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Relevant bibliographies by topics / 6 degrees of freedom

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Academic literature on the topic '6 degrees of freedom'

Author: Grafiati

Published: 5 October 2024

Last updated: 12 June 2025

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Journal articles on the topic "6 degrees of freedom"

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Knapp, W., and S. Weikert. "Testing the Contouring Performance in 6 Degrees of Freedom." CIRP Annals 48, no. 1 (1999): 433–36. http://dx.doi.org/10.1016/s0007-8506(07)63220-x.

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Fossen, Thor I., and Ola-Erik Fjellstad. "Nonlinear modelling of marine vehicles in 6 degrees of freedom." Mathematical Modelling of Systems 1, no. 1 (1995): 17–27. http://dx.doi.org/10.1080/13873959508837004.

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Reddy, B. Nithin. "Mechanical Design and Analysis of Six-Degree-of-Freedom (6-DOF) SCARA Robot for Industrial Applications." International Journal for Research in Applied Science and Engineering Technology 12, no. 4 (2024): 6080–87. http://dx.doi.org/10.22214/ijraset.2024.59008.

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Abstract: A six-degree-of-freedom (6-DOF) SCARA robot is an advanced robotic system capable of moving and manipulating objects in a three-dimensional space with a high degree of precision and flexibility. The term "SCARA" stands for "Selective Compliance Articulated Robot Arm," indicating its design that allows a combination of rigidity and compliance along specific axes. This unique combination of features makes 6-DOF SCARA robots highly versatile and suitable for a wide range of industrial applications. Unlike traditional SCARA robots that typically have four degrees of freedom, the addition of two extra degrees of freedom enhances the 6-DOF SCARA robot's spatial reach and manipulation capabilities. This enables the robot to perform tasks that require complex orientations, intricate movements, and precise positioning within a 3D workspace. The mechanical design, kinematics, and control strategies of these robots are carefully developed to ensure accurate and efficient performance, making them valuable tools in various industries. 6-DOF SCARA robots find applications in numerous industries where precise manipulation, efficient automation, and versatile positioning are crucial.

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Babarit, Aurélien, and Moran Charlou. "A Method for Forcing a Number of Motions or Rotations in 6 Degrees of Freedom Ship Simulators." Journal of Sailing Technology 8, no. 01 (2023): 255–75. http://dx.doi.org/10.5957/jst/2023.8.13.255.

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In this paper, a method is introduced which enables the forcing of any degrees of freedom in 6 DoFs ship simulator. It is based on the introduction of an extra force in the equation of motion of the ship and on the forcing of the second derivatives of the forced degrees of freedom rather than the forced degrees of freedom themselves. The method is explicit which makes it easy to implement in existing software. Examples of its application to oblique towing tests and forced heading in wind and waves are presented.

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von Clarmann, T., and U. Grabowski. "Elimination of hidden a priori information from remotely sensed profile data." Atmospheric Chemistry and Physics Discussions 6, no. 4 (2006): 6723–51. http://dx.doi.org/10.5194/acpd-6-6723-2006.

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Abstract. Profiles of atmospheric state parameters retrieved from remote measurements often contain a priori information which causes complication in the use of data for validation, comparison with models, or data assimilation. For such applications it often is desirable to remove the a priori information from the data product. If the retrieval involves an ill-posed inversion problem, formal removal of the a priori information requires resampling of the data on a coarser grid, which, however, is a prior constraint in itself. The fact that the trace of the averaging kernel matrix of a retrieval is equivalent to the number of degrees of freedom of the retrieval is used to define an appropriate information-centered representation of the data where each data point represents one degree of freedom. Since regridding implies further degradation of the data and thus causes additional loss of information, a re-regularization scheme has been developed which allows resampling without additional loss of information. For a typical ClONO2 profile retrieved from spectra as measured by the Michelson Interferometer for Passive Atmospheric Sounding (MIPAS), the constrained retrieval has 9.7 degrees of freedom. After application of the proposed transformation to a coarser information-centered altitude grid, there are exactly 9 degrees of freedom left, and the averaging kernel on the coarse grid is unity. Pure resampling on the information-centered grid without re-regularization would reduce the degrees of freedom to 7.1.

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Khurtasenko, A. V., K. V. Chuev, and L. A. Rybak. "Dynamic model of a robotic platform with 6 degrees of freedom." Journal of Physics: Conference Series 2176, no. 1 (2022): 012024. http://dx.doi.org/10.1088/1742-6596/2176/1/012024.

