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Artículos de revistas sobre el tema "Dual-Arm Structure"

Autor: Grafiati
Publicado: 4 de junio de 2021
Última modificación: 1 de febrero de 2022

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1

Fukuda, Yasushi, Nobuto Matsuhira, Yoshitsugu Toda, Kazuo Machida, and Toshiaki Iwata. "Locomotion on Truss Structure of Dual-Arm Space Robot." Journal of the Robotics Society of Japan 17, no. 1 (1999): 140–46. http://dx.doi.org/10.7210/jrsj.17.140.

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2

Ta, Son Xuat, and Ikmo Park. "Dual-Band Operation of a Circularly Polarized Four-Arm Curl Antenna with Asymmetric Arm Length." International Journal of Antennas and Propagation 2016 (2016): 1–10. http://dx.doi.org/10.1155/2016/3531089.

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This paper presents dual-band operation of a single-feed composite cavity-backed four-arm curl antenna. Dual-band operation is achieved with the presence of the asymmetrical arm structure. A pair of vacant-quarter printed rings is used in the feed structure to produce a good circular polarization (CP) at both bands. The cavity-backed reflector is employed to improve the CP radiation characteristics in terms of the 3-dB axial ratio beamwidth and broadside gain. The proposed antenna is widely applicable in dual-band communication systems that have a small frequency ratio. Examples of such a syst
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3

Mu, Hui Jin. "Study on Variable Structure Vibration Control for Flexible Manipulator." Advanced Materials Research 875-877 (February 2014): 1961–66. http://dx.doi.org/10.4028/www.scientific.net/amr.875-877.1961.

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In recent years, modeling and control of flexible space robots are extensively researched. Compared with traditional rigid robots, flexible robots have low energy consumption, wide operating space, high carrying capacity and other characteristics. However, due to its special structure, the robot arm will get deformation and vibration in motion, which brings a lot of problems to the positioning and tracking control of flexible space robots. Therefore, directing at the dynamics modeling and control issues of the free-floating flexible dual-arm space robots, this article carries out in-depth stud
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4

Alhaddad, A. G., R. A. Abd-Alhameed, D. Zhou, C. H. See, I. T. E. Elfergani, and P. S. Excell. "Low profile dual-band-balanced handset antenna with dual-arm structure for WLAN application." IET Microwaves, Antennas & Propagation 5, no. 9 (2011): 1045. http://dx.doi.org/10.1049/iet-map.2010.0219.

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5

Yang, Wu-Te, Kuan-Lin Li, Kuei-Yuan Chan, and Pei-Chun Lin. "Geometric parameter identification of a dual-arm robot by using closed-chain constraint and optimization technique." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 232, no. 7 (2017): 1294–302. http://dx.doi.org/10.1177/0954406217701772.

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The positioning accuracy of the empirical robot manipulators is determined by various factors, such as kinematic accuracy, structure rigidity, and controller performance. Here, we report on the development of a new and straightforward technique to calibrate the kinematic parameters of a dual-arm robot under uncertainty. In comparison with other techniques, which generally rely on using other instruments to calibrate the manipulators, the proposed method utilizes the intrinsic characteristics of the dual-arm robot for calibration. In particular, when the two arms grasp each other, a formed clos
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6

Fleischer, Heidi, Shalaka Joshi, Thomas Roddelkopf, Michael Klos, and Kerstin Thurow. "Automated Analytical Measurement Processes Using a Dual-Arm Robotic System." SLAS TECHNOLOGY: Translating Life Sciences Innovation 24, no. 3 (2019): 354–56. http://dx.doi.org/10.1177/2472630319827613.

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The demand for automation in the analytical laboratory is high. In contrast to well-automated bioscreening and high-throughput and high-content screening processes, analytical measurement procedures are complex in their structure and changing frequently. Not only do robotic units have to perform transportation or specific single tasks, but also flexible robots are needed to cover several tasks, including transportation and direct sample manipulation. Due to their human-like structure, dual-arm robots are predestined for analytical measurement processes. A new study published in the journal Ene
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7

Wei, Yongle, Jiashun Zhang, and Lijin Fang. "Walking Characteristics of Dual-Arm Inspection Robot with Flexible-Cable." Journal of Robotics 2021 (April 19, 2021): 1–14. http://dx.doi.org/10.1155/2021/8885919.

