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1
Chmutov, S., S. Jablan, K. Karvounis, and S. Lambropoulou. "On the link invariants from the Yokonuma–Hecke algebras." Journal of Knot Theory and Its Ramifications 25, no. 09 (August 2016): 1641004. http://dx.doi.org/10.1142/s0218216516410042.
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In this paper, we study properties of the Markov trace tr[Formula: see text] and the specialized trace [Formula: see text] on the Yokonuma–Hecke algebras, such as behavior under inversion of a word, connected sums and mirror imaging. We then define invariants for framed, classical and singular links through the trace [Formula: see text] and also invariants for transverse links through the trace tr[Formula: see text]. In order to compare the invariants for classical links with the Homflypt polynomial, we develop computer programs and we evaluate them on several Homflypt-equivalent pairs of knots and links. Our computations lead to the result that these invariants are topologically equivalent to the Homflypt polynomial on knots. However, they do not demonstrate the same behavior on links.
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Дворжак, В. М. "АНАЛІТИЧНЕ ДОСЛІДЖЕННЯ ДИНАМІКИ ТИПОВИХ КУЛІСНИХ МЕХАНІЗМІВ ТЕХНОЛОГІЧНИХ МАШИН ЛЕГКОЇ ПРОМИСЛОВОСТІ." Bulletin of the Kyiv National University of Technologies and Design. Technical Science Series 122, no. 3 (October 4, 2018): 9–18. http://dx.doi.org/10.30857/1813-6796.2018.3.1.
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Improving methods of designing technological machines mechanisms of light industry in CAD-programs. The analytical method of vector transformation of coordinates for calculation of typical mechanisms of technological machines and a numerical method for solving differential equations are used. Mathematical models describing the functions of the position of the moving links and the characteristic points of the multi-link mechanism of the thread take-up mechanism for the sewing machine and the dynamics of its operation are obtained. Schematic modeling of the mechanism in the Mathcad program was performed. The graphs of the dependence of the angular velocity and acceleration on time and on the angle of rotation of the crank mechanism. The algorithm of numerical and analytical investigation of the dynamics of the flat six-link articulated mechanism of the thread take-up of the sewing machine is proposed on the basis of the numerical solution of the differential equation of motion of the mechanism and a computer simulation of the mechanism in the program Mathcad. Practical Value is to use the results of research in kinematic and dynamic study of the target sewing machine mechanisms.
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Khang, Nguyen Van, and Vu Van Khiem. "Numerical evaluation of periodic transverse vibration of elastic connecting rods in a six-link mechanism." Vietnam Journal of Mechanics 19, no. 3 (September 30, 1997): 35–44. http://dx.doi.org/10.15625/0866-7136/10058.
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Application of the substructure method and d'Alembert's principle to deriving the differential equation of motion of a six-link mechanism with two elastic connecting rods is presented. In the case of stationary motion, the generalized Ritz's method has been applied to obtain system of linear differential equations with periodic coefficients. We have written computer programs to check conditions of dynamic stability and to find periodic solutions of the obtained equations. Numerical examples are given and from which the effect of elastic factors on articulation reactions is evaluated.
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Oakman, Jodi. "Beyond Coursework: Developing Communities in an Online Program of Study." Journal of Information Technology Education: Innovations in Practice 15 (2016): 167–79. http://dx.doi.org/10.28945/3587.
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The nexus between paid work and study is important. Developing opportunities to facilitate this link is a key part of good course design especially in postgraduate programs. Strong communities of practice can also assist with improving links between research and practice. The online study environment affords some challenges to achieving these goals. The current study proposes that offering formalised interaction points— synchronous or asynchronous— during online study, is critical to facilitating the link between work and study. Twenty-five graduates of a postgraduate program were interviewed to explore their experiences of an online program of study. Three key themes emerged and are described in this paper: engaging with study, building a new framework for my practice, and implementing changes to my practice. Online learning programs need to embed opportunities for interaction that are meaningful and allow for development of ideas and discussion, aiming to take learning beyond the program of study.
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Hartman, Amiel, and Vidya K. Nandikolla. "Human-Machine Interface for a Smart Wheelchair." Journal of Robotics 2019 (January 2, 2019): 1–11. http://dx.doi.org/10.1155/2019/4837058.
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The paper describes the integration of hardware and software with sensor technology and computer processing to develop the next generation intelligent wheelchair. The focus is a computer cluster design to test high performance computing for smart wheelchair operation and human interaction. The LabVIEW cluster is developed for real-time autonomous path planning and sensor data processing. Four small form factor computers are connected over a Gigabit Ethernet local area network to form the computer cluster. Autonomous programs are distributed across the cluster for increased task parallelism to improve processing time performance. The distributed programs operating frequency for path planning and motion control is 50Hz and 12.3Hz for 0.3 megapixel robot vision system. To monitor the operation and control of the distributed LabVIEW code, network automation is integrated into the cluster software along with a performance monitor. A link between the computer motion control program and the wheelchair joystick control of the drive train is developed for the computer control interface. A perception sensor array and control circuitry is integrated with the computer system to detect and respond to the wheelchair environment. Multiple cameras are used for image processing and scanning laser rangefinder sensors for obstacle avoidance in the cluster program. A centralized power system is integrated to power the smart wheelchair along with the cluster and sensor feedback system. The on board computer system is evaluated for cluster processing performance for the smart wheelchair, incorporating camera machine vision and LiDAR perception for terrain obstacle detection, operating in urban scenarios.
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Wu, Chiu Chin, Yii Wen Hwang, and Shu Hong Lin. "Dynamic Analysis and Simulation of Virtual Engine." Applied Mechanics and Materials 121-126 (October 2011): 3770–78. http://dx.doi.org/10.4028/www.scientific.net/amm.121-126.3770.
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The purpose of this study was to establish a complete dynamic analysis method for motorcycle engines to serve as course material for study of machine dynamics. Virtual engine software was also developed for users to understand how engine performance is influenced by parameters such as engine accelerator, engine weight, and flywheel. First we applied the vector-loop approach to deduce the kinematic analysis of engine mechanism. We then applied Newton’s method to analyze the bearing force and friction of each link. Next, we used a power equation to deduce the equation of motion of the system, and used the Runge-Kutta method to perform normal dynamic analysis. Finally, by combining computer programs with the Open Graphics Library (OpenGL), we developed virtual engine software for users to observe motion and performance of engine. The results of this study provide engineers a computer-aided design program for automatic generation of all optimal pipes. It is beneficial to pipe design ability.
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Stith, Bradley J. "Use of Animation in Teaching Cell Biology." Cell Biology Education 3, no. 3 (September 2004): 181–88. http://dx.doi.org/10.1187/cbe.03-10-0018.
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To address the different learning styles of students, and because students can access animation from off-campus computers, the use of digital animation in teaching cell biology has become increasingly popular. Sample processes from cell biology that are more clearly presented in animation than in static illustrations are identified. The value of animation is evaluated on whether the process being taught involves motion, cellular location, or sequential order of numerous events. Computer programs for developing animation and animations associated with cell biology textbooks are reviewed, and links to specific examples of animation are given. Finally, future teaching tools for all fields of biology will increasingly benefit from an expansion of animation to the use of simulation. One purpose of this review is to encourage the widespread use of animations in biology teaching by discussing the nature of digital animation.