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Abstract The paper presents the study of kinematic and dynamic characteristics of the robotic mobility platform (RMP) to determine inertia-force parameters depending on the nature of the implemented motion path. The method is implemented on the basis of parameterized digital simulation models with parallel kinematics, which allow determining acceleration and force response in the joints of structural components at given geometric parameters of the platform design.

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Csiszar, Akos, and Cornel Brisan. "Workspace Analysis of the 6 Degrees of Freedom PARTNER Parallel Robot." Solid State Phenomena 166-167 (September 2010): 155–60. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.155.

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This paper presents a modular method to compute the workspace of parallel robot with 6 degrees of freedom. For the generation of the workspace also the mechanical constrains of both the active and passive joints are taken into consideration.

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Jeong, Sang-Ki, Hyeung-Sik Choi, Jung-Min Seo, Ngoc Huy Tran, and Joon-Young Kim. "Design and Control of 6 D.O.F(Degrees of Freedom) Hovering AUV." Journal of Institute of Control, Robotics and Systems 19, no. 9 (2013): 797–804. http://dx.doi.org/10.5302/j.icros.2013.13.9025.

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Zhu, Dequan, Tao Mei, and Lei Sun. "Fuzzy Immune PID Control for 6-Degrees of Freedom Parallel Platform." Advanced Science Letters 6, no. 1 (2012): 836–40. http://dx.doi.org/10.1166/asl.2012.2293.

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Sindersberger, Dirk, Andreas Diermeier, Nina Prem, and Gareth J. Monkman. "Printing of hybrid magneto active polymers with 6 degrees of freedom." Materials Today Communications 15 (June 2018): 269–74. http://dx.doi.org/10.1016/j.mtcomm.2018.02.032.

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Dissertations / Theses on the topic "6 degrees of freedom"

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Chinneck, Robert. "An automated welding system with 6 degrees of freedom." Thesis, University of Liverpool, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.397385.

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Moreu, Gamazo Jaime. "A kinematic coupling based 6 degrees of freedom dynamometer." Thesis, Massachusetts Institute of Technology, 2009. http://hdl.handle.net/1721.1/55278.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. 130-131).<br>A new 6-degree of freedom dynamometer is presented. Six load cells measure the normal forces at the contact points of a three groove kinematic coupling. Three toggle clamps are used to preload the machine, so that it does not come apart. The device was designed, analyzed, built and tested. The error will mainly depend on frictional forces, load cells error and the toggle clamps. Frictional forces affect hysteresis, absorption and settlement of the coupling. Different solutions have been designed and tested to reduce friction. First, we tried direct contact between three stainless-steel rods and the stainless-steel load cells. The results were fully distorted due to the high friction of hard steel. We also tried three stainless-steels rods with flexures to contact the steel button cells. The results were much better and more repeatable, but absorption was not good enough. Finally, we tried using Teflon. Teflon is stuck to a steel plate that touches the contact points, leaving Teflon free of high stresses and allowing it to reduce friction between the contacts. The outcome was acceptable. In this case, hysteresis will be reasonably low, absorption is moderate and settlement-based problems are small for small preloads. Fortunately, settlement ability will be improved thanks to vibrations. Future investigations shall look towards low friction solutions, since the sturdiest and most user-friendly design will be the one that minimizes friction during the settlement process.<br>by Jaime Moreu Gamazo.<br>S.M.

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Sepp, Wolfgang. "Visual servoing of textured free-form objects in 6 degrees of freedom." kostenfrei, 2008. http://mediatum2.ub.tum.de/node?id=646233.

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Snyder, Mark. "NONLINEAR STABILIZATION AND CONTROL OF MEDIUM RANGE SURFACE TO AIR INTERCEPTOR MISSILES." Master's thesis, University of Central Florida, 2009. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/4081.