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The overhead transmission line has a catenary shape, which has great influence on the dynamic characteristics of an inspection robot walking along the line and may even cause the walking-wheel to fall from the line. Compared with other similar inspection robots, the unique structure of the dual-arm inspection robot with flexible-cable is introduced. Taking the dual-arm inspection robot with flexible-cable walking along the uphill section of the line as an example, the force states of the robot when it works at acceleration, uniform speed, deceleration, and stopping were studied in detail. The
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8

Qu, Jiadi, Fuhai Zhang, Yili Fu, Guozhi Li, and Shuxiang Guo. "Adaptive neural network visual servoing of dual-arm robot for cyclic motion." Industrial Robot: An International Journal 44, no. 2 (2017): 210–21. http://dx.doi.org/10.1108/ir-06-2016-0154.

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Purpose The purpose of this paper is to develop a vision-based dual-arm cyclic motion method, focusing on solving the problems of an uncertain grasp position of the object and the dual-arm joint-angle-drift phenomenon. Design/methodology/approach A novel cascade control structure is proposed which associates an adaptive neural network with kinematics redundancy optimization. A radial basis function (RBF) neural network in conjunction with a conventional proportional–integral (PI) controller is applied to compensate for the uncertainty of the image Jacobian matrix which includes the estimated g
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9

Suarez, Alejandro, Pedro Grau, Guillermo Heredia, and Anibal Ollero. "Winged Aerial Manipulation Robot with Dual Arm and Tail." Applied Sciences 10, no. 14 (2020): 4783. http://dx.doi.org/10.3390/app10144783.

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This paper presents the design and development of a winged aerial robot with bimanual manipulation capabilities, motivated by the current limitations of aerial manipulators based on multirotor platforms in terms of safety and range/endurance. Since the combination of gliding and flapping wings is more energy efficient in forward flight, we propose a new morphology that exploits this feature and allows the realization of dexterous manipulation tasks once the aerial robot has landed or perched. The paper describes the design, development, and aerodynamic analysis of this winged aerial manipulati
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10

Gao, Huan Bing, Shou Yin Lu, and Guo Hui Tian. "Compliant Control for the Redundant Dual-Arm Live-Working Robot." Applied Mechanics and Materials 459 (October 2013): 177–82. http://dx.doi.org/10.4028/www.scientific.net/amm.459.177.

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Two arms are attached on the live-working robot for cooperating jobs and some task requiring larger stiffness such as pushing and butting when replacing cross arm or insulator. The different kinematic structure of this two arms brings many difficulties to get the dynamic model of the total system. This paper proposes a force control method to solve this problem. Two arms are considered as one arm firstly, then the general stiffness matrix is obtained. And based on the compliant relationship between the dual arms and the environment, the force control method for the exact force control is prese
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11

Washino, S., D. Sato, and M. Uchiyama. "An Experiment of Truss Structure Parts mating by a Teleperated Dual-Arm Robot." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2004 (2004): 23. http://dx.doi.org/10.1299/jsmermd.2004.23_4.

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12

Fleischer, Heidi, Daniel Baumann, Shalaka Joshi, et al. "Analytical Measurements and Efficient Process Generation Using a Dual–Arm Robot Equipped with Electronic Pipettes." Energies 11, no. 10 (2018): 2567. http://dx.doi.org/10.3390/en11102567.

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The continued growth in life sciences is being accompanied by the constantly rising demand for robotic systems. Today, bioscreening and high–throughput screening processes are well automated. In contrast, a deficit can be found in the area of analytical measurements with complex and frequently changing processes. Robots undertake not only transportation tasks, but also direct sample manipulation and subsequent analytical measurements. Due to their human-like structure, dual-arm robots perform such processes similar to human operation. Liquid handling is required to transfer chemicals, to prepa
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13

Zhou, D., R. A. Abd-Alhameed, C. H. See, and P. S. Excell. "Wideband balanced folded dipole antenna with a dual-arm monopole structure for mobile handsets." IET Microwaves, Antennas & Propagation 4, no. 2 (2010): 240. http://dx.doi.org/10.1049/iet-map.2008.0412.

