scholarly journals Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators

Robotics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 124
Author(s):  
Benjamin L. Moser ◽  
Joshua A. Gordon ◽  
Andrew J. Petruska
Keyword(s):  
Complex Geometry ◽  
Null Space ◽  
Serial Link ◽  
Data Set ◽  
Serial Manipulators ◽  
Set Size ◽  
Calibration Uncertainty ◽  
Hybrid Manipulator ◽  
Analytical Tools ◽  
The Relationship

In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established serial-link representations. We use this framework to generate analytical kinematic and calibration Jacobians for general manipulator constructions using null space constraints and extend the methods to hybrid manipulator types with complex geometry. We leverage the analytical Jacobians to develop detailed expressions for post-calibration pose uncertainties that are applied to describe the relationship between data set size and post-calibration uncertainty. We demonstrate the calibration of a hybrid manipulator assembled from high precision calibrated industrial components resulting in 91.1 μm RMS position error and 71.2 μrad RMS rotation error, representing a 46.7% reduction compared to the baseline calibration of assembly offsets.

War Widows and Welfare Queens

2019 ◽  
pp. 584-605
Author(s):  
Brittany Pearl Battle
Keyword(s):  
Policy Development ◽  
Social Welfare Policy ◽  
Cultural Representations ◽  
The Poor ◽  
The Social ◽  
The Family ◽  
Deserving Poor ◽  
Analytical Tools ◽  
The Relationship ◽  
Undeserving Poor

This chapter examines the sociocognitive dimensions of cultural categorizations of deservingness. The social issue of poverty has been a persistent source of debate in the American system of policy development, influenced by conceptual distinctions between the “haves” and “have-nots,” “working moms” and “unemployed dads,” and the “deserving poor” and the “undeserving poor.” Although there is a wealth of literature discussing the ideological underpinnings of stratification systems, these discussions often focus on categorical distinctions between the poor and the nonpoor, with much less discussion of distinctions made among the poor. Moreover, while scholars of culture and policy have long referenced the importance of cultural categories of worthiness in policy development, the theoretical significance of these distinctions has been largely understudied. I expand the discourse on the relationship between cultural representations of worth and social welfare policy by exploring how these categories are conceptualized. Drawing on analytical tools from a sociology of perception framework, I create a model that examines deservingness along continuums of morality and eligibility to highlight the taken-for-granted cultural subtleties that shape perceptions of the poor. I focus on social filters created by norms of poverty, welfare, and the family to explore how the deserving are differentiated from the undeserving.

scholarly journals Sodium Metasilicate Cemented Analogue Material and Its Mechanical Properties

2016 ◽  
Vol 2016 ◽  
pp. 1-17 ◽  
Author(s):  
Songlin Yue ◽  
Yanyu Qiu ◽  
Pengxian Fan ◽  
Pin Zhang ◽  
Ning Zhang
Keyword(s):  
Complex Geometry ◽  
Sodium Metasilicate ◽  
Raw Material ◽  
Fine Aggregate ◽  
Regression Equations ◽  
Deformation And Failure ◽  
Orthogonal Experiments ◽  
Low Modulus ◽  
New Type ◽  
The Relationship

Analogue material with appropriate properties is of great importance to the reliability of geomechanical model test, which is one of the mostly used approaches in field of geotechnical research. In this paper, a new type of analogue material is developed, which is composed of coarse aggregate (quartz sand and/or barite sand), fine aggregate (barite powder), and cementitious material (anhydrous sodium silicate). The components of each raw material are the key influencing factors, which significantly affect the physical and mechanical parameters of analogue materials. In order to establish the relationship between parameters and factors, the material properties including density, Young’s modulus, uniaxial compressive strength, and tensile strength were investigated by a series of orthogonal experiments with hundreds of samples. By orthogonal regression analysis, the regression equations of each parameter were obtained based on experimental data, which can predict the properties of the developed analogue materials according to proportions. The experiments and applications indicate that sodium metasilicate cemented analogue material is a type of low-strength and low-modulus material with designable density, which is insensitive to humidity and temperature and satisfies mechanical scaling criteria for weak rock or soft geological materials. Moreover, the developed material can be easily cast into structures with complex geometry shapes and simulate the deformation and failure processes of prototype rocks.