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Nonlinear stabilization and control autopilots are capable of sustaining nominal performance throughout the entire fight envelope an interceptor missile may encounter during hostile engagements and require no gain scheduling to maintain autopilot stability. Due to non minimum phase conditions characteristic of tail controlled missile airframes, a separation of time scales within the dynamic equations of motion between rotational and translational differential equations was enforced to overcome unstable effects of non minimum phase. Dynamic inversion techniques are then applied to derive linearizing equations which, when injected forward into the plant result in a fully controllable linear system. Objectives of the two time scale control architecture are to stabilize vehicle rotational rates while at the same time controlling acceleration within the lateral plane of the vehicle under rapidly increasing dynamic pressure. Full 6 degree of freedom dynamic terms including all coriolis accelerations due to translational and rotational dynamic coupling have been taken into account in the inversion process. The result is a very stable, nonlinear autopilot with fixed control gains fully capable of stable nonlinear missile control. Several actuator systems were also designed to explore the destabilizing effects second order nonlinear actuator characteristics can have on nonlinear autopilot designs.<br>M.S.E.E.<br>School of Electrical Engineering and Computer Science<br>Engineering and Computer Science<br>Electrical Engineering MSEE

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Baker, Antoin Lenard. "Analysis of three degree of freedom 6 x 6 tensegrity platform." [Gainesville, Fla.] : University of Florida, 2005. http://purl.fcla.edu/fcla/etd/UFE0010499.

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FERNANDEZ, MANUEL EDUARDO LOAIZA. "IMPLEMENTATION OF AN OPTICAL TRACKING DEVICE WITH 6 DEGREES OF FREEDOM FOR INTERACTING WITH VIRTUAL REALITY APPLICATIONS." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2005. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=6664@1.

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COORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR<br>Os sistemas de rastreamento são uma das tecnologias cruciais para os sistemas de realidade virtual. Eles permitem detectar continuamente a posição e orientação de marcadores ou objetos específicos que o usuário utiliza para interagir com o sistema. Uma das tecnologias mais utilizadas para implementar este tipo de sistema é o rastreamento óptico, a qual permite ao usuário ter maior liberdade em seus movimentos porque não precisa de cabos ou elementos mecânicos que possam restringir ou atrapalhar a sensação de imersão que se tenta criar na interação com ambientes de realidade virtual. Este trabalho apresenta a construção e implementação de um dispositivo de entrada, baseado em rastreamento óptico, que é utilizado para interação com aplicações de realidade virtual do tipo semi-imersivas em um ambiente desktop comum. O dispositivo tem a capacidade de recuperar seis graus de liberdade dos movimentos feitos por um conjunto de marcadores que são controlados pela mão do usuário. A partir da recuperação dos seis graus de liberdade, o dispositivo é complementado com a capacidade de emissão de eventos que permitem a interação do usuário com a aplicação. No final apresenta-se uma aplicação que demonstra a adaptação dos eventos gerados e o desempenho do dispositivo implementado.<br>Tracking systems are a fundamental technology in virtual reality systems. They provide a continuous detection of the position and orientation of markers or specific objects that the user employs to interact with the system. One of the technologies most commonly used to implement these types of systems is the optical tracking, which allows the users to have more freedom in their movements because it does not need cables or mechanical elements that can restrict or hinder the immersion sensation that is tried to create in the interaction with virtual reality environments. This work presents the construction and implementation of an input device that is based on optical tracking that is used for interaction with semiimmersive virtual reality applications on ordinary desktop environments. This device has the capability to get the six degrees of freedom of the movements made by a set of markers that are controlled by the user hand. Based on the six degrees of freedom recovered, the device is complemented with the ability to emit events that allow the interaction of the user with the application. Finally, an application is presented for demonstrating the use of the generated events and the performance of our device.

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Lin, Christie. "Linear regression analysis of 2D projection image data of 6 degrees-of-freedom transformed 3D image sets for stereotactic radiation therapy." Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/76969.