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14

Wang, Yuquan, Christian Smith, Yiannis Karayiannidis, and Petter Ögren. "Whole Body Control of a Dual-Arm Mobile Robot Using a Virtual Kinematic Chain." International Journal of Humanoid Robotics 13, no. 01 (2016): 1550047. http://dx.doi.org/10.1142/s0219843615500474.

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Dual-arm manipulators have more advanced manipulation abilities compared to single-arm manipulators and manipulators mounted on a mobile base have additional mobility and a larger workspace. Combining these advantages, mobile dual-arm robots are expected to perform a variety of tasks in the future. Kinematically, the configuration of two arms that branches from the mobile base results in a serial-to-parallel kinematic structure. In order to respond to external disturbances, this serial-to-parallel kinematic structure makes inverse kinematic computations non-trivial, as the motion of the base h
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15

Meghdari, Ali. "Conceptual design and dynamics modeling of a cooperative dual-arm cam-lock manipulator." Robotica 14, no. 3 (1996): 301–9. http://dx.doi.org/10.1017/s0263574700019615.

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SUMMARYThis paper presents the conceptual designs, kinematics and dynamics modeling of a cooperative re-configurable Dual-Arm Cam-Lock Manipulator. A cam-lock manipulator is a robotics structure with a pair of multi-degree of freedom planar arms jointed together at a shared base. This manipulator is designed to be capable of performing a wide variety of tasks by automatically re-configuring itself to form a variable geometry, stiffness, damping, and workspace robotics structure by the virtue of a novel link/joint design along i''s arms, labeled as the cam-lock design. The kinematics and dynami
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16

Dewhurst, Peter, and Sriruk Srithongchai. "An Investigaton of Minimum-Weight Dual-Material Symmetrically Loaded Wheels and Torsion Arms." Journal of Applied Mechanics 72, no. 2 (2005): 196–202. http://dx.doi.org/10.1115/1.1831295.

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A cylindrically symmetric layout of two opposite families of logarithmic spirals is shown to define the layout of minimum-weight, symmetrically loaded wheel structures, where different materials are used for the tension and compression members, respectively; referred to here as dual-material structures. Analytical solutions are obtained for both structure weight and deflection. The symmetric solutions are shown to form the basis for torsion arm structures, which when designed to accept the same total load, have identical weight and are subjected to identical deflections. The theoretical predic
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17

Lin, Feng Yun. "Development of a Two-Arm Robotic System for Surfaces Polishing." Advanced Materials Research 934 (May 2014): 218–22. http://dx.doi.org/10.4028/www.scientific.net/amr.934.218.

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Two-arm robots can get a greater structure flexibility and a better maneuverability, In this paper, a coordination system by using dual industrial robots for parametric surfaces polishing is presented. One robot holds and maneuvers a polishing workpiece, and the other robot moves the polishing tool. In order to improve time efficiency and surface quality, an adaptive path generation algorithm is proposed for the determination of efficient tool paths. The kinematic model of two-arm robots is also discussed.
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18

Caccavale, Fabrizio, Ciro Natale, Bruno Siciliano, and Luigi Villani. "Achieving a cooperative behavior in a dual-arm robot system via a modular control structure." Journal of Robotic Systems 18, no. 12 (2001): 691–99. http://dx.doi.org/10.1002/rob.8107.

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19

Zhou, Dawei, Raed A. Abd-Alhameed, Chan H. See, and Peter S. Excell. "Design of Multiband Balanced Folded Dipole Antenna Based on a Dual-arm Structure for Mobile Handsets." PIERS Online 4, no. 8 (2008): 821–24. http://dx.doi.org/10.2529/piers071221132026.

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20

Wang, Mei Ling, Min Zhou Luo, and Xin Lin. "Inverse Solution and Optimal Concept Rethink from Human Operation to Industrial Redundant Manipulator." Applied Mechanics and Materials 541-542 (March 2014): 1140–45. http://dx.doi.org/10.4028/www.scientific.net/amm.541-542.1140.