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Дворжак, В. М. "ЗАСТОСУВАННЯ МЕХАНІЗМУ ЧЕТВЕРТОГО КЛАСУ ДЛЯ ПРИВОДУ ВУШКОВИХ ГОЛОК ОСНОВОВ’ЯЗАЛЬНОЇ МАШИНИ." Bulletin of the Kyiv National University of Technologies and Design. Technical Science Series 146, no. 3 (January 11, 2021): 15–24. http://dx.doi.org/10.30857/1813-6796.2020.3.1.
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Development and research of functionally-adequate target mechanisms of technological machines of light industry with application of applied CAE-programs. Used the apparatus of vector algebra; analytical and numerical methods for determining the position functions of planar mechanisms containing a structural group of the fourth class of the second order, based on the vector transformation of coordinates; random search method for metric synthesis of flat mechanisms; methods of computer visualization and animation of kinematic schemes of flat mechanisms of higher classes. Mathematical models describing the position functions of the mechanism of eyelets of a warp knitting machine containing a structural group of the fourth class of the second order with rotating kinematic pairs in the form of angles of moving links, free vectors constructed on these links and radius vectors of characteristic points of the mechanism as a function of the angle of rotation of the master crank. The geometrical parameters of the flat six-link mechanism of eyelets for the warp knitting machine containing the structural group of the fourth class of the second order with rotating kinematic pairs as a result of metric synthesis of the mechanism by random search in CAE-program are determined; computer circuit modeling of the obtained mechanism is performed; graphs of visualization and animation of the kinematic scheme of the received mechanism are constructed; identification of the kinematic scheme of the obtained mechanism for compliance with the accepted structure; the received graph of function of position of an auricular needle of the mechanism of the fourth class; the functions of the position of the eye needle of the new mechanism and the mechanism of the basic knitting machine OV-7 are compared. The structure of a flat six-link mechanism, containing structural groups of the fourth class of the second order with rotating kinematic pairs, is proposed for use as a drive in a warp knitting machine on the example of the mechanism of oscillating movement of eyelets. The geometric dimensions of the moving parts of the functionally adequate mechanism of the fourth class for the drive of the eye needles of the basic knitting machine are determined. Software blocks for automated computer metric synthesis and calculation of link angles and radius vectors of characteristic points of the mechanism in the CAE program have been created. Practical Value is to use the results for the design and construction of flat mechanisms of the fourth class with rotating kinematic pairs of warp knitting machines, in which the working bodies make stops during the work process.
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Дворжак, В. М. "ЗАСТОСУВАННЯ МЕХАНІЗМУ ЧЕТВЕРТОГО КЛАСУ ДЛЯ ПРИВОДУ ВУШКОВИХ ГОЛОК ОСНОВОВ’ЯЗАЛЬНОЇ МАШИНИ." Bulletin of the Kyiv National University of Technologies and Design. Technical Science Series 146, no. 3 (January 11, 2021): 15–24. http://dx.doi.org/10.30857/1813-6796.2020.3.1.
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Development and research of functionally-adequate target mechanisms of technological machines of light industry with application of applied CAE-programs. Used the apparatus of vector algebra; analytical and numerical methods for determining the position functions of planar mechanisms containing a structural group of the fourth class of the second order, based on the vector transformation of coordinates; random search method for metric synthesis of flat mechanisms; methods of computer visualization and animation of kinematic schemes of flat mechanisms of higher classes. Mathematical models describing the position functions of the mechanism of eyelets of a warp knitting machine containing a structural group of the fourth class of the second order with rotating kinematic pairs in the form of angles of moving links, free vectors constructed on these links and radius vectors of characteristic points of the mechanism as a function of the angle of rotation of the master crank. The geometrical parameters of the flat six-link mechanism of eyelets for the warp knitting machine containing the structural group of the fourth class of the second order with rotating kinematic pairs as a result of metric synthesis of the mechanism by random search in CAE-program are determined; computer circuit modeling of the obtained mechanism is performed; graphs of visualization and animation of the kinematic scheme of the received mechanism are constructed; identification of the kinematic scheme of the obtained mechanism for compliance with the accepted structure; the received graph of function of position of an auricular needle of the mechanism of the fourth class; the functions of the position of the eye needle of the new mechanism and the mechanism of the basic knitting machine OV-7 are compared. The structure of a flat six-link mechanism, containing structural groups of the fourth class of the second order with rotating kinematic pairs, is proposed for use as a drive in a warp knitting machine on the example of the mechanism of oscillating movement of eyelets. The geometric dimensions of the moving parts of the functionally adequate mechanism of the fourth class for the drive of the eye needles of the basic knitting machine are determined. Software blocks for automated computer metric synthesis and calculation of link angles and radius vectors of characteristic points of the mechanism in the CAE program have been created. Practical Value is to use the results for the design and construction of flat mechanisms of the fourth class with rotating kinematic pairs of warp knitting machines, in which the working bodies make stops during the work process.
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ROMANENKO, Tetiana, and Nataliia RUSINA. "USE OF VISUAL PROGRAMMING LANGUAGE FOR SIMULATION OF DYNAMIC SYSTEMS." HERALD OF KHMELNYTSKYI NATIONAL UNIVERSITY 295, no. 2 (May 2021): 109–15. http://dx.doi.org/10.31891/2307-5732-2021-295-2-109-115.
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The article presents examples of research of typical links of linear systems and construction and study of transient functions, namely: research of influence of parameters of elements of systems of automatic control of its quality. Programs for automatic control are developing rapidly, the main areas of which are related to the optimization of technological processes and robotics. This encourages the introduction into modern production of high-precision digital systems with more extensive use of computer systems. In the simulation process, there is often a need to carefully select and apply real objects to study the quality of automatic control systems. This can be achieved by using a visual programming language for modeling dynamic systems and designing VisSim. The connection of parameters of automatic control systems with indicators of its quality is investigated: by definition of error coefficient; research of influence of a constant time of a forcing link on quality of automatic control systems by the method of compensation of the part in the main inertia of the control object, for the use of the forcing link. As a result, of research graphic dependences of quality of linear systems of automatic control, research of influence of a constant of time of a forcing link on its quality, carrying out identification of the regulator and object of management of systems of automatic control are received. Studies of the process of modeling dynamic systems were visually presented using the visual programming language VisSim. In particular, by creating virtual laboratory stands to study the quality of different modes of automatic control systems in relation to the performance of signal generators and the calculation of the necessary parameters of the study.
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Zhang, Yibo, Jianjun Tang, and Hui Huang. "Motion Capture and Intelligent Correction Method of Badminton Movement Based on Machine Vision." Mobile Information Systems 2021 (July 30, 2021): 1–10. http://dx.doi.org/10.1155/2021/3256924.
