scholarly journals Singularity-Based Calibration – A Novel Approach for Absolute-Accuracy Enhancement of Parallel Robots

10.5772/9340 ◽  
2010 ◽  
Author(s):  
Philipp Last
Keyword(s):  
Parallel Robots ◽  
Absolute Accuracy ◽  
Accuracy Enhancement ◽  
Novel Approach

Novel Approach for Tracking Accuracy Enhancement in Infrared Spot Image

2010 ◽  
Vol 37 (1) ◽  
pp. 186-189
Author(s):  
刘丹平 Liu Danping ◽  
张磊 Zhang Lei ◽  
郭晓亮 Guo Xiaoliang ◽  
郑世鹏 Zheng Shipeng ◽  
曾孝平 Zeng Xiaoping ◽  
...  
Keyword(s):  
Tracking Accuracy ◽  
Accuracy Enhancement ◽  
Novel Approach ◽  
Spot Image

Novel Approach for Tracking Accuracy Enhancement in Infrared Spot Image

2008 ◽  
Vol 30 (2) ◽  
pp. 190-198 ◽  
Author(s):  
Danping Liu ◽  
Yunwei Li ◽  
Qingyi Duan ◽  
Xiaoming Liu ◽  
Yong Yin ◽  
...  
Keyword(s):  
Tracking Accuracy ◽  
Accuracy Enhancement ◽  
Novel Approach ◽  
Spot Image

Closeness to singularities of robotic manipulators measured by characteristic angles

Robotica ◽  
2014 ◽  
Vol 34 (9) ◽  
pp. 2105-2115 ◽  
Author(s):  
Wanghui Bu
Keyword(s):  
Great Influence ◽  
Robotic Manipulators ◽  
Parallel Robots ◽  
Identical Result ◽  
Geometrical Meaning ◽  
Current Configuration ◽  
Novel Approach ◽  
Metric Invariant ◽  
Singular Configuration ◽  
Robotic Tool

SUMMARYSingularities have a great influence on kinematics and dynamics of both serial and parallel robots. In order to prevent a robot from entering singular configurations, it needs to measure the “distance” between the robot current configuration and the singular configuration. This paper presents a novel approach based on characteristic angles to measure closeness to singularities. For the problem of inconsistent dimensions in the scalar product of screws, the physical meanings of twists and wrenches are reinterpreted. For the problem of the metric invariant to origin selection, the origin of the screw frame is required to coincide with the origin of the robotic tool frame. The major merit of the proposed metric lies in the identical result of measuring similar mechanisms with different sizes. Moreover, the measurement is insensitive to screw magnitude, since the metric expression is dimensionless. Furthermore, the geometrical meaning of the determinant of a screw matrix is clarified.

scholarly journals A novel multiple-heuristic approach for singularity-free motion planning of spatial parallel manipulators

Robotica ◽  
2008 ◽  
Vol 26 (5) ◽  
pp. 679-689 ◽  
Author(s):  
Houssem Abdellatif ◽  
Bodo Heimann
Keyword(s):  
Motion Planning ◽  
Cost Function ◽  
Geometric Modeling ◽  
Closed Loop ◽  
Parallel Manipulators ◽  
Parallel Robots ◽  
Heuristic Approach ◽  
Novel Approach ◽  
Planning Procedure ◽  
Open Question

SUMMARYThe issue of motion planning for closed-loop mechanisms, such as parallel manipulators or robots, is still an open question. This paper proposes a novel approach for motion planning of spatial parallel robots. The framework for the geometric modeling is based on the visibility graph methodology. It is opted for a multiple-heuristics approach, where different influences are integrated in a multiplicative way within the heuristic cost function. Since the issue of singularities is a fundamental one for parallel robots, it is emphasized on the avoidance of such configurations. To include singularity-free planning within the heuristic approach, two heuristic functions are proposed, the inverse local dexterity as well as a novel defined “next-singularity” function, in such a way, well conditioned motions can be provided by a single planning procedure. The success of the method is illustrated by some examples.