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More and more dual arm robots with redundant manipulator are introduced in industrial fields. Here we focus on this special structure with 7-DOF redundant manipulator, an exhibit analytical and optimal concept was proposed. The formula derivations of inverse kinematics showed that when the redundant joint angle has been obtained, the remaining six joint angles can be derived analytically, and there are eight sets of inverse solution for one giving redundant joint angle. Reversed thinking the joint movement habits, patterns, and frequency of human arm operations, an optimal concept was presente
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21

Ali, Zain Anwar, and Xinde Li. "Modeling and controlling of quadrotor aerial vehicle equipped with a gripper." Measurement and Control 52, no. 5-6 (2019): 577–87. http://dx.doi.org/10.1177/0020294019834040.

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Arm mounted unmanned aerial vehicles provide more feasible and attractive solution to manipulate objects in remote areas where access to arm mounted ground vehicles is not possible. In this research, an under-actuated quadrotor unmanned aerial vehicle model equipped with gripper is utilized to grab objects from inaccessible locations. A dual control structure is proposed for controlling and stabilization of the moving unmanned aerial vehicle along with the motions of the gripper. The control structure consists of model reference adaptive control augmented with an optimal baseline controller. A
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22

zhao, C. Y., P. Y. Li, and C. M. Zhang. "Numerical analysis of effective refractive index ultrasonic sensor based on Cantilever arm structure slot-based dual-micro-ring resonator." International Journal of Modern Physics B 35, no. 04 (2021): 2150058. http://dx.doi.org/10.1142/s0217979221500582.

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We propose a novel ultrasonic sensor structure composed of Cantilever arm structure slot dual-micro-ring resonators (DMRR). We present a theoretical analysis of transmission by using the coupled mode theory. The mode field distributions and sound pressure distributions of transmission spectrum are obtained from 3D simulations based on Comsol Multi-physics (COMSOL) method. Our ultrasonic sensor exhibits theoretical sensitivity as high as [Formula: see text], which is 22 times higher than that of the single slot-based micro-ring ultrasonic sensor. Our ultrasonic sensor offers higher sensitivity
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23

Hao, Lina, Zhirui Zhao, Xing Li, Mingfang Liu, Hui Yang, and Yao Sun. "A safe human–robot interactive control structure with human arm movement detection for an upper-limb wearable robot used during lifting tasks." International Journal of Advanced Robotic Systems 17, no. 5 (2020): 172988142093757. http://dx.doi.org/10.1177/1729881420937570.

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Manual lifting tasks involve repetitive raising, holding and stacking movements with heavy objects. These arm movements are notable risk factors for muscle pain, fatigue, and musculoskeletal disorders in workers. An upper-limb wearable robot, as a 6-DOF dual-arm exoskeleton, which was designed to augment workers’ strength and minimize muscular activation in the arm during repetitive lifting tasks. To adjust the robot joint trajectory, the user needs to apply an interactive torque to operate the robot during lifting tasks when a standard virtual mechanical impedance control structure is used. T
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24

Kaneko, Syuzo, Toutai Mitsuyama, Kouya Shiraishi, et al. "Genome-Wide Chromatin Analysis of FFPE Tissues Using a Dual-Arm Robot with Clinical Potential." Cancers 13, no. 9 (2021): 2126. http://dx.doi.org/10.3390/cancers13092126.

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Although chromatin immunoprecipitation and next-generation sequencing (ChIP-seq) using formalin-fixed paraffin-embedded tissue (FFPE) has been reported, it remained elusive whether they retained accurate transcription factor binding. Here, we developed a method to identify the binding sites of the insulator transcription factor CTCF and the genome-wide distribution of histone modifications involved in transcriptional activation. Importantly, we provide evidence that the ChIP-seq datasets obtained from FFPE samples are similar to or even better than the data for corresponding fresh-frozen sampl
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25

Shauri, Ruhizan Liza Ahmad, and Kenzo Nonami. "Calculation of 6-DOF Pose of Arbitrary Inclined Nuts for a Grasping Task by Dual-Arm Robot." Journal of Robotics and Mechatronics 24, no. 1 (2012): 191–204. http://dx.doi.org/10.20965/jrm.2012.p0191.