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Thesis (S.M. and S.B.)--Massachusetts Institute of Technology, Dept. of Nuclear Science and Engineering, 2012.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. 104-106).<br>Patient positioning is crucial to accurate dose delivery during radiation therapy to ensure the proper localization of dose to the target tumor volume. In patient positioning for stereotactic radiation therapy treatment, classical image registration methods are computationally costly and imprecise. We developed an automatic, fast, and robust 2D-3D registration method to improve accuracy and speed of identifying 6 degrees-of-freedom (DoF) transformations during patient positioning for stereotactic radiotherapy by creating a model of characteristic shape distributions to determine the linear relationship between two real-time orthogonal 2D projection images and the 3D volume image. We defined a preprocessed sparse base set of shape distributions that characterize 2D digitally reconstructed radiograph (DRR) images from a range of independent transformations of the volume. The algorithm calculates the 6-DoF transformation of the patient based upon two orthogonal real-time 2D images by correlating the images against the base set The algorithm has positioning accuracy to at least 1 pixel, equivalent to 0.5098 mm accuracy given this image resolution. The shape distribution of each 2D image is created in MATLAB in an average of 0.017 s. The online algorithm allows for rapid and accurate position matching of the images, providing the transformation needed to align the patient on average in 0.5276 s. The shape distribution algorithm affords speed, robustness, and accuracy of patient positioning during stereotactic radiotherapy treatment for small-order 6-DoF transformations as compared with existing techniques for the quantification of patient setup where both linear and rotational deviations occur. This algorithm also indicates the potential for rapid, high precision patient positioning from the interpolation and extrapolation of the linear relationships based upon shape distributions. Key words: shape distribution, image registration, patient positioning, radiation therapy<br>by Christie Lin.<br>S.M.and S.B.

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Gu, Jie. "Development of a 6-degree-of-freedom magnetically levitated instrument with nanometer precision." Thesis, Texas A&M University, 2003. http://hdl.handle.net/1969/118.

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Ögren, Jim. "Simulation of a Self-bearing Cone-shaped Lorentz-type Electrical Machine." Thesis, Uppsala universitet, Elektricitetslära, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-202443.

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Self-bearing machines for kinetic energy storage have the advantage of integrating the magnetic bearing in the stator/rotor configuration, which reduces the number of mechanical components needed compared with using separated active magnetic bearings. This master's thesis focus on building a MATLAB/Simulink simulation model for a self-bearing cone-shaped Lorenz-type electrical machine. The concept has already been verified analytically but no dynamic simulations have been made. The system was modeled as a negative feedback system with PID controllers to balance the rotor. Disturbances as signal noise, external forces and torques were added to the system to estimate system robustness. Simulations showed stability and promising dynamics, the next step would be to build a prototype.

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Calhoun, Sean M. "Six Degree-of-Freedom Modeling of an Uninhabited Aerial Vehicle." Ohio University / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1149543622.

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Books on the topic "6 degrees of freedom"

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Reed, Stephen Charles. The clinical application of a 6-degree of freedom electrogoniometer (instrumented spatial linkage device). National Library of Canada, 1990.

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University of Alberta. Strategic Planning Task Force. Degrees of freedom. University of Alberta, 1993.

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Morden, Simon. Degrees of freedom. Orbit, 2011.

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Morden, Simon. Degrees of freedom. Orbit, 2011.

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University of Alberta. Strategic Planning Task Force. Degrees of freedom: Supplement. University of Alberta, 1993.

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George, Nick. Nick George: Degrees of freedom. Angela Meleca Gallery, 2015.

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Oktay, Baysal, and United States. National Aeronautics and Space Administration., eds. 3-D unstructured method for flows past bodies in 6-DOF relative motion: Preprint from proceedings of 6th International Symposium of Computational Fluid Dynamics, Japan Society of Computational Fluid Dynamics, September 4-8, 1995, Lake Tahoe, Nevada. National Aeronautics and Space Administration, 1995.

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Oktay, Baysal, and United States. National Aeronautics and Space Administration., eds. 3-D unstructured method for flows past bodies in 6-DOF relative motion: Preprint from proceedings of 6th International Symposium of Computational Fluid Dynamics, Japan Society of Computational Fluid Dynamics, September 4-8, 1995, Lake Tahoe, Nevada. National Aeronautics and Space Administration, 1995.

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Singh, K. P. 3-D unstructured method for flows past bodies in 6-DOF relative motion: Preprint from proceedings of 6th International Symposium of Computational Fluid Dynamics, Japan Society of Computational Fluid Dynamics, September 4-8, 1995, Lake Tahoe, Nevada. National Aeronautics and Space Administration, 1995.

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Beth, Mintz, and Rothblum Esther D, eds. Lesbians in academia: Degrees of freedom. Routledge, 1997.

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Book chapters on the topic "6 degrees of freedom"

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Li, Ming. "Vibrations with Multiple Degrees-of-Freedom." In Fractional Vibrations with Applications to Euler-Bernoulli Beams. CRC Press, 2023. http://dx.doi.org/10.1201/9781003460947-6.

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Sugano, S., and I. Kato. "Finger-Arm Coordination Control Method for Multiple Degrees of Freedom Robot." In RoManSy 6. Springer US, 1987. http://dx.doi.org/10.1007/978-1-4684-6915-8_30.