Copper-dependent ATP7B up-regulation drives the resistance of TMEM16A-overexpressing head-and-neck cancer models to platinum toxicity

2019 ◽  
Vol 476 (24) ◽  
pp. 3705-3719 ◽  
Author(s):  
Avani Vyas ◽  
Umamaheswar Duvvuri ◽  
Kirill Kiselyov
Keyword(s):  
Oxidative Stress ◽  
Head And Neck ◽  
Transcriptional Activation ◽  
Platinum Resistance ◽  
Mrna Levels ◽  
Strong Positive Correlation ◽  
Platinum Compounds ◽  
Copper Chelation ◽  
Novel Approach ◽  
Cancer Models

Platinum-containing drugs such as cisplatin and carboplatin are routinely used for the treatment of many solid tumors including squamous cell carcinoma of the head and neck (SCCHN). However, SCCHN resistance to platinum compounds is well documented. The resistance to platinum has been linked to the activity of divalent transporter ATP7B, which pumps platinum from the cytoplasm into lysosomes, decreasing its concentration in the cytoplasm. Several cancer models show increased expression of ATP7B; however, the reason for such an increase is not known. Here we show a strong positive correlation between mRNA levels of TMEM16A and ATP7B in human SCCHN tumors. TMEM16A overexpression and depletion in SCCHN cell lines caused parallel changes in the ATP7B mRNA levels. The ATP7B increase in TMEM16A-overexpressing cells was reversed by suppression of NADPH oxidase 2 (NOX2), by the antioxidant N-Acetyl-Cysteine (NAC) and by copper chelation using cuprizone and bathocuproine sulphonate (BCS). Pretreatment with either chelator significantly increased cisplatin's sensitivity, particularly in the context of TMEM16A overexpression. We propose that increased oxidative stress in TMEM16A-overexpressing cells liberates the chelated copper in the cytoplasm, leading to the transcriptional activation of ATP7B expression. This, in turn, decreases the efficacy of platinum compounds by promoting their vesicular sequestration. We think that such a new explanation of the mechanism of SCCHN tumors’ platinum resistance identifies novel approach to treating these tumors.

Collecting Words: A Clinical Example of a Morphology-Focused Orthographic Intervention

2020 ◽  
Vol 51 (3) ◽  
pp. 544-560 ◽  
Author(s):  
Kimberly A. Murphy ◽  
Emily A. Diehm
Keyword(s):  
Written Language ◽  
Morphological Knowledge ◽  
English Orthography ◽  
Word Level ◽  
Novel Approach ◽  
Language Pathology ◽  
The One ◽  
Critical Intervention ◽  
Reading And Spelling ◽  
Reading And Spelling Difficulties

Purpose Morphological interventions promote gains in morphological knowledge and in other oral and written language skills (e.g., phonological awareness, vocabulary, reading, and spelling), yet we have a limited understanding of critical intervention features. In this clinical focus article, we describe a relatively novel approach to teaching morphology that considers its role as the key organizing principle of English orthography. We also present a clinical example of such an intervention delivered during a summer camp at a university speech and hearing clinic. Method Graduate speech-language pathology students provided a 6-week morphology-focused orthographic intervention to children in first through fourth grade ( n = 10) who demonstrated word-level reading and spelling difficulties. The intervention focused children's attention on morphological families, teaching how morphology is interrelated with phonology and etymology in English orthography. Results Comparing pre- and posttest scores, children demonstrated improvement in reading and/or spelling abilities, with the largest gains observed in spelling affixes within polymorphemic words. Children and their caregivers reacted positively to the intervention. Therefore, data from the camp offer preliminary support for teaching morphology within the context of written words, and the intervention appears to be a feasible approach for simultaneously increasing morphological knowledge, reading, and spelling. Conclusion Children with word-level reading and spelling difficulties may benefit from a morphology-focused orthographic intervention, such as the one described here. Research on the approach is warranted, and clinicians are encouraged to explore its possible effectiveness in their practice. Supplemental Material https://doi.org/10.23641/asha.12290687

Abstract #709: E-Consults: A Novel Approach to Increase Access to Subspecialty Care in Endocrinology

2015 ◽  
Vol 21 ◽  
pp. 128
Author(s):  
Kaniksha Desai ◽  
Halis Akturk ◽  
Ana Maria Chindris ◽  
Shon Meek ◽  
Robert Smallridge ◽  
...  
Keyword(s):  
Novel Approach

MacArthur Foundation: young giant takes a novel approach to research

1983 ◽  
Author(s):  
Kathleen Fisher ◽  
Keyword(s):  
Novel Approach ◽  
Macarthur Foundation

Novel approach offers hope for treating severe disorders

1997 ◽  
Author(s):  
Scott Sleek
Keyword(s):  
Novel Approach
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