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The capability to manipulate small objects is one of the important requirements for producing assembly work robots. Moreover, a robot that exhibits humanlike skills could be used to reduce the high labor cost for complex tasks. Therefore, we propose a seven-link dual-arm robot with three-fingered hands for cooperative tasks to manipulate small parts such as nuts and bolts in an unstructured environment. As an initial experiment, we need to obtain the six degrees of freedom (DOF) posture of a hexagonal M10 nut (diameter, 19.6 mm), which is small and possesses an indistinguishable color. These c
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26

AlAttar, Ahmad, and Petar Kormushev. "Kinematic-Model-Free Orientation Control for Robot Manipulation Using Locally Weighted Dual Quaternions." Robotics 9, no. 4 (2020): 76. http://dx.doi.org/10.3390/robotics9040076.

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Conventional control of robotic manipulators requires prior knowledge of their kinematic structure. Model-learning controllers have the advantage of being able to control robots without requiring a complete kinematic model and work well in less structured environments. Our recently proposed Encoderless controller has shown promising ability to control a manipulator without requiring any prior kinematic model whatsoever. However, this controller is only limited to position control, leaving orientation control unsolved. The research presented in this paper extends the state-of-the-art kinematic-
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27

Chen, Jinling, Hongbin Li, Mingming Zhang, and Yan Zhang. "New compensation scheme of magneto-optical current sensor for temperature stability improvement." Metrology and Measurement Systems 19, no. 3 (2012): 611–16. http://dx.doi.org/10.2478/v10178-012-0054-3.

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Abstract A novel magneto-optical current sensor (MOCS) with two sensing arms is proposed to improve the temperature stability. One of the arms, with a highly stable permanent magnet attached and orthogonal to the other one, is designed to provide a reference that follows the temperature characteristics of the sensing material. By a normalization operation between two arms, the temperature drift is compensated adaptively and a sensing output proportional to the measured current can be reached. A dual-input and dual-output structure is specially designed for the reference sensing arm to demodula
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28

Zhang, Pan, Peng Wang, Lu Yang Jin, and Yu Long Wang. "Development of Portable Fault Diagnosis System Based on SR." Key Engineering Materials 693 (May 2016): 1567–69. http://dx.doi.org/10.4028/www.scientific.net/kem.693.1567.

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It is the hotpot to study the application of stochastic resonance (SR) in the field of mechanical fault diagnosis. The fault diagnosis system based on SR was developed, using “ARM+DSP” dual-core structure as hardware and embedded system as software, implemented signal acquisition, data storage, data analysis, waveform display and so on. The SR was adopted as characteristic quantity to analyze vibration signals for fault diagnosis. The experiment results showed that the function of portable fault diagnosis instrument is stable. It has veracity and validity.
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29

Sun, Longfei, Fengyong Liang, and Lijin Fang. "Design and performance analysis of an industrial robot arm for robotic drilling process." Industrial Robot: the international journal of robotics research and application 46, no. 1 (2019): 7–16. http://dx.doi.org/10.1108/ir-06-2018-0124.

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Purpose The purpose of this paper is to present a robotic arm that can offer better stiffness than traditional industrial robots for improving the quality of holes in robotic drilling process. Design/methodology/approach The paper introduces a five-degree of freedom (DOF) robot, which consists of a waist, a big arm, a small arm and a wrist. The robotic wrist is composed of two DOFs of pitching and tilting. A parallelogram frame is used for robotic arms, and the arm is driven by a linear electric cylinder in the diagonal direction. Double screw nuts with preload are used in the ball screw to re
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30

Liu, Li Hua, Ming Sun, and Shu Jian Zhang. "Design of Intelligent Terminal Based on ARM and FPGA." Advanced Materials Research 616-618 (December 2012): 2038–43. http://dx.doi.org/10.4028/www.scientific.net/amr.616-618.2038.

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At present, China is vigorously developing the smart grid, due to the immaturity of the intelligent circuit breaker, a totally new device is introduced in the process layer to ensure the realization of intellectualization of primary equipment in the intelligent substation: the. The intelligent terminal is an interface of primary equipment and secondary equipment in intelligent substation system realizing the intelligent transformation of the traditional primary equipment, which is also the optimal solution to the traditional switch and transformer interface problems of intelligent substation.
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31

Zhang, Hailong, Ning Zhang, Fuhong Min, Subhash Rakheja, Chunyi Su, and Enrong Wang. "Coupling Mechanism and Decoupled Suspension Control Model of a Half Car." Mathematical Problems in Engineering 2016 (2016): 1–13. http://dx.doi.org/10.1155/2016/1932107.