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Mukhopadhyay, Madhujit. "Free Vibration of Multiple Degrees of Freedom System." In Vibrations, Dynamics and Structural Systems 2nd edition. CRC Press, 2023. http://dx.doi.org/10.1201/9781003421580-6.

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Herman, Michel R. "Examples of Compact Hypersurfaces in R2P, 2P ≥ 6, With No Periodic Orbits." In Hamiltonian Systems with Three or More Degrees of Freedom. Springer Netherlands, 1999. http://dx.doi.org/10.1007/978-94-011-4673-9_11.

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Sestieri, A., W. D’Ambrogio, R. Brincker, A. Skafte, and A. Culla. "Estimation of Rotational Degrees of Freedom by EMA and FEM Mode Shapes." In Special Topics in Structural Dynamics, Volume 6. Springer New York, 2013. http://dx.doi.org/10.1007/978-1-4614-6546-1_38.

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Khambra, Sourabh, Chandan Kumar, Dipankar Chatterjee, and Bittagopal Mondal. "Predicting the Flight Behaviour of a Guided Projectile Through a Six Degrees of Freedom Trajectory Model." In Fluid Mechanics and Fluid Power, Volume 6. Springer Nature Singapore, 2024. http://dx.doi.org/10.1007/978-981-99-5755-2_49.

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Geike, Thomas, and John Mcphee. "Inverse Dynamic Analysis of Parallel Manipulators with 3 or 6 Degrees of Freedom." In Romansy 14. Springer Vienna, 2002. http://dx.doi.org/10.1007/978-3-7091-2552-6_8.

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Popișter, Florin, Alexandru Oarcea, Sergiu-Dan Stan, and Costan-Vlăduț Trifan. "Workspace Analysis of a Novel Parallel Kinematic Machine with 6 Degrees of Freedom." In Lecture Notes in Mechanical Engineering. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-00805-4_5.

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Miller, Logan E., Jillian E. Urban, and Joel D. Stitzel. "Estimation of 6 Degrees-of-Freedom Accelerations from Head Impact Telemetry System Outputs for Computational Modeling." In Lecture Notes in Computational Vision and Biomechanics. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-23073-9_8.

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Chicoma, Max Uriarte, Diego Serrano Escobar, and Leonardo Vinces. "Large-Scale FDM 3D Printing in 6 Degrees of Freedom on One ARM KUKA KR 60." In Proceedings of the 7th Brazilian Technology Symposium (BTSym’21). Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-08545-1_53.

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Conference papers on the topic "6 degrees of freedom"

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Zhang, Zhengming, Weiiun Wang, Wei Sun, et al. "Design for Collaborative Robot with 6 Degree of Freedom(DOF)." In 2024 10th International Conference on Electrical Engineering, Control and Robotics (EECR). IEEE, 2024. http://dx.doi.org/10.1109/eecr60807.2024.10607241.

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Galipon, Josephine, Aymeric Bordier, Maxime Duby, et al. "A transparent spherical microscope stage to realize tracking and omni-directional imaging with 6 degrees of freedom*." In 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, 2024. http://dx.doi.org/10.1109/aim55361.2024.10637240.

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Pollack, Gilad, and Ofer Kfir. "Measuring Bell Inequalities via Diffraction." In CLEO: Fundamental Science. Optica Publishing Group, 2024. http://dx.doi.org/10.1364/cleo_fs.2024.fm4r.6.

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We propose a diffractive approach for Bell-inequality measurements of double-slit qubits, where the bases and digitization error are post-selected. This work enables quantifying entanglements of particles regardless of internal degrees of freedom.

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Kim, Jehyeok, and Clément Gosselin. "A Backdrivable Axisymmetric Kinematically Redundant (6+3)-Degree-of-Freedom Hybrid Parallel Manipulator." In 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610821.

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Saint-Aime, Sebastien, Brigitte Le-Pevedicz, and Dominique Duhaut. "Building emotions with 6 degrees of freedom." In 2007 IEEE International Conference on Systems, Man and Cybernetics. IEEE, 2007. http://dx.doi.org/10.1109/icsmc.2007.4413700.

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Baker, Antoin, and Carl D. Crane. "Analysis of Three Degree of Freedom 6×6 Tensegrity Platform." In ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2006. http://dx.doi.org/10.1115/detc2006-99041.

