Position and Orientation Identification of Platform Manipulators

2001 ◽  
Author(s):  
Zhiming Ji ◽  
Maximilian Rodriguez
Keyword(s):  
Closed Form ◽  
Spherical Triangle ◽  
Unknown Parameters ◽  
New Approach ◽  
Identification Process ◽  
Numerical Example ◽  
Novel Approach ◽  
Reduced Complexity ◽  
Position And Orientation ◽  
Modular Platform

Abstract A novel approach is developed for identifying both the position and orientation of the base joints of modular platform manipulators. This new approach first establishes a spherical triangle to isolate and solve for one of the unknown placement parameters. With the reduced complexity, a closed-form formulation is then developed for the remaining unknown parameters through Dialytic Elimination for two identification poses. The identification process with the presented method is illustrated with a numerical example.

Structural Error Synthesis of a Four-Bar Function Generator Using the Reliability Concept

1984 ◽  
Vol 198 (2) ◽  
pp. 87-90 ◽  
Author(s):  
A K Khare ◽  
A C Rao
Keyword(s):  
Closed Form ◽  
Closed Form Solution ◽  
Form Solution ◽  
Optimization Techniques ◽  
Function Generator ◽  
New Approach ◽  
Numerical Example ◽  
Structural Error ◽  
Synthesis Of Mechanisms

Structural error synthesis of mechanisms is usually carried out either by the precision point approach or by using optimization techniques. A new approach for such problems using the reliability concept is presented in this paper. Besides being simple, this approach leads to a closed form solution and the mechanism can be designed to perform with any desired reliability. Its application is illustrated by means of a numerical example and the results are compared with those available.

scholarly journals A NEW APPROACH TO THE ANALYSIS OF A NONCOMMUTATIVE CHERN–SIMONS THEORY

2006 ◽  
Vol 21 (10) ◽  
pp. 821-830 ◽  
Author(s):  
PRADIP MUKHERJEE ◽  
ANIRBAN SAHA
Keyword(s):  
Gauge Theory ◽  
Closed Form ◽  
Adjoint Representation ◽  
Simons Theory ◽  
New Approach ◽  
Novel Approach ◽  
Chern Simons ◽  
Chern Simons Theory ◽  
Noncommutative Parameter

A novel approach to the analysis of a noncommutative Chern–Simons gauge theory with matter coupled in the adjoint representation has been discussed. The analysis is based on a recently proposed closed form Seiberg–Witten map which is exact in the noncommutative parameter.

scholarly journals The discovery of biological subphenotypes in ARDS: a novel approach to targeted medicine?

2021 ◽  
Vol 9 (1) ◽  
Author(s):  
Karin Wildi ◽  
Samantha Livingstone ◽  
Chiara Palmieri ◽  
Gianluigi LiBassi ◽  
Jacky Suen ◽  
...  
Keyword(s):  
Age Groups ◽  
Geographical Location ◽  
High Morbidity ◽  
Shock State ◽  
Pharmacological Agents ◽  
New Approach ◽  
Novel Approach ◽  
Active Research ◽  
Targeted Medicine ◽  
Core Features

AbstractThe acute respiratory distress syndrome (ARDS) is a severe lung disorder with a high morbidity and mortality which affects all age groups. Despite active research with intense, ongoing attempts in developing pharmacological agents to treat ARDS, its mortality rate remains unaltered high and treatment is still only supportive. Over the years, there have been many attempts to identify meaningful subgroups likely to react differently to treatment among the heterogenous ARDS population, most of them unsuccessful. Only recently, analysis of large ARDS cohorts from randomized controlled trials have identified the presence of distinct biological subphenotypes among ARDS patients: a hypoinflammatory (or uninflamed; named P1) and a hyperinflammatory (or reactive; named P2) subphenotype have been proposed and corroborated with existing retrospective data. The hyperinflammatory subphenotyope was clearly associated with shock state, metabolic acidosis, and worse clinical outcomes. Core features of the respective subphenotypes were identified consistently in all assessed cohorts, independently of the studied population, the geographical location, the study design, or the analysis method. Additionally and clinically even more relevant treatment efficacies, as assessed retrospectively, appeared to be highly dependent on the respective subphenotype. This discovery launches a promising new approach to targeted medicine in ARDS. Even though it is now widely accepted that each ARDS subphenotype has distinct functional, biological, and mechanistic differences, there are crucial gaps in our knowledge, hindering the translation to bedside application. First of all, the underlying driving biological factors are still largely unknown, and secondly, there is currently no option for fast and easy identification of ARDS subphenotypes. This narrative review aims to summarize the evidence in biological subphenotyping in ARDS and tries to point out the current issues that will need addressing before translation of biological subohenotypes into clinical practice will be possible.

