  
Vol 211 (1185) ◽  
pp. 471-499 ◽  

We have studied, in the salamander ( Ambystoma tigrinum ), an apparent hindrance to the sprouting of certain segmental nerves into adjacent skin supplied by neighbouring segmental nerves. The mechanosensory fields of the dorsal skin of the hindlimb were examined by recording the afferent impulses evoked by a fine bristle applied to the skin. Three segmental nerves normally supply the hindlimb, and together divide the dorsal skin into two major mechanosensory fields, an anterior one innervated by both the 15th spinal nerve (N15) and the anterior division of N16 (N16A), and a posterior one innervated by N17 and N16P. Denervations were done so as to leave only one of the two major fields intact, that of N15 (with or without an intact N16A) or of N17 (with or without N16P). The results were surprising: after a small (but significant) expansion of the remaining N15 or N17 field the sprouting of either of these nerves into the adjacent denervated skin ceased for a total post-operative period of at least two months; however, when N16A or N16P was present the N16 axons sprouted apparently without hindrance into the adjacent skin (showing that there was no mechanical barrier to sprouting at the frontier zone). The failure of N15 or N17 to invade the adjacent territory was not be­cause their axons had reached an upper limit in their capacity to enlarge the size of their terminal fields: when a proportion of the axons of a remaining N17 was eliminated, the remainder sprouted progressively over the following weeks. Significantly they invaded denervated skin that was almost entirely confined to the territory of the ‘parent’ N17; the immedi­ately adjacent skin formerly supplied by N15 was largely ignored. These results, and similar ones for N14, N16 and N18, suggest that the seg­mental cutaneous axons are hindered from sprouting to any great extent into skin normally occupied by a neighbouring segmental nerve, even when that nerve is removed. The axons will sprout readily within the territory of the parent nerve, and we call these territories ‘domains’; their borders usually correspond fairly closely to those of the segmental dermatomes Regenerating nerves freely invaded ‘foreign’ skin, and thus were not susceptible to these spatial constraints. After a two month period the intact axons of a remaining N17 began freely to invade the adjacent domain, as though the constraint had suddenly disappeared. To test for skin ‘specificity’, skin flaps were excised, and reimplanted after rotation by 0-180°, in limbs that were either fully innervated or partially dener­vated. In about half of the instances the segmental nerves sprouted to re-establish their former spatial territories in the flaps with respect to the coordinates of the limb , without regard for the type of skin that they inner­vated (i.e. their former skin or ‘foreign’ skin). In the remaining cases the invasion of the flaps was often indiscriminate, as though by regenerating nerves. The spatial constraint thus seemed to operate at the borders of domains, and to relate to the limb as a whole, rather than to skin itself. The possible genesis of domains, and their significance, are discussed.


Author(s):  
John W. Coleman

In the design engineering of high performance electromagnetic lenses, the direct conversion of electron optical design data into drawings for reliable hardware is oftentimes difficult, especially in terms of how to mount parts to each other, how to tolerance dimensions, and how to specify finishes. An answer to this is in the use of magnetostatic analytics, corresponding to boundary conditions for the optical design. With such models, the magnetostatic force on a test pole along the axis may be examined, and in this way one may obtain priority listings for holding dimensions, relieving stresses, etc..The development of magnetostatic models most easily proceeds from the derivation of scalar potentials of separate geometric elements. These potentials can then be conbined at will because of the superposition characteristic of conservative force fields.


2019 ◽  
pp. 3-8
Author(s):  
N.Yu. Bobrovskaya ◽  
M.F. Danilov

The criteria of the coordinate measurements quality at pilot-experimental production based on contemporary methods of quality management system and traditional methods of the measurements quality in Metrology are considered. As an additional criterion for quality of measurements, their duration is proposed. Analyzing the problem of assessing the quality of measurements, the authors pay particular attention to the role of technological heredity in the analysis of the sources of uncertainty of coordinate measurements, including not only the process of manufacturing the part, but all stages of the development of design and technological documentation. Along with such criteria as the degree of confidence in the results of measurements; the accuracy, convergence, reproducibility and speed of the results must take into account the correctness of technical specification, and such characteristics of the shape of the geometric elements to be controlled, such as flatness, roundness, cylindrical. It is noted that one of the main methods to reduce the uncertainty of coordinate measurements is to reduce the uncertainty in the initial data and measurement conditions, as well as to increase the stability of the tasks due to the reasonable choice of the basic geometric elements (measuring bases) of the part. A prerequisite for obtaining reliable quality indicators is a quantitative assessment of the conditions and organization of the measurement process. To plan and normalize the time of measurements, the authors propose to use analytical formulas, on the basis of which it is possible to perform quantitative analysis and optimization of quality indicators, including the speed of measurements.


Sign in / Sign up

Export Citation Format

Share Document