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A structure decoupling control strategy of half-car suspension is proposed to fully decouple the system into independent front and rear quarter-car suspensions in this paper. The coupling mechanism of half-car suspension is firstly revealed and formulated with coupled damping force (CDF) in a linear function. Moreover, a novel dual dampers-based controllable quarter-car suspension structure is proposed to realize the independent control of pitch and vertical motions of the half car, in which a newly added controllable damper is suggested to be installed between the lower control arm and connec
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32

Guo, Hua, and Sheng Wen Yu. "Research and Design of Automatic Traction Cutting System for Aluminum Profile Production Based on ARM." Applied Mechanics and Materials 464 (November 2013): 298–303. http://dx.doi.org/10.4028/www.scientific.net/amm.464.298.

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This paper analyzes the technical requirements for traction cutting in aluminum profile production, established a double tractor motion model, and according to the model, designed a traction control system based on ARM and wireless communication technology, designed the hardware circuit, write the corresponding control program and defined the protocol for wireless communication, so that the system has good compatibility, the system is fully implemented dual tractor motion model, the whole system has been tested in an aluminum profile factory, the experiment proved that the system is fully meet
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33

Huang, Yuxuan, Zeqi Zhu, Shuting Cai, Xiaoming Xiong, and Yuan Liu. "Broadband Dual-Polarized Multidipole Antenna for Base Station Applications." International Journal of Antennas and Propagation 2021 (September 9, 2021): 1–8. http://dx.doi.org/10.1155/2021/4206702.

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A wideband dual-polarized multidipole antenna for base station applications is proposed. It consists of a pair of large square-shaped loop dipoles and a pair of small rectangle loop dipoles as radiation elements. A pair of small rectangle loop dipoles is fed by T-shaped feed structure which is in the large square-shaped loop dipoles radiating arm so that the antenna generates an additional resonance and obtains a wider bandwidth. The proposed antenna was fabricated and measured, and the results show that the antenna achieves a wide impedance bandwidth of 63.7 % with VSWR<1.5 covering the fr
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34

Habata, Yoichi, Tomomi Saeki, Sadatoshi Akabori, Xian X. Zhang, and Jerald S. Bradshaw. "Armed-azacrown ethers having dual binding sites in a side arm: Complexing abilities and crystal structure of two alkali-metal complexes." Journal of Heterocyclic Chemistry 38, no. 1 (2001): 253–58. http://dx.doi.org/10.1002/jhet.5570380137.

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35

Zhang, Yunong, and Kene Li. "Bi-criteria velocity minimization of robot manipulators using LVI-based primal-dual neural network and illustrated via PUMA560 robot arm." Robotica 28, no. 4 (2009): 525–37. http://dx.doi.org/10.1017/s0263574709005839.

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SUMMARYIn this paper, to diminish discontinuity points arising in the infinity-norm velocity minimization scheme, a bi-criteria velocity minimization scheme is presented based on a new neural network solver, i.e., an LVI-based primal-dual neural network. Such a kinematic planning scheme of redundant manipulators can incorporate joint physical limits, such as, joint limits and joint velocity limits simultaneously. Moreover, the presented kinematic planning scheme can be reformulated as a quadratic programming (QP) problem. As a real-time QP solver, the LVI-based primal-dual neural network is de
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36

Muto, Takeshi, and Yoshihiro Miyake. "Dual-Hierarchical Control Mechanism of Interpersonal Embodied Interactions in Cooperative Walking." Journal of Advanced Computational Intelligence and Intelligent Informatics 15, no. 5 (2011): 534–44. http://dx.doi.org/10.20965/jaciii.2011.p0534.

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Interpersonal embodied interactions play a significant role as emergent functions in human development and rehabilitation. However, a framework for applying embodied interactions to “human interface systems” to support such emergent functions has not yet been suggested because the details of the motorcontrol mechanism have not yet been clarified. In this study, the interpersonal cooperative walking motions of two humans, as an example of such a mechanism, have been replicated and their motor-control mechanisms analyzed. The results indicate that the hierarchical dynamics were derived from an i
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37

Long, Philip, and Taşkın Padır. "Constrained Manipulability for Humanoid Robots Using Velocity Polytopes." International Journal of Humanoid Robotics 17, no. 01 (2019): 1950037. http://dx.doi.org/10.1142/s0219843619500373.