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The mechanism studied in this paper is a three degree of freedom 6×6 tensegrity structure. A tensegrity structure is one that balances internal (pre-stressed) forces of tension and compression. These structures have the unique property of stabilizing themselves if subjected to certain types of disturbances. The structure analyzed in this paper consists of two rigid bodies (platforms) connected by a total of six members. Three of the members are noncompliant constant-length struts and the other three members consist of springs. For typical parallel mechanisms, if the bottom platform is connected to the ground and the top platform is connected to the base by six compliant leg connectors, the top platform will have six degrees of freedom relative to the bottom platform. However, because three of the six members connecting the two platforms are noncompliant constant-length struts, the top platform has only three degrees of freedom. The primary contribution of this paper is the analysis of the three degree of freedom tensegrity platform. Specifically, given the location of the connector points on the base and top platforms, the lengths of the three noncompliant constant-length struts, and the desired location of a point embedded in the top platform measured with respect to a coordinate system attached to the base, all possible orientations of the top platform are determined.

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Giberti, Hermes, Francesco La Mura, Marco Tarabini, and Mattia Camnasio. "Characterization of a 6 Degrees of Freedom Parallel Robot." In 2021 IEEE International Workshop on Metrology for Industry 4.0 & IoT (MetroInd4.0&IoT). IEEE, 2021. http://dx.doi.org/10.1109/metroind4.0iot51437.2021.9488446.

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Tan, Kuan Meng, Amir Anvar, and Tien-Fu Lu. "6 Degrees of freedom (DOF) maritime robotic simulation framework." In Vision (ICARCV 2010). IEEE, 2010. http://dx.doi.org/10.1109/icarcv.2010.5707368.

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Kokegei, Matthew, Fangpo He, and Karl Sammut. "Fully coupled 6 degrees-of-freedom control of Autonomous Underwater Vehicles." In OCEANS 2008. IEEE, 2008. http://dx.doi.org/10.1109/oceans.2008.5152090.

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Marvel, Jeremy A., Joe Falco, and Tsai Hong. "Ground truth for evaluating 6 degrees of freedom pose estimation systems." In the Workshop. ACM Press, 2012. http://dx.doi.org/10.1145/2393091.2393106.

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Reports on the topic "6 degrees of freedom"

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Lai, Chin-Ta, and Joel Conte. Dynamic Modeling of the UC San Diego NHERI Six-Degree-of-Freedom Large High-Performance Outdoor Shake Table. Pacific Earthquake Engineering Research Center, University of California, Berkeley, CA, 2024. http://dx.doi.org/10.55461/jsds5228.

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The UC San Diego Large High-Performance Outdoor Shake Table (LHPOST), which was commissioned on October 1, 2004 as a shared-use experimental facility of the National Science Foundation (NSF) Network for Earthquake Engineering Simulation (NEES) program, was upgraded from its original one degree-of-freedom (LHPOST) to a six degree-of-freedom configuration (LHPOST6) between October 2019 and April 2022. The LHPOST6 is a shared-use experimental facility of the NSF Natural Hazard Engineering Research Infrastructure (NHERI) program. A mechanics-based numerical model of the LHPOST6 able to capture the dynamics of the upgraded 6-DOF shake table system under bare table condition is presented in this report. The model includes: (i) a rigid body kinematic model that relates the platen motion to the motions of components attached to the platen, (ii) a hydraulic dynamic model that calculates the hydraulic actuator forces based on all fourth-stage servovalve spool positions, (iii) a hold-down strut model that determines the pull-down forces produced by the three hold-down struts, (iv) a 2-D and various 1-D Bouc-Wen models utilized to represent the dissipative forces in the shake table system, and (v) a 6-DOF rigid body dynamic model governing the translational and rotational motions of the platen subjected to the forces from the various components attached to the platen. In this report, the rigid body dynamics is studied utilizing the platen twist (combination of platen translational and rotational velocities) and wrench (combination of force and moment resultants acting on the platen) following principles from the robotic analysis literature. The numerical model of the LHPOST6 is validated extensively using experimental data from the acceptance tests performed following the shake table upgrade, and the model predictions of the shake table system response are found to be consistently in very good agreement with the experimental results for tri-axial and six-axial earthquake shake table tests. The validated mechanics-based numerical model of the LHPOST6 presented in this study can be coupled with finite element models of shake table test specimens installed on the rigid platen to study the dynamic interaction between the shake table system and the specimens. Another important potential use of the model is to improve the motion tracking performance of the LHPOST6 through either off-line tuning of the shake table controller and/or development of more advanced shake table controllers.