scholarly journals Unimodular vs nilpotent superfield approach to pure dS supergravity

2021 ◽  
Vol 2021 (1) ◽  
Author(s):  
Sukruti Bansal ◽  
Silvia Nagy ◽  
Antonio Padilla ◽  
Ivonne Zavala
Keyword(s):  
String Theory ◽  
General Framework ◽  
Recent Progress ◽  
High Energy ◽  
De Sitter Spacetime ◽  
De Sitter ◽  
New Approach ◽  
Sitter Spacetime ◽  
Novel Approach ◽  
De Sitter Vacua

Abstract Recent progress in understanding de Sitter spacetime in supergravity and string theory has led to the development of a four dimensional supergravity with spontaneously broken supersymmetry allowing for de Sitter vacua, also called de Sitter supergravity. One approach makes use of constrained (nilpotent) superfields, while an alternative one couples supergravity to a locally supersymmetric generalization of the Volkov-Akulov goldstino action. These two approaches have been shown to give rise to the same 4D action. A novel approach to de Sitter vacua in supergravity involves the generalisation of unimodular gravity to supergravity using a super-Stückelberg mechanism. In this paper, we make a connection between this new approach and the previous two which are in the context of nilpotent superfields and the goldstino brane. We show that upon appropriate field redefinitions, the 4D actions match up to the cubic order in the fields. This points at the possible existence of a more general framework to obtain de Sitter spacetimes from high-energy theories.

scholarly journals New Method for Generating New Families of Distributions

Symmetry ◽  
2021 ◽  
Vol 13 (4) ◽  
pp. 726
Author(s):  
Lamya A. Baharith ◽  
Wedad H. Aljuhani
Keyword(s):  
Exponential Distribution ◽  
Real Data ◽  
Rate Function ◽  
New Method ◽  
Likelihood Method ◽  
Alpha Power ◽  
Unknown Parameters ◽  
Failure Rate Function ◽  
New Approach ◽  
Numerical Studies

This article presents a new method for generating distributions. This method combines two techniques—the transformed—transformer and alpha power transformation approaches—allowing for tremendous flexibility in the resulting distributions. The new approach is applied to introduce the alpha power Weibull—exponential distribution. The density of this distribution can take asymmetric and near-symmetric shapes. Various asymmetric shapes, such as decreasing, increasing, L-shaped, near-symmetrical, and right-skewed shapes, are observed for the related failure rate function, making it more tractable for many modeling applications. Some significant mathematical features of the suggested distribution are determined. Estimates of the unknown parameters of the proposed distribution are obtained using the maximum likelihood method. Furthermore, some numerical studies were carried out, in order to evaluate the estimation performance. Three practical datasets are considered to analyze the usefulness and flexibility of the introduced distribution. The proposed alpha power Weibull–exponential distribution can outperform other well-known distributions, showing its great adaptability in the context of real data analysis.

scholarly journals Compiling Life-Oriented Moral Education Textbooks for Elementary Schools in China: The Mimetic Approach in Morality and Law

2021 ◽  
pp. 209653112098296
Author(s):  
Yan Tang
Keyword(s):  
Elementary Schools ◽  
Moral Education ◽  
Life Events ◽  
Theoretical Perspective ◽  
Building Blocks ◽  
Learning Activities ◽  
Design Approach ◽  
New Approach ◽  
Novel Approach

Purpose: This study explores a novel approach to compiling life-oriented moral textbooks for elementary schools in China, specifically focusing on Morality and Law. Design/Approach/Methods: Adopting Aristotle’s Poetics as its theoretical perspective, this study illustrates and analyzes the mimetic approach used in compiling the life-oriented moral education textbook, Morality and Law. Findings: The mimetic approach involves imitating children's real activities, thoughts, and feelings in textbooks. The mimetic approach to compiling life-oriented moral textbooks comprises three strategies: constructing children's life events as building blocks for textbook compilation, designing an intricate textual device exposing the wholeness of children's life actions, and designing inward learning activities leading to children's inner worlds. Originality/Value: From the perspective of Aristotle's Poetics, the approach to compilation in Morality and Law can be defined as mimetic. And the compilation activity in the life-oriented moral education textbook also can be described as a processes of mimesis. So this article presents a new approach to compile moral education textbooks, and  an innovative way to understand the nature of one compiling activity.