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In recent years, badminton has become more and more popular in national fitness programs. Amateur badminton clubs have been established all over the country, and amateur badminton events at all levels have increased significantly. Due to the lack of correct medical supervision and health guidance, many people have varying degrees of injury during sports. Therefore, it is very important to study the method of badminton movement capture and intelligent correction based on machine vision to provide safe and effective exercise plan for amateur badminton enthusiasts. This article aims to study the methods of motion capture and intelligent correction of badminton. Aiming at the shortcoming of the mean shift algorithm that it is easy to lose the target when the target is occluded or the background is disturbed, this paper combines the mean shift algorithm with the Kalman filter algorithm and proposes an improvement to the combined algorithm. The improved algorithm is added to the calculation of the average speed of the target, which can be used as the target speed when the target is occluded to predict the area where the target may appear at the next moment, and it can also be used as a judgment condition for whether the target is interfered by the background. The improved algorithm combines the macroscopic motion information of the target, can overcome the problem of target loss when the target is occluded and background interference, and improves the robustness of target tracking. Using LabVIEW development environment to write the system software of the Japanese standard tracking robot, the experiment verified the rationality and correctness of the improved target tracking algorithm and motion control method, which can meet the real-time performance of moving target tracking. Experimental results show that 83% of amateur badminton players have problems with asymmetric functions and weak links. Based on machine vision technology, it can provide reliable bottom line reference for making training plans, effectively improve the quality of action, improve the efficiency of action, and promote the development of sports competitive level.
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Cassaniti, Jarret. "Influence Networks Relating to Health Knowledge Among Nairobi’s Micro-Retailers and Their Clients." Electronic Journal of Knowledge Management 18, no. 3 (April 23, 2021): pp302–324. http://dx.doi.org/10.34190/ejkm.18.3.2068.
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TRANSFORM, founded in 2015 by Unilever and the UK’s Department for International Development, supports several social enterprises by combining public sector resources with private sector technical capabilities and networks to support innovative social enterprises. Digital programs have enabled social enterprise partnerships to expand the reach of their initiatives to broader audiences including specifically defined groups that hitherto were untapped or difficult to reach. Unilever partnered with TRANSFORM and Every1Mobile to develop UJoin and UAfya in informal settlements of Nairobi, Kenya. UJoin is a social enterprise initiative for promoting business growth among underserved neighborhood shops called dukas. UAfya focuses on young expectant and new mothers, and women interested in family and maternal health topics. Each initiative uses an online community network to discuss and improve knowledge and behaviors regarding livelihoods and health. Online communities provide opportunities to reach specific groups with targeted behavior change messages and campaigns. However, little systematic knowledge is currently available on how to develop, and scale-up effective behavior change programs for digital communities in low-income markets. There is also little information about key guiding principles and best practices that underlie successful digital and online, social networking models. A systematic and participatory tool known as Net-Map was used to explore and understand potential frameworks for establishing digital-based community-driven partnerships with the private sector for health promotion through behavior change. The Net-Map approach was used to help individuals and groups clarify their view of a situation (including networks and power structures), foster discussion, and develop a strategic approach to their networking activities. Eight Net-Maps were constructed, stratified by groups based on location and digital platform. Each map was constructed by an average of 9-10 people for a total of 76 participants. Seventy-six participants identified actors – stakeholders and groups of people involved - and influential links – ways actors are connected - through the Net-Map activity. Among UAfya participants, local government, family, and friends, and the media were identified as the most important actor types. A comparison of the discussions associated with the creation of the maps by UAfya members shows that the two most important link types are conflict, and collaboration/partnership. Among UJoin participants, the three most important actor types were local government, business and financial institutions, and customers. UJoin members identified regulation, and conflict and competition, collaboration and, information sharing as key links between actors. Recommendations based on findings support a vision for scale-up of the UJoin and UAfya programs through accreditation and branding of a novel type of duka. Shop keepers would be trained and knowledgeable to provide high-quality services to improve customer health while also selling health products that benefit the bottom line.
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Cruz, Carlos, Esther Palomar, Ignacio Bravo, and Alfredo Gardel. "Cooperative Demand Response Framework for a Smart Community Targeting Renewables: Testbed Implementation and Performance Evaluation." Energies 13, no. 11 (June 5, 2020): 2910. http://dx.doi.org/10.3390/en13112910.
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Demand response (DR) is emerging as the workhorse of achieving energy efficiency and reducing our carbon footprint, which persists as a major challenge amongst all the different energy-chain players, i.e., the utility providers, policy makers, consumers, and the technology sector. For instance, the Internet-of-Things (IoT) paradigm and network-enabled appliances/devices have escalated the expectations of what technology could do for the acceptance of DR programs. In this work, we design, deploy on a scalable pilot testbed, and evaluate a collaboration-based approach to the demand-side management of a community of electricity consumers that jointly targets green consumption. The design of the framework architecture is centralized via the so-called aggregator, which optimizes the demand scheduled by consumers along with their time frame preferences towards the maximization of the consumption of renewables. On the pilot, we opt for lightweight, yet efficient platforms such as Raspberry Pi boards, and evaluate them over a series of network protocols, i.e., MQTT-TLS and CoAP-DTLS, paying special attention to the security and privacy of the communications over Z-Wave, ZigBee, and WiFi. The experiments conducted are configured using two active Living Labs datasets from which we extract three community scenarios that vary according to the flexibility or rigidity of the appliances’ operation time frame demand. During the performance evaluation, processing and communication overheads lie within feasible ranges, i.e., the aggregator requires less than 2 s to schedule a small consumer community with four appliances, whereas the latency of its link to households’ controllers adds less than 100 ms. In addition, we demonstrate that our implementations running over WiFi links and UDP sockets on Raspberry Pi 4 boards are fast, though insecure. By contrast, secure CoAP (with DTLS) offers data encryption, automatic key management, and integrity protection, as well as authentication with acceptable overheads.
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Adeleye, Olurotimi A., Tamunomiete S. Ekine, and Ahmed A. Yinusa. "Dynamic Analysis of Lower Limb Exoskeleton Motion and Control Using Differential Transform Method." Journal of Biomimetics, Biomaterials and Biomedical Engineering 51 (June 14, 2021): 77–94. http://dx.doi.org/10.4028/www.scientific.net/jbbbe.51.77.
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In this study, the nonlinear dynamic analysis of the motion and control of the lower limb exoskeleton using differential transform method is presented. Devices for medical processes are continuously undergoing improvement such as enhancing and assisting automatic therapies with flexible and configurable programs for treating people with partial disability in lower limbs as applied in lower-limb exoskeleton. The configurable programs in this exoskeleton can be applied to observe and control the motion of the exoskeleton for effective physiotherapy and reduced rehabilitation time for patients with such disability. Hence, a two degree of freedom nonlinear dynamic model for the motion and control of the lower limb exoskeletons was developed for two links. The nonlinear dynamic models are solved by applying the differential transform method (DTM) and verified with the forth order Runge-Kutta numerical method (RK4). The effects of the applied torque on the two links are investigated and it is observed that Link 1 has large negative deflection amplitude that drives link 2 towards the opposite positive direction. An increase in the applied torque resulted in increase in the amplitude of the system for all initial condition considered. This in turns increases the nonlinear dynamic behavior of link 2 due to its lower mass value. The speed of both links dampens out over the history due to the presence of damping term. At equilibrium, both links are in phase and have the same amplitude over the time history. This study provides an analytical tool for observing and controlling the motions of the lower limb exoskeleton and for improving the designs of the medical device.
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Lim, Geunbae, Kazuyuki Minami, Keisuke Yamamoto, Masahisa Sugihara, Masaru Uchiyama, and Masayoshi Esashi. "Multi-link active catheter snake-like motion." Robotica 14, no. 5 (September 1996): 499–506. http://dx.doi.org/10.1017/s0263574700019986.