PSVI-8 Meta-regression Analysis to Determine the Relationship Between Growing Pig Body Weight and Variation

2021 ◽  
Vol 99 (Supplement_1) ◽  
pp. 218-219
Author(s):  
Andres Fernando T Russi ◽  
Mike D Tokach ◽  
Jason C Woodworth ◽  
Joel M DeRouchey ◽  
Robert D Goodband ◽  
...  
Keyword(s):  
Body Weight ◽  
Regression Analysis ◽  
Sample Size ◽  
Polynomial Regression ◽  
Data Sets ◽  
Regression Equations ◽  
Prediction Equations ◽  
Data Set ◽  
Rate Of Increase ◽  
The Relationship

Abstract The swine industry has been constantly evolving to select animals with improved performance traits and to minimize variation in body weight (BW) in order to meet packer specifications. Therefore, understanding variation presents an opportunity for producers to find strategies that could help reduce, manage, or deal with variation of pigs in a barn. A systematic review and meta-analysis was conducted by collecting data from multiple studies and available data sets in order to develop prediction equations for coefficient of variation (CV) and standard deviation (SD) as a function of BW. Information regarding BW variation from 16 papers was recorded to provide approximately 204 data points. Together, these data included 117,268 individually weighed pigs with a sample size that ranged from 104 to 4,108 pigs. A random-effects model with study used as a random effect was developed. Observations were weighted using sample size as an estimate for precision on the analysis, where larger data sets accounted for increased accuracy in the model. Regression equations were developed using the nlme package of R to determine the relationship between BW and its variation. Polynomial regression analysis was conducted separately for each variation measurement. When CV was reported in the data set, SD was calculated and vice versa. The resulting prediction equations were: CV (%) = 20.04 – 0.135 × (BW) + 0.00043 × (BW)2, R2=0.79; SD = 0.41 + 0.150 × (BW) - 0.00041 × (BW)2, R2 = 0.95. These equations suggest that there is evidence for a decreasing quadratic relationship between mean CV of a population and BW of pigs whereby the rate of decrease is smaller as mean pig BW increases from birth to market. Conversely, the rate of increase of SD of a population of pigs is smaller as mean pig BW increases from birth to market.

A Comparison Study of Mahalanobis-Taguchi System and Neural Network for Multivariate Pattern Recognition

2005 ◽  
Author(s):  
Jungeui Hong ◽  
Elizabeth A. Cudney ◽  
Genichi Taguchi ◽  
Rajesh Jugulum ◽  
Kioumars Paryani ◽  
...  
Keyword(s):  
Neural Network ◽  
Small Data ◽  
Data Sets ◽  
Comparison Study ◽  
Data Set ◽  
Set Size ◽  
Breast Cancer Study ◽  
Discriminant Ability ◽  
Small Data Sets ◽  
Multivariate Pattern

The Mahalanobis-Taguchi System is a diagnosis and predictive method for analyzing patterns in multivariate cases. The goal of this study is to compare the ability of the Mahalanobis-Taguchi System and a neural network to discriminate using small data sets. We examine the discriminant ability as a function of data set size using an application area where reliable data is publicly available. The study uses the Wisconsin Breast Cancer study with nine attributes and one class.