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2

Lichtenberg, Allan J. Stochastic Motion in Many Degrees of Freedom. Defense Technical Information Center, 1997. http://dx.doi.org/10.21236/ada327244.

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3

Dawid, Richard. Holographic cosmology and its relevant degrees of freedom. Office of Scientific and Technical Information (OSTI), 1999. http://dx.doi.org/10.2172/840216.

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4

Foias, C. The asymptotic degrees of freedom of fluid flows. Office of Scientific and Technical Information (OSTI), 1990. http://dx.doi.org/10.2172/6283198.

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5

Christie, Benjamin, Cameron Alred, Michael Paquette, and Garry Glaspell. Increasing the degrees of freedom on a robot arm. Engineer Research and Development Center (U.S.), 2023. http://dx.doi.org/10.21079/11681/47846.

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This report provides an implementation of the moveit-commander Python module to generate trajectories for custom six– and seven–degrees of freedom (DoF) arms. The moveit_setup_assistant package was used to modify an existing five-DoF OpenManipulator-X model to increase its range of motion. Specifically, additional joints were fabricated and mounted to the physical arm. Also, the Unified Robot Description Format files were modified to account for the additional joints. In order to optimize the solvers, many changes to the MOVEit configuration files were made. The changes documented in this report lay the groundwork for leveraging MOVEit to expand the capabilities of low-DoF arms.

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Wissink, Andrew, Jude Dylan, Buvana Jayaraman, et al. New capabilities in CREATE™-AV Helios Version 11. Engineer Research and Development Center (U.S.), 2021. http://dx.doi.org/10.21079/11681/40883.

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CREATE™-AV Helios is a high-fidelity coupled CFD/CSD infrastructure developed by the U.S. Dept. of Defense for aeromechanics predictions of rotorcraft. This paper discusses new capabilities added to Helios version 11.0. A new fast-running reduced order aerodynamics option called ROAM has been added to enable faster-turnaround analysis. ROAM is Cartesian-based, employing an actuator line model for the rotor and an immersed boundary model for the fuselage. No near-body grid generation is required and simulations are significantly faster through a combination of larger timesteps and reduced cost per step. ROAM calculations of the JVX tiltrotor configuration give a comparably accurate download prediction to traditional body-fitted calculations with Helios, at 50X less computational cost. The unsteady wake in ROAM is not as well resolved, but wake interactions may be a less critical issue for many design considerations. The second capability discussed is the addition of six-degree-of-freedom capability to model store separation. Helios calculations of a generic wing/store/pylon case with the new 6-DOF capability are found to match identically to calculations with CREATE™-AV Kestrel, a code which has been extensively validated for store separation calculations over the past decade.

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Yeh, Peter Derek. Six Degrees of Freedom (6DOF) Simulations of Supersonic Fragment Trajectories. Office of Scientific and Technical Information (OSTI), 2020. http://dx.doi.org/10.2172/1597202.

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Martens, Agnieszka. Affine Models of Internal Degrees of Freedom and their Quantization. GIQ, 2015. http://dx.doi.org/10.7546/giq-16-2015-207-218.

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R. Lourie and G. A. Warren. Polarization degrees of freedom in electronuclear reactions. Final technical report. Office of Scientific and Technical Information (OSTI), 1998. http://dx.doi.org/10.2172/760097.

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Kott, Phillip S. The Degrees of Freedom of a Variance Estimator in a Probability Sample. RTI Press, 2020. http://dx.doi.org/10.3768/rtipress.2020.mr.0043.2008.

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Inferences from probability-sampling theory (more commonly called “design-based sampling theory”) often rely on the asymptotic normality of nearly unbiased estimators. When constructing a two-sided confidence interval for a mean, the ad hoc practice of determining the degrees of freedom of a probability-sampling variance estimator by subtracting the number of its variance strata from the number of variance primary sampling units (PSUs) can be justified by making usually untenable assumptions about the PSUs. We will investigate the effectiveness of this conventional and an alternative method for determining the effective degrees of freedom of a probability-sampling variance estimator under a stratified cluster sample.

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