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SUMMARYA prototype of a catheter which can move like a snake, incorporating distributed shape memory alloy actuators, is described. Since this active catheter has an instrumental navigation ability, minimally invasive diagnosis and interventional therapy will be possible. The outer diameter of the active catheter is 2.8 mm and it has many links fabricated by 3-dimensional silicon micromachining. The silicon batch process was used for the fabrication of the link to minimize assembly work. A new heating method (indirect heating) is suggested which is necessary when the JC chip is mounted on the link.
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Rastegar, J. "On the Galloway-Type of Spatial Mechanisms." Journal of Mechanical Design 112, no. 4 (December 1, 1990): 466–71. http://dx.doi.org/10.1115/1.2912633.
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The Galloway mechanism is a plane four-bar, drag-link-type linkage with one pair of equal-length shorter links, and one pair of equal-length longer links, forming a rhomboid geometry. The short links constitute the frame and the input links. In a Galloway mechanism, two full rotations of the input link result in a single rotation of the output link. In this paper, the Galloway mechanism is analyzed and the rules governing its motion are found. The conditions necessary for the existence of a Galloway-type spatial mechanism are then determined. As an example, the necessary relationships between the geometric parameters of a spatial RRRSR mechanism are derived. A numerical example is included.
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Lee, Ho-Hoon. "New Dynamic Modeling of Flexible-Link Robots." Journal of Dynamic Systems, Measurement, and Control 127, no. 2 (December 12, 2003): 307–9. http://dx.doi.org/10.1115/1.1902843.
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This paper shows that the conventional Lagrangian modeling of flexible-link robots does not fully incorporate the bending mechanism of flexible links. The conventional link deflection model allows free link elongation in addition to link deflection; the link elongation increases as link deflection increases. The link elongation, however, causes certain degrees of modeling inaccuracy in association with the rotational motion of the links. Therefore, this paper proposes a new link deflection model, compatible with the bending mechanism of flexible links. Then a new nonlinear dynamic model is derived based on the new link deflection model, fixing the modeling inaccuracy of the conventional dynamic model.
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Torby, B. J., and I. Kimura. "Dynamic Modeling of a Flexible Manipulator With Prismatic Links." Journal of Dynamic Systems, Measurement, and Control 121, no. 4 (December 1, 1999): 691–96. http://dx.doi.org/10.1115/1.2802536.
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In this paper the equations of motion for a flexible multi-link manipulator are derived. Each link of the manipulator, including those with prismatic motion, is represented by two finite elements in three-dimensional space. The prismatic links are treated as beams with moving boundary conditions, and the position of finite-element node points are not changed relative to the link. The equations are generated using Maple V, and the paper discusses a general approach for eliminating small terms. A sample calculation is performed for a RRP (Stanford arm) manipulator, and the shift of natural frequencies with time are plotted. Results are compared to those obtained by the assumed-mode method.
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Chang, Liang-Wey, and J. F. Hamilton. "Dynamics of Robotic Manipulators With Flexible Links." Journal of Dynamic Systems, Measurement, and Control 113, no. 1 (March 1, 1991): 54–59. http://dx.doi.org/10.1115/1.2896359.
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This paper presents a dynamic model for the robotic manipulators with flexible links by means of the Finite Element Method and Lagrange’s formulation. By the concept of the Equivalent Rigid Link System (ERLS), the generalized coordinates are selected to represent the total motion as a large motion and a small motion. Two sets of coupled nonlinear equations are obtained where the equations representing small motions are linear with respect to the small motion variables. An example is presented to illustrate the importance of the flexibility effects.
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Zhu, Chunxia, Jay Katupitiya, and Jing Wang. "Effect of links deformation on motion precision of parallel manipulator based on flexible dynamics." Industrial Robot: An International Journal 44, no. 6 (October 16, 2017): 776–87. http://dx.doi.org/10.1108/ir-12-2016-0368.
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Purpose Manipulator motion accuracy is a fundamental requirement for precision manufacturing equipment. Light weight manipulators in high speed motions are vulnerable to deformations. The purpose of this work is to analyze the effect of link deformation on the motion precision of parallel manipulators. Design/methodology/approach The flexible dynamics model of the links is first established by applying the Euler–Bernoulli beam theory and the assumed modal method. The rigid-flexible coupling equations of the parallel mechanism are further derived by using the Lagrange multiplier approach. The elastic energy resulting from spiral motion and link deformations are computed and analyzed. Motion errors of the 3-link torque-prismatic-torque parallel manipulator are then evaluated based on its inverse kinematics. The validation experiments are also conducted to verify the numerical results. Findings The lateral deformation and axial deformation are largest at the middle of the driven links. The axial deformation at the middle of the driven link is approximately one-tenth of the transversal deformation. However, the elastic potential energy of the transversal deformation is much smaller than the elastic force generated from axial deformation. Practical implications Knowledge on the relationship between link deformation and motion precision is useful in the design of parallel manipulators for high performing dynamic responses. Originality/value This work establishes the relationship between motion precision and the amount of link deformation in parallel manipulators.
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Xu, Yixuan, Anfeng Liu, and Changqin Huang. "Delay-Aware Program Codes Dissemination Scheme in Internet of Everything." Mobile Information Systems 2016 (2016): 1–18. http://dx.doi.org/10.1155/2016/2436074.
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Due to recent advancements in big data, connection technologies, and smart devices, our environment is transforming into an “Internet of Everything” (IoE) environment. These smart devices can obtain new or special functions by reprogramming: upgrade their soft systems through receiving new version of program codes. However, bulk codes dissemination suffers from large delay, energy consumption, and number of retransmissions because of the unreliability of wireless links. In this paper, a delay-aware program dissemination (DAPD) scheme is proposed to disseminate program codes with fast, reliable, and energy-efficient style. We observe that although total energy is limited in wireless sensor network, there exists residual energy in nodes deployed far from the base station. Therefore, DAPD scheme improves the performance of bulk codes dissemination through the following two aspects. (1) Due to the fact that a high transmitting power can significantly improve the quality of wireless links, transmitting power of sensors with more residual energy is enhanced to improve link quality. (2) Due to the fact that performance of correlated dissemination tends to degrade in a highly dynamic environment, link correlation is autonomously updated in DAPD during codes dissemination to maintain improvements brought by correlated dissemination. Theoretical analysis and experimental results show that, compared with previous work, DAPD scheme improves the dissemination performance in terms of completion time, transmission cost, and the efficiency of energy utilization.
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Wang, Zhan Zhong, Lin Zhang Cheng, Xiao Ke Fan, and Yan Jun Han. "Dynamic Modeling of Oblique Crossing 3R Wrist with Virtual Link Method." Advanced Materials Research 422 (December 2011): 55–60. http://dx.doi.org/10.4028/www.scientific.net/amr.422.55.
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Based on the theory of graph representation, links of the oblique crossing 3R wrist are devided into carriers and carried links, and contributions of the carried links to the generaliazed inertia forces can be divided into two parts. The first part is due to the motion with the carriers and the second part is due to the motion relative to their carriers. At the same time, the concept of virtual link is introduced to calculate the first part and carriers’ generaliazed inertia forces. The second part is derived with Lagrange Equation. At the end, an efficient and systematic dynamic equation in which the coupling effects of carried links can be identified individually and systematically, is developed. This method provides the basis for the design of driving chains and leads to a computer automated analysis for other geared robotic mechanisms.
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Chang, Liang-Wey, and J. F. Hamilton. "The Kinematics of Robotic Manipulators With Flexible Links Using an Equivalent Rigid Link System (ERLS) Model." Journal of Dynamic Systems, Measurement, and Control 113, no. 1 (March 1, 1991): 48–53. http://dx.doi.org/10.1115/1.2896358.
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The Equivalent Rigid Link System (ERLS) is presented for the analysis of the kinematics of manipulators with flexible links. The concept of the ERLS is to separate the rigid-body dynamics and structural dynamics. The global motion of the flexible-link system is thereby separated into a large motion with a superimposed small motion. The large motion is represented by the ERLS and the small motion is due to the deviations with respect to the ERLS. The complete motion of manipulators is described by homogeneous transformations. The Jacobian and inverse kinematics are also presented in this paper.
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Gogate, Sachin, and Yueh-Jaw Lin. "Formulation and control of robots with link and joint flexibility." Robotica 11, no. 3 (May 1993): 273–82. http://dx.doi.org/10.1017/s0263574700016143.
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SUMMARYPresent study on industrial manipulator control either completely neglects structural flexibility or only considers manipulator link flexibility. Ignoring joint flexibility may cause significant errors in gross motion control if the joint elastic effect is predominant. This paper presents an effective control scheme which can compensate for the motion errors generated by simultaneous existence of both link and joint flexibility. The manipulator dynamics is formulated comprehensively by a superposition of two models, namely, an assumed modes of vibration model for links and a torsional spring model.for joints. Then, a nonlinear feedback rate servo control system is developed that compensates for the gross motion errors introduced by both joint elasticity and link flexibility. Motion simulation results show that the proposed formulation can effectively describe the dynamic behavior of a flexible-link, elastic-joint robot. They also verify that the proposed controller is robust in that it can satisfactorily suppress the manipulator end oscillations and yield an accurate gross motion.
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Ahmadizadeh, M., A. M. Shafei, and R. Jafari. "Frictional Impact-Contacts in Multiple Flexible Links." International Journal of Structural Stability and Dynamics 21, no. 06 (March 10, 2021): 2150075. http://dx.doi.org/10.1142/s0219455421500759.
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Multiple impacts of 2D (planar) open-loop robotic systems composed of [Formula: see text] elastic links and revolute joints are studied in this paper. The dynamic equations of motion for such systems are derived by the Gibbs-Appell recursive algorithm, while the regularized method is employed to model the impact-contact mechanism. The Timoshenko beam theory is used to model the transverse vibrations of the links. Also, both the structural damping and air damping are considered to enhance the modeling accuracy. The system joints are assumed to be frictionless and slack-free, but friction force is included for the links colliding with the ground. The [Formula: see text]-flexible-link system considered goes through a flight phase and an impact phase during its motion. In the impact phase, new equations of motion are derived by including the terms caused by the viscoelastic forces in the system’s differential equations. Owing to the extremely short acting time of the impact force, the related differential equations can be solved only via special treatment, i.e. by detecting the exact moment of impact. To this end, entering or leaving the impact phase is analyzed and controlled with high precision by a special computational algorithm presented in this work. To demonstrate the efficacy and precision of the algorithm developed, computer simulations are conducted to study the dynamic behavior of a 3-link robotic mechanism. To investigate the effect of mode shape on the elastic deformation of links, four different mode shapes are used in the simulations and their results are compared.
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Bert, Charles W., and Shiyuan Wu. "Dynamic Analysis of a Nonlinear Torsional Flexible Coupling With Elastic Links." Journal of Mechanical Design 125, no. 3 (September 1, 2003): 509–17. http://dx.doi.org/10.1115/1.1588344.
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Torsional oscillations in mechanical power transmission systems are a significant source of dynamic loads which are harmful to the system performance. The effects can cause a drive shaft to become unstable and self-destructive at critical speeds. This research focuses on dynamic analysis of a nonlinear torsional flexible coupling with elastic links. The equations of motion are derived by means of Lagrange’s equation. These equations are used to obtain the quasi-static performance of torque vs. angular displacement at constant rotational velocity. An exact solution is also found for the phase-plane representation for free oscillation torque. The fluctuation ratios of input velocity vs. output velocity of the system are obtained for determining the system performance. The results of the analyses of steady running and transient oscillation performance are applied to the determination of optimum proportions of the couplings. Results are compared with those of rigid-link couplings to show the influence of elasticity of the link on dynamic behavior of the system.
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Kohli, D., Jyun-Cheng Cheng, and K. Y. Tsai. "Assemblability, Circuits, Branches, Locking Positions, and Rotatability of Input Links of Mechanisms With Four Closures." Journal of Mechanical Design 116, no. 1 (March 1, 1994): 92–98. http://dx.doi.org/10.1115/1.2919383.
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A general analytical treatment is provided for determining conditions for assemblability, rotatability of input links, locking positions, and number of circuits of mechanisms with four closures and quartic input-output displacement polynomial. It is shown that assemblability, rotatability of input cranks, and lock positions are branch dependent properties for mechanisms with four closures and in general such mechanisms can have many branch dependent circuits. Such mechanisms may be assemblable for only two branches (instead of all four) and the input link rotatability is not only branch dependent but also starting position and direction of motion dependent. The input link may be continuously rotatable for one branch while for other branch it may go through one cycle of rotation (>2π but less than 4π) and then experience a locking position. A detailed analysis of assemblability, branching, locking positions, circuits, and rotatability is presented for spatial five-link RRRSR, RPRSR, RRPSR, and PRRSR mechanisms.
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Pan, Ye-Chen, R. A. Scott, and A. Galip Ulsoy. "Dynamic Modeling and Simulation of Flexible Robots With Prismatic Joints." Journal of Mechanical Design 112, no. 3 (September 1, 1990): 307–14. http://dx.doi.org/10.1115/1.2912609.
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A dynamic model for flexible manipulators with prismatic joints is presented in Part I of this study. Floating frames following a nominal rigid body motion are introduced to describe the kinematics of the flexible links. A Lagrangian approach is used in deriving the equations of motion. The work done by the rigid body axial force through the axial shortening of the link due to transverse deformations is included in the Lagrangian function. Kinematic constraint equations are used to describe the compatibility conditions associated with revolute joints and prismatic joints, and incorporated into the equations of motion by Lagrange multipliers. The small displacements due to the flexibility of the links are then discretized by a displacement based finite element method. Equations of motion are derived for the cases of prescribed rigid body motion as well as prescribed joint torques/forces through application of Lagrange’s equations. The equations of motion and the constraint equations result in a set of differential algebraic equations. A numerical procedure combining a constraint stabilization method and a Newmark direct integration scheme is then applied to obtain the system response. An example, previously treated in the literature, is presented to validate the modeling and solution methods used in this study.
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Yuan, Lifang, and Jahangir S. Rastegar. "Kinematics Synthesis of Linkage Mechanisms With Cam Integrated Joints for Controlled Harmonic Content of the Output Motion." Journal of Mechanical Design 126, no. 1 (January 1, 2004): 135–42. http://dx.doi.org/10.1115/1.1637646.