Railroad Integration and Uneven Development on the European Periphery, 1870–1910

2021 ◽  
Vol 45 (2) ◽  
pp. 261-289
Author(s):  
Eduard J. Alvarez-Palau ◽  
Alfonso Díez-Minguela ◽  
Jordi Martí-Henneberg
Keyword(s):  
Economic Development ◽  
Positive Impact ◽  
Data Set ◽  
Per Capita Gdp ◽  
Catching Up ◽  
Nation States ◽  
Railroad Network ◽  
Per Capita ◽  
European Periphery ◽  
The Relationship

AbstractThis study explores the relationship between railroad integration and regional development on the European periphery between 1870 and 1910, based on a regional data set including 291 spatial units. Railroad integration is proxied by railroad density, while per capita GDP is used as an indicator of economic development. The period under study is of particular relevance as it has been associated with the second wave of railroad construction in Europe and also coincides with the industrialization of most of the continent. Overall, we found that railroads had a significant and positive impact on the growth of per capita GDP across Europe. The magnitude of this relationship appears to be relatively modest, but the results obtained are robust with respect to a number of different specifications. From a geographical perspective, we found that railroads had a significantly greater influence on regions located in countries on the northern periphery of Europe than in other outlying areas. They also helped the economies of these areas to begin the process of catching up with the continent’s industrialized core. In contrast, the regions on the southern periphery showed lower levels of economic growth, with this exacerbating the preexisting divergence in economic development. The expansion of the railroad network in them was unable to homogenize the diffusion of economic development and tended to further benefit the regions that were already industrialized. In most of the cases, the capital effect was magnified, and this contributed to the consolidation of newly created nation-states.

scholarly journals RESTING HEART RATE MODERATES THE RELATIONSHIP BETWEEN NEUROPSYCHIATRIC SYMPTOMS, MCI, AND ALZHEIMER’S DISEASE

2019 ◽  
Vol 3 (Supplement_1) ◽  
pp. S641-S641
Author(s):  
Shanna L Burke
Keyword(s):  
Alzheimer’S Disease ◽  
Alzheimer's Disease ◽  
Heart Rate ◽  
Relative Risk ◽  
Neuropsychiatric Symptoms ◽  
Cognitive Status ◽  
Resting Heart Rate ◽  
Data Set ◽  
Increased Risk ◽  
The Relationship

Abstract Little is known about how resting heart rate moderates the relationship between neuropsychiatric symptoms and cognitive status. This study examined the relative risk of NPS on increasingly severe cognitive statuses and examined the extent to which resting heart rate moderates this relationship. A secondary analysis of the National Alzheimer’s Coordinating Center Uniform Data Set was undertaken, using observations from participants with normal cognition at baseline (13,470). The relative risk of diagnosis with a more severe cognitive status at a future visit was examined using log-binomial regression for each neuropsychiatric symptom. The moderating effect of resting heart rate among those who are later diagnosed with mild cognitive impairment (MCI) or Alzheimer’s disease (AD) was assessed. Delusions, hallucinations, agitation, depression, anxiety, elation, apathy, disinhibition, irritability, motor disturbance, nighttime behaviors, and appetite disturbance were all significantly associated (p<.001) with an increased risk of AD, and a reduced risk of MCI. Resting heart rate increased the risk of AD but reduced the relative risk of MCI. Depression significantly interacted with resting heart rate to increase the relative risk of MCI (RR: 1.07 (95% CI: 1.00-1.01), p<.001), but not AD. Neuropsychiatric symptoms increase the relative risk of AD but not MCI, which may mean that the deleterious effect of NPS is delayed until later and more severe stages of the disease course. Resting heart rate increases the relative risk of MCI among those with depression. Practitioners considering early intervention in neuropsychiatric symptomology may consider the downstream benefits of treatment considering the long-term effects of NPS.

scholarly journals Spatial pattern and genetic diversity estimates are linked in stochastic models of population differentiation

2000 ◽  
Vol 23 (3) ◽  
pp. 541-544 ◽  
Author(s):  
José Alexandre Felizola Diniz-Filho ◽  
Mariana Pires de Campos Telles
Keyword(s):  
Genetic Diversity ◽  
Spatial Pattern ◽  
Stochastic Models ◽  
Population Differentiation ◽  
Real Data ◽  
Population Heterogeneity ◽  
Data Set ◽  
Mantel’S Test ◽  
The Relationship ◽  
Diversity Estimates

In the present study, we used both simulations and real data set analyses to show that, under stochastic processes of population differentiation, the concepts of spatial heterogeneity and spatial pattern overlap. In these processes, the proportion of variation among and within a population (measured by G ST and 1 - G ST, respectively) is correlated with the slope and intercept of a Mantel's test relating genetic and geographic distances. Beyond the conceptual interest, the inspection of the relationship between population heterogeneity and spatial pattern can be used to test departures from stochasticity in the study of population differentiation.

scholarly journals Intergovernmental Organizations and Foreign Policy Behavior: Some Empirical Findings

1979 ◽  
Vol 73 (2) ◽  
pp. 494-504 ◽  
Author(s):  
James M. McCormick ◽  
Young W. Kihl
Keyword(s):  
Foreign Policy ◽  
Data Base ◽  
Comparative Research ◽  
Intergovernmental Organizations ◽  
Data Set ◽  
The World ◽  
The Relationship ◽  
Policy Behavior ◽  
High Politics ◽  
Foreign Policy Behavior

In this study, we evaluate whether the increase in the number of intergovernmental organizations (IGOs) has resulted in their increased use for foreign policy behavior by the nations of the world. This question is examined in three related ways: (1) the aggregate use of IGOs for foreign policy behavior; (2) the relationship between IGO membership and IGO use; and (3) the kinds of states that use IGOs. Our data base consists of the 35 nations in the CREON (Comparative Research on the Events of Nations) data set for the years 1959–1968.The main findings are that IGOs were employed over 60 percent of the time with little fluctuation on a year-by-year basis, that global and “high politics” IGOs were used more often than regional and “low politics” IGOs, that institutional membership and IGO use were generally inversely related, and that the attributes of the states had limited utility in accounting for the use of intergovernmental organizations. Some of the theoretical implications of these findings are then explored.

Customer satisfaction, value for money and repurchase intent in the context of system delivery projects: a longitudinal study

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Matti Haverila ◽  
Jenny Carita Twyford
Keyword(s):  
Project Management ◽  
Customer Satisfaction ◽  
Effect Sizes ◽  
Relational Exchange ◽  
Value For Money ◽  
Data Set ◽  
Content Type ◽  
Repurchase Intent ◽  
The Relationship ◽  
Relational Exchange Theory

PurposeDrawing upon the relational exchange theory, the longitudinal relationship between various stages of project management customer satisfaction, value for money and repurchase intent are examined.Design/methodology/approachUsing a survey questionnaire, data were gathered over four consecutive quarters (N = 2,537). The statistical methods included exploratory factor analysis, confirmatory composite analysis (CCA) and partial least squares structural equation modeling (PLS-SEM).FindingsProject management was perceived as a three-dimensional construct (proposal, installation, commissioning/start-up). There was a significant longitudinal relationship between project stages and satisfaction in the complete data set. The results varied on the quarterly basis. The relationship customer satisfaction/repurchase intent was significant in the whole data set and during all quarters. This was the case for the relationships between value for money and customer satisfaction and between value for money and repurchase intent. The effect sizes were small between project management stages and customer satisfaction, small to medium for the value for money construct and large for the customer satisfaction construct.Originality/valueAn important implication is the significant relationship between the stages of project management and satisfaction. However, the effect sizes were small, however. The importance of the effect size in comparison to the significance of the relationships is highlighted especially when the sample size is large. The paper also confirms the linear relationship between satisfaction and repurchase intent. The nature of the relationship between customer satisfaction and loyalty is based on a moderate exchange relationship in the relational exchange continuum. The study contributes to the relational exchange theory in the context of project management.

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