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Robot performance measures are important tools for quantifying the ability to carry out manipulation tasks. Generally, these measures examine the system’s kinematic transformations from configuration to task space. This means that environmental constraints are neglected in spite of the significant effects they may have on the robot’s admissible motions. In this paper, we propose a new measure called the constrained manipulability polytope (CMP) that considers the system’s kinematic structure, including closed chains or composite sub-mechanisms, joint limits and the presence of obstacles. For a
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38

Kim, Do-Kyun, and Ho-Sung Choo. "Design of a Tag Antenna with a Low Performance Distortion from an Attached Surface Material Using the Asymmetric Dual-Arm Dipole Structure." Journal of Korean Institute of Electromagnetic Engineering and Science 18, no. 4 (2007): 398–407. http://dx.doi.org/10.5515/kjkiees.2007.18.4.398.

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39

KIMURA, Hiroshi, Kenji HIROSE, Daisuke SATO, and Masaru UCHIYAMA. "2P1-G07 Experiment of Truss Parts Assembly by a Teleoperated Dual-Arm Space Robot Using a Truss Structure Designed for the Robot." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2007 (2007): _2P1—G07_1—_2P1—G07_4. http://dx.doi.org/10.1299/jsmermd.2007._2p1-g07_1.

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40

Du, Zhukang, Xiaolong Yan, Ning Sun, and Biye Ren. "Dual stimuli-responsive nano-structure transition of three-arm branched amphiphilic polymers containing ferrocene (Fc) and azobenzene (Azo) moieties in aqueous solution." Soft Matter 15, no. 43 (2019): 8855–64. http://dx.doi.org/10.1039/c9sm01437c.

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41

van Vugt, Floris T., and David J. Ostry. "The Structure and Acquisition of Sensorimotor Maps." Journal of Cognitive Neuroscience 30, no. 3 (2018): 290–306. http://dx.doi.org/10.1162/jocn_a_01204.

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One of the puzzles of learning to talk or play a musical instrument is how we learn which movement produces a particular sound: an audiomotor map. Existing research has used mappings that are already well learned such as controlling a cursor using a computer mouse. By contrast, the acquisition of novel sensorimotor maps was studied by having participants learn arm movements to auditory targets. These sounds did not come from different directions but, like speech, were only distinguished by their frequencies. It is shown that learning involves forming not one but two maps: a point map connectin
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42

Alhassan, Ahmad Bala, Xiaodong Zhang, Haiming Shen, Guo Jian, Haibo Xu, and Khaled Hamza. "Investigation of Aerodynamic Stability of a Lightweight Dual-Arm Power Transmission Line Inspection Robot under the Influence of Wind." Mathematical Problems in Engineering 2019 (November 6, 2019): 1–16. http://dx.doi.org/10.1155/2019/2139462.

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To efficiently transmit electric power to consumers, the power lines need to be inspected routinely for early fault detection. Thus, power line inspection robots are designed to replace the tedious and dangerous manual inspection using linemen or helicopters. However, most of the existing inspection robots are heavy, which make them slow and prone to external wind disturbance. This paper developed a lightweight dual-arm robot and investigates its robustness to wind disturbance on a lab-scale power line structure. The dynamic equations of the robot are derived using the Lagrangian equation for
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43

Habata, Yoichi, Tomomi Saeki, Sadatoshi Akabori, Xian X. Zhang, and Jerald S. Bradshaw. "ChemInform Abstract: Armed-azacrown Ethers Having Dual Binding Sites in a Side Arm: Complexing Abilities and Crystal Structure of Two Alkali-metal Complexes." ChemInform 32, no. 26 (2010): no. http://dx.doi.org/10.1002/chin.200126172.

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44

Lee, Taek, Jinmyeong Kim, Inho Nam, et al. "Fabrication of Troponin I Biosensor Composed of Multi-Functional DNA Structure/Au Nanocrystal Using Electrochemical and Localized Surface Plasmon Resonance Dual-Detection Method." Nanomaterials 9, no. 7 (2019): 1000. http://dx.doi.org/10.3390/nano9071000.