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A new method is presented for the modification of the output motion of linkage mechanisms with closed-loop chains using cams positioned at one or more of its joints. As an example and to present the basic concept, the method is applied to a four-bar linkage mechanism that is synthesized for function generation for the purpose of eliminating the high harmonic component of the output link motion. By eliminating the high harmonic component of the output motion of a mechanism, the potential vibrational excitation that the mechanism can impart on the overall system, including its own structure, is greatly reduced. The resulting system should therefore be capable of operating at higher speeds and with increased precision. For mechanisms with rigid links, the primary source of high harmonics in the output motion is the nonlinearity of the kinematics of their closed-loop chains. With the present method, a selected range or ranges of high harmonic motions generated due to such nonlinearities may be eliminated by integrating appropriately designed cams that are used to vary the effective length of one or more of the links during the motion. A numerical example is provided together with a discussion of the related topics of interest.
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Pennock, Gordon R., and Nihar N. Raje. "Coupler Cognates for the Double Flier Eight-Bar Linkage." Journal of Mechanical Design 127, no. 6 (February 14, 2005): 1145–51. http://dx.doi.org/10.1115/1.1992508.
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This paper presents a graphical technique to construct the coupler cognate linkages for the double flier eight-bar linkage. The technique is based on the skew pantograph construction which converts the double flier linkage into a second eight-bar linkage by applying the concepts of stretch rotation and kinematic inversion. Since a stretch-rotation operation preserves the angular velocities of corresponding links of the two linkages then the second linkage has the same input-output motion as the original double flier linkage. Another stretch rotation is performed on the intermediate eight-bar linkage and a third eight-bar linkage, which duplicates the motion of the coupler link of the original linkage, is obtained. This graphical approach, to investigating coupler cognates, is believed to be an original contribution to the study of cognate linkages. The technique can be applied in a straightforward manner, requiring few constructions, and offers significant advantages over well-known analytical techniques which use the locus equation. For the double flier eight-bar linkage, the locus equation is of a high degree and the coefficients can only be obtained from a very laborious procedure. This paper shows the existence of two coupler cognates for each of the two floating binary links of the double flier eight-bar linkage that are connected to the ternary link which is pinned to ground.
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Cho, Jung-Keun, and Youn-Sik Park. "Experimental evaluation of time-varying impulse shaping with a two-link flexible manipulator." Robotica 14, no. 3 (May 1996): 339–45. http://dx.doi.org/10.1017/s0263574700019652.
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SUMMARYIn the authors' previous paper,10 an input shaping method was presented to reduce motion-induced vibrations effectively for various classes of flexible systems. In this paper, the effectiveness of the shaping method is experimentally demonstrated with a two-link flexible manipulator systemThe manipulator for experiments includes two revolute joints and two flexible links, and moves on a vertical plane under gravity. An analytic model is developed considering the flexibility of the system and its joint stiffness in order to derive an appropriate estimation of dynamic modal properties. The input shaping method used in this work utilizes time-varying modal properties obtained from the model instead of the conventional input shaping method which employs time-invariant modal properties. A point-to-point motion is tested in order to show the effectivess of the proposed shaping method in vibration reduction during and after a given motion. The given reference trajectories are shaped to suppress the motion induced vibration. The test results demonstrate that the link vibration can be greatly suppressed during and after a motion, and the residual vibration reduction was observed more than 90% by employing this time-varying impulse shaping technique.
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Xie, Qing Jie, Ya Ming Gu, En Zhang, and Cong Ming Sun. "Design on the Optimal Diversion System of Sewage Interception System around Dianchi Lake." Advanced Materials Research 955-959 (June 2014): 3347–51. http://dx.doi.org/10.4028/www.scientific.net/amr.955-959.3347.
Full textAbstract:
Dianchi water pollution control engineering has been carried out for decades. The point source pollution has been progressively effective controlled, while the non-point source pollution seems increasingly urgent. The Dianchi Link Lake sewage interception systems optimization diversion system is dveloped to exert integrated interception performance fully in Dianchi Link Lake interception system and research the optimal diversion programs of sewage interception systems in different areas of Dianchi Lake Basin. This paper describes the general idea, structure, function and technology roadmap of the system design. From the perspective of optimal diversion and decision supporting, the methods of computer running mode diversion, content and steps are found to provide new ideas for digital management and analysis of pollution in Dianchi Lake interception system.
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Zhang, Fei Fei, Guo Liang Guo, Chun Shan Sun, Bao Zhu Liu, and Zong Qi Liu. "Development and Simulation Using of Energy Saving Combustion Control System." Advanced Materials Research 512-515 (May 2012): 1117–20. http://dx.doi.org/10.4028/www.scientific.net/amr.512-515.1117.
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A remotely controlled energy saving combustion control system is developed in this paper. The system includes three parts: upper computer, communication program between upper and lower computer, lower computer control program. Friendly human-machine interface is designed by Labview, which realizes the remote control of PLC; With Visual C, a standard dynamic link library is designed and debugged, by which the serial communication between PC and PLC can be realized; According to the scheme of air-fuel ratio, the control programs are achieved by PLC, which realizes energy saving combustion. The results of experiment in PLC experimental platform shows that the PC can effectively control the PLC .The scheme of air-fuel ratio is similar with the actual situation.
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Swadi, Nabil N. "Dynamic Behavior Analysis of the Slider Crank Linkage using ANSYS Workbench and MATLAB Program." Wasit Journal of Engineering Sciences 1, no. 1 (May 7, 2013): 42–25. http://dx.doi.org/10.31185/ejuow.vol1.iss1.3.
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This paper is concerned with the study of the kinematic and kinetic analysis of a slider crank linkage using D'Alembert's principle. The links of the considered mechanism are assumed to be rigid. The analytical solution to observe the motion (displacement, velocity, and acceleration), reactions at each joint, torque required to drive the mechanism and the shaking force have been computed by a computer program written in MATLAB language over one complete revolution of the crank shaft. The results are compared with a finite element simulation carried out by using ANSYS Workbench software and are found to be in good agreement. A graphical method (relative velocity and acceleration method) has been also applied for two phases of the crank shaft (q2 = 10° and 130°). The results obtained from this method (graphical) are compared with those obtained from analytical and numerical method and are found very acceptable. To make the analysis linear the friction force on the joints and sliding interface are neglected. All results, in this work, are obtained when the crank shaft turns at a uniform angular velocity (w2 = 188.5 rad/s) and time dependent gas pressure force on the slider crown.
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Virozub, Evgenia, Oren Wiezel, Alon Wolf, and Yizhar Or. "Planar Multi-Link Swimmers: Experiments and Theoretical Investigation using “Perfect Fluid” Model." Robotica 37, no. 08 (February 18, 2019): 1289–301. http://dx.doi.org/10.1017/s0263574718001510.
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SummaryRobotic swimmers are currently a subject of extensive research and development for several underwater applications. Clever design and planning must rely on simple theoretical models that account for the swimmer’s hydrodynamics in order to optimize its structure and control inputs. In this work, we study a planar snake-like multi-link swimmer by using the “perfect fluid” model that accounts for inertial hydrodynamic forces while neglecting viscous drag effects. The swimmer’s dynamic equations of motion are formulated and reduced into a first-order system due to symmetries and conservation of generalized momentum variables. Focusing on oscillatory inputs of joint angles, we study optimal gaits for 3-link and 5-link swimmers via numerical integration. For the 3-link swimmer, we also provide a small-amplitude asymptotic solution which enables obtaining closed-form approximations for optimal gaits. The theoretical results are then corroborated by experiments and motion measurement of untethered robotic prototypes with three and five links floating in a water pool, showing a reasonable agreement between the experiments and the theoretical model.
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Zhang, J., and J. Rastegar. "Micro/Macro or Link-Integrated Micro-actuator Manipulation—A Kinematics and Dynamics Perspective." Journal of Mechanical Design 129, no. 10 (October 13, 2006): 1086–93. http://dx.doi.org/10.1115/1.2757193.
Full textAbstract:
Smart (active) materials based actuators, hereinafter called micro-actuators, have been shown to be well suited for the elimination of high harmonics in joint and/or end-effector motions of robot manipulators and in the reduction of actuator dynamic response requirements. Low harmonic joint and end-effector motions, as well as low actuator dynamic response requirements, are essential for a robot manipulator to achieve high operating speed and precision with minimal vibration and control problems. Micro-actuators may be positioned at the end-effector to obtain a micro- and macro-robot manipulation configuration. Alternatively, micro-actuators may be integrated into the structure of the links to vary their kinematics parameters, such as their lengths during the motion. In this paper, the kinematics and dynamics consequences of each of the aforementioned alternative are studied for manipulators with serial and closed-loop chains. It is shown that for robot manipulators constructed with closed-loop chains, the high harmonic components of all joint motions can be eliminated only when micro-actuators are integrated into the structure of the closed-loop chain links. The latter configuration is also shown to have dynamics advantage over micro- and macro-manipulator configuration by reducing the potential vibration and control problems at high operating speeds. The conclusions reached in this study also apply to closed-loop chains of parallel and cooperating robot manipulators.
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Bodner, A. "Adding flexibility to the links of a rigid-link dynamic model of an articulated robot." Robotica 7, no. 2 (April 1989): 165–68. http://dx.doi.org/10.1017/s0263574700005488.
Full textAbstract:
SUMMARYA method was developed that takes into account flexibility of robot links in the inverse dynamics calculations. This method uses the Newton-Euler equations and is applicable for special case systems that allow for only a small degree of flexibility. Application of the method should improve the accuracy of the position of the end effector during motion of the robot.The results of this study show that the method can be based entirely on an existing rigid-link model with only minimal changes required as additions. The computational complexity of the method is discussed briefly as well and indicates an increase of computations of slightly more than a factor of two as compared to a rigid-link model for the same robot geometry.
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Benati, M., and A. Morro. "Formulation of Equations of Motion for a Chain of Flexible Links Using Hamilton’s Principle." Journal of Dynamic Systems, Measurement, and Control 116, no. 1 (March 1, 1994): 81–88. http://dx.doi.org/10.1115/1.2900684.
Full textAbstract:
The dynamic equations of a chain of flexible links are determined by means of Hamilton’s principle. First a continuous model is adopted and the boundary conditions are determined, along with the partial differential equations of motion. Then a model with a finite number of degrees of freedom is set up. The configuration of each link is described through the line which joins the end points and the relative deformation is described in terms of appropriate trial functions. The boundary conditions are incorporated into a set of basic trial functions. The time-dependent coefficients of the remaining shape functions play the role of Lagrangian coordinates. The dynamic equations are then derived and the procedure is contrasted with other methods for reduction of a system of links to a system with a finite number of degrees of freedom.
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Tultayev, Baurzhan, Gani Balbayev, Algazy Zhauyt, Aidos Sultan, and Aigerim Mussina. "Kinematic Synthesis of Mechanism for System with a Technical Vision." MATEC Web of Conferences 237 (2018): 03009. http://dx.doi.org/10.1051/matecconf/201823703009.
Full textAbstract:
A solution to the problem of synthesizing an initial three-dimensional kinematic chain with spherical and rotary kinematic pairs is presented. It is shown that this chain can be used as a structural module for structural-kinematic synthesis of three-dimensional four-link motion generating lever mechanisms by the preset positions of the in-and output links. This paper affects the actual today’s problem of optimal synthesis of spatial link mechanisms. In this regard, the task of developing methods for the synthesis of complex spatial link mechanisms with the desired laws of motion of the input and output elements allowing automatizing the implementation of all design phases with the use of computer is quite relevant. The authors develop machine-oriented method of structural and kinematic synthesis of spatial link mechanisms based on the use of spatial initial kinematic chains (IKC) realizing prescribed motions. A new approach to the design of spatial mechanisms is suggested, according to which the design process is based on the kinematic synthesis of four-link initial kinematic chain (IKC) and associable kinematic chains (AKC).
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Rahmanian-Shahri, N., and I. Troch. "A new on-line method to avoid collisions with links of redundant articulated robots." Robotica 14, no. 6 (November 1996): 611–19. http://dx.doi.org/10.1017/s0263574700018488.
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A new mathematical formulation of robot and obstacles is presented such that for on-line collision recognition only robot joint positions in workspace are required. This reduces calculation time essentially because joint positions in workspace can be computed every time from the joint variable through robot geometry. It is supposed that the obstacles in the workspace of the manipulator are represented by convex polygons. For every link of the redundant robot and every obstacle a boundary ellipse in 2D is defined in workspace such that there is no collision if the robot joints are outside these ellipses. First, some methods are presented for the automatic determination of these ellipse functions from the obstacle and robot data. Then, the boundary ellipse functions are used as optimization criterion in a collision-avoidance method. The method permits the tip of the hand to follow a given path in the free space while the kinematic control algorithm maximizes the boundary ellipse function of the critical link. The effectiveness of the proposed methods is discussed by theoretical considerations and illustrated by simulations of the motion of three- and four-link manipulators between obstacles.
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Kosbolov, Serikbay, Yerlan Yeleukulov, Alfiya Atalykova, Algazy Zhauyt, Gulsara Yestemessova, and Saltanat Yussupova. "Dynamics and rigidity of a manipulator with three DOFs." MATEC Web of Conferences 226 (2018): 01020. http://dx.doi.org/10.1051/matecconf/201822601020.
Full textAbstract:
The problem of dynamic elastic four-link initial kinematic chain (IKC) of the load-bearing manipulator, which is the basis for various modifications are considered. Using the Lagrange operator for this system, equations of motion in matrix form are obtained. To determine the potential energy of an elastic four-link IKC manipulator, we use the formula for the elastic potential energy of a rectilinear homogeneous rod of length l. The cross-section of the rod is considered annular or circular. Solving the system of linear equations of motion on a computer using the ADAMS program, the results of the movement of links and cargo were obtained. Kinematics and dynamics are presented for a generic 3 DOFs Initial Kinematic Chain; with anthropometric data and the dynamics equations, simulations were performed to understand its behavior.
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Vale, S. H. "A search-match program for materials identification in the Transmission Electron Microscope using electron diffraction pattern analysis." Proceedings, annual meeting, Electron Microscopy Society of America 48, no. 4 (August 1990): 432–33. http://dx.doi.org/10.1017/s0424820100175296.
Full textAbstract:
A program has been written for an energy dispersive x-ray microanalysis system computer to identify a sample by combining data from an electron diffraction pattern collected in a TEM with chemical information from the sample. The combined information is compared with a large database held on the computer to find a suitable set of matching compounds.The program was written for a Link Analytical AN10000 microanalysis system which is based on a computer with a 16 bit word length, 20 MHz CPU with 512 kbyte of memory for programs and data, 40 Mbyte hard disk and a 512 × 512 pixel colour image display with its own memory. The database used was the NBS/SANDIA/ICDD electron diffraction database adapted for the AN 10000 computer. This database contains about 70000 compound entries and occupies 9 Mbyte of disk space.
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Yigit, A. S. "On the Use of an Elastic-Plastic Contact Law for the Impact of a Single Flexible Link." Journal of Dynamic Systems, Measurement, and Control 117, no. 4 (December 1, 1995): 527–33. http://dx.doi.org/10.1115/1.2801110.
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An elastic-plastic contact law is proposed for modeling impact of a single flexible link. This contact law allows continuous transition between contact and noncontact phases and is capable of predicting impact force histories. The impact model parameters can readily be obtained from the material and geometric properties. Excellent agreement with the experimental results has been obtained for both elastic and rigid body motion of the link. The impact force histories are also obtained and compared for perfectly elastic and elastic-plastic impact models. It is shown that a perfectly elastic impact assumption is not realistic for most impacts of flexible links.
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Gasparetto, Alessandro. "On the Modeling of Flexible-Link Planar Mechanisms: Experimental Validation of an Accurate Dynamic Model." Journal of Dynamic Systems, Measurement, and Control 126, no. 2 (June 1, 2004): 365–75. http://dx.doi.org/10.1115/1.1767856.
Full textAbstract:
The experimental validation of an accurate dynamic model of flexible multi-body planar mechanisms is presented in this paper. The proposed mathematical model, which is valid for whatever planar mechanism with any number of flexible links, accounts for the geometric and inertial nonlinearities of the mechanism, and considers coupling effects among rigid-body and elastic motion as well. In order to experimentally validate the dynamic model, a flexible five-bar planar linkage actuated by two electric motors is employed as a test case. The experimentally measured deformations and accelerations of the flexible links are compared with the numerical results obtained by simulating the system dynamic behavior through the mathematical model. It turns out that the experimental results are in good agreement with the numerical ones, thus proving that the dynamical model proposed is very effective in the difficult task of accurately representing the dynamic behavior of flexible mechanisms.
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Manyak, Terrell G. "The Management of Business Writing." Journal of Technical Writing and Communication 16, no. 4 (October 1986): 355–61. http://dx.doi.org/10.2190/y9km-3kmj-eu95-0w3w.
Full textAbstract:
American business is now responsible for training an entire generation of poorly skilled writers. While brief writing seminars may help, the real cure begins with training managers on how to manage the writing process. They need to see the link between good writing and good leadership. Simply sending reports back to employees with a sarcastic note to “get it right” does little to build writing skill and confidence. Managers also need strategies for working with employees. These strategies extend from simple revising techniques to the use of sophisticated computer programs.
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Ingram, Robert W. "Inventory Costing: Developing Business Logic In Accounting Systems." Review of Business Information Systems (RBIS) 4, no. 3 (July 1, 2000): 11–24. http://dx.doi.org/10.19030/rbis.v4i3.5403.
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Business logic is the link in an information system between a user interface and a database. Typically it contains formal rules, translated into computer programs, that control how data will be processed to achieve the objectives of the information system. This paper describes a classroom exercise to help students understand this segment of an information system. In addition, it is useful for helping students understand the relation between traditional financial accounting and accounting systems. They are required to describe formally and precisely how FIFO and LIFO inventory values can be derived in an automated system.
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Kuzmics, Glebs, and Maaruf Ali. "Audio Networking in the Music Industry." Annals of Emerging Technologies in Computing 2, no. 1 (January 1, 2018): 22–48. http://dx.doi.org/10.33166/aetic.2018.01.004.
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This paper surveys the rôle of computer networking technologies in the music industry. A comparison of their relevant technologies, their defining advantages and disadvantages; analyses and discussion of the situation in the market of network enabled audio products followed by a discussion of different devices are presented. The idea of replacing a proprietary solution with open-source and freeware software programs has been chosen as the fundamental concept of this research. The technologies covered include: native IEEE AVnu Alliance Audio Video Bridging (AVB), CobraNet®, Audinate Dante™ and Harman BLU Link.
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Stubbs, Harriett S. "The development of a constructivist socio cultural model of professional development from 1970s to 2011." Educar em Revista, no. 40 (June 2011): 107–23. http://dx.doi.org/10.1590/s0104-40602011000200008.
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SCI-LINK: A Model of Professional Development, had its earliest beginnings in the mid-1970s. A brief overview of this constructivist, sociocultural model is described, as referenced through many papers written as the model 'expanded' over time and incorporated other programs. SCI-LINK is a fluid model. Certain of its various projects and component parts have been addressed in publications spanning 1978 to the present. These components have focused on information requested by teachers about new environmental topics such as acid rain, air quality, water quality, harmful algal blooms, mosquito borne diseases, urbanization; on new technology applications such as geographic information systems (GIS), the Internet, use of computers in classrooms; or on personal development such as What is a leader? What exemplifies a good teacher? How can I take charge of my own growth and development? The SCI-LINK model is 'based on a conceptualization of professional development as the empowerment of individuals through a process in which they are given the tools and the opportunity to construct their own knowledge and meaning in a supportive social context." (HOWE; STUBBS, 1998¹, p.179).
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Ng, Timothy J. "WWWhat in the WWWorld is the WWWeb?" HortScience 30, no. 4 (July 1995): 904D—904. http://dx.doi.org/10.21273/hortsci.30.4.904d.
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The World Wide Web (WWW) provides users with a graphical computer interface to access digital information from Internet locations around the world. This information may be in the form of text, images, motion pictures, or sound. Web “pages” may also provide near-instantaneous links to other pages with related interests and information, and have the capability of allowing users to fill out forms on-line requesting additional information or services. WWW access is becoming increasingly available to individuals either through direct network links or by a modem connection through an Internet provider, the latter method generally requiring either SLIP or PPP service to establish a link. The background of WWW, its potential, and its future development will be discussed.
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Newman, Steven E. "Incorporating Hypertext Applications into Horticulture Educational Programs." HortScience 30, no. 4 (July 1995): 909F—909. http://dx.doi.org/10.21273/hortsci.30.4.909f.
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Hypertext applications have grown from highlighted index referencing tools used in “help” windows to sophisticated file sharing between many computers linked via the World Wide Web (WWW). Software such as Mosaic makes this link easy and convenient by using “Hypertext Markup Language” (HTML). Most universities and many companies have installed WWW servers and have provided disk space for general use. Horticulture departments and many botanical gardens across the country and all over the world are adapting to this technology by providing access to extension information sheets, newsletters, and selected manuscripts. Pesticide chemical manufacturers are also establishing WWW servers with the intent on providing rapid access to pesticide labels and material safety data sheets (MSDS). For local classroom use, HTML using a WWW server can provide an innovative and alternative means for delivering lecture material.