A Novel Approach for Metal Surface Modification

2007 ◽  
Vol 280-283 ◽  
pp. 1805-1806
Author(s):  
Zhi Jun Cao ◽  
Jia Chen Liu ◽  
Li Bin Liu ◽  
Hao Ye ◽  
Yan Qiu Wei
Keyword(s):  
Surface Modification ◽  
Wear Rate ◽  
Charge State ◽  
Metal Surface ◽  
Surface Hardness ◽  
Metallic Surface ◽  
New Approach ◽  
Novel Approach ◽  
Complex Shapes ◽  
Enhanced Surface

A new approach was developed for surface modification of metallic surface. By treating nano-zirconia particles and metal surface in different charge state, nano-zirconia particles can be dispersedly inlaid in metal surface owing to electrostatic and nanometer effects. By using this method, metal components of complex shapes, especially those having inside surfaces, might be easily improved, i.e., enhanced surface hardness and wear rate.

Closed-Form Displacement Relations of a Five-Link R-R-C-C-R Spatial Mechanism

1971 ◽  
Vol 93 (1) ◽  
pp. 221-226 ◽  
Author(s):  
A. H. Soni ◽  
P. R. Pamidi
Keyword(s):  
Closed Form ◽  
Polynomial Equation ◽  
Input Output ◽  
Degree Polynomial ◽  
Spatial Mechanism ◽  
Dual Number ◽  
Numerical Example

Using (3 × 3) matrices with dual-number elements, closed form displacement relationships are derived for a spatial five-link R-R-C-C-R mechanism. The input-output closed form displacement relationship is an eighth degree polynomial equation. A numerical example is presented.

scholarly journals Two Identification Methods for Dual-Rate Sampled-Data Nonlinear Output-Error Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Jing Chen ◽  
Ruifeng Ding
Keyword(s):  
Stochastic Gradient ◽  
The Other ◽  
Identification Algorithm ◽  
Sampled Data ◽  
Unknown Parameters ◽  
Auxiliary Model ◽  
Identification Methods ◽  
Numerical Example ◽  
Output Error ◽  
Polynomial Transformation

This paper presents two methods for dual-rate sampled-data nonlinear output-error systems. One method is the missing output estimation based stochastic gradient identification algorithm and the other method is the auxiliary model based stochastic gradient identification algorithm. Different from the polynomial transformation based identification methods, the two methods in this paper can estimate the unknown parameters directly. A numerical example is provided to confirm the effectiveness of the proposed methods.

Extrinsic Calibration of Portable Manipulators

1992 ◽  
Author(s):  
Steven B. Shooter ◽  
Charles F. Reinholtz
Keyword(s):  
Closed Form ◽  
Nuclear Reactors ◽  
Video Feedback ◽  
Sufficient Information ◽  
Steam Generators ◽  
Extrinsic Calibration ◽  
Tool Positioning ◽  
Orthogonal Plane ◽  
Position And Orientation ◽  
Operator Control

Abstract Portable manipulators are installed for operation and then removed upon completion of their task. Typical applications of portable manipulators include the inspection of nuclear reactors, inspection and repair of nuclear steam generators and asbestos removal in buildings. In such operations, it is difficult to precisely position the manipulator at a fixed location within its workplace, yet this is critical for accurate tool positioning. It can be possible, however, to position the tool tip at several points in the environment using video feedback and manual operator control of the manipulator. This provides sufficient information to determine the position and orientation of the manipulator base frame with respect to the environment, hereafter referred to as extrinsic calibration. Following extrinsic calibration, subsequent moves of the manipulator can be automated. This paper describes a closed-form method for performing extrinsic calibration by contacting the tool to a total of six places on three orthogonal plane surfaces of reference.

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