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In the present study, we fabricated a dual-mode cardiac troponin I (cTnI) biosensor comprised of multi-functional DNA (MF-DNA) on Au nanocrystal (AuNC) using an electrochemical method (EC) and a localized surface plasmon resonance (LSPR) method. To construct a cTnI bioprobe, a DNA 3 way-junction (3WJ) was prepared to introduce multi-functionality. Each DNA 3WJ arm was modified to possess a recognition region (Troponin I detection aptamer), an EC-LSPR signal generation region (methylene blue: MB), and an anchoring region (Thiol group), respectively. After an annealing step, the multi-functional
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45

Shanbag, Ganesh, Niharika Venkatesh, V. Varsha, and T. Srinivas. "Optimization of Non-Uniform Optical Waveguide in MOEMS Accelerometer." Applied Mechanics and Materials 110-116 (October 2011): 2631–38. http://dx.doi.org/10.4028/www.scientific.net/amm.110-116.2631.

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Miniaturization is the rule of the day. This has even extended to optical domain where entire sensor arrays complete with laser or led source and pin photodiode are fabricated within a single chip. The device discussed and analyzed in this paper is a MOEMS accelerometer which consists of uniform micro cantilever on one arm of MZI structure. The refractive index is assumed to vary even along the direction of pulse propagation along with the frequently analyzed refractive index profile perpendicular to the light pulse path. The efficiency of device is increased by numerous optimization measures.
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46

Giangrande, Scott E., Edward P. Luke, and Pavlos Kollias. "Characterization of Vertical Velocity and Drop Size Distribution Parameters in Widespread Precipitation at ARM Facilities." Journal of Applied Meteorology and Climatology 51, no. 2 (2012): 380–91. http://dx.doi.org/10.1175/jamc-d-10-05000.1.

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AbstractExtended, high-resolution measurements of vertical air motion and median volume drop diameter D0 in widespread precipitation from three diverse Atmospheric Radiation Measurement Program (ARM) locations [Lamont, Oklahoma, Southern Great Plains site (SGP); Niamey, Niger; and Black Forest, Germany] are presented. The analysis indicates a weak (0–10 cm−1) downward air motion beneath the melting layer for all three regions, a magnitude that is to within the typical uncertainty of the retrieval methods. On average, the hourly estimated standard deviation of the vertical air motion is 0.25 m
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47

Cao, Xiaolong, Yongli Che, and Jianquan Yao. "Resonant conversion based on GaAs-metal metamaterials within terahertz range." International Journal of Modern Physics B 29, no. 21 (2015): 1550145. http://dx.doi.org/10.1142/s0217979215501453.

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In this paper, by utilizing the variable conductivity with photo-injection in gallium arsenide (GaAs), we have designed an asymmetrical planar terahertz (THz) metamaterial, which is connected with two single-gap split ring resonator (SRR) by GaAs strip and demonstrated the resonant conversion of SRR within the THz range under appropriate optical pumping. As central trailing arm of the structure, GaAs is skillfully inserted between the two cross arms of the THz metamaterial and plays a key role in resonant conversion. Through modulation of its conductivity (σ GaAs ), the variable conductivity o
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48

Li, Jia Jian, Jian Qun Liu, Ping Zhang, and Wei Qiang Gao. "Hardware Development of CNC System Based on OMAPL138 and FPGA." Key Engineering Materials 620 (August 2014): 575–80. http://dx.doi.org/10.4028/www.scientific.net/kem.620.575.

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In order to realize high speed, high precision, high reliability, miniaturization performance of the CNC (Computer numerical control) system, this paper proposed a hardware platform of embedded CNC system based on OMAPL138 and FPGA. OMAPL138 is a SOC using C6748 DSP kernel and ARM9 kernel dual-core structure, the kernel frequency can achieve up to 375/456 MHz. ARM kernel of the CNC system which runs the Linux operation system is responsible for task management, DSP kernel is in charge of real-time interpolation and look-ahead algorithm, and FPGA module generates pulses to control the movement
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49

Kumar, V. "Instantaneous Kinematics of Parallel-Chain Robotic Mechanisms." Journal of Mechanical Design 114, no. 3 (1992): 349–58. http://dx.doi.org/10.1115/1.2926560.

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This paper addresses the instantaneous kinematics of robotic manipulators which have an in-parallel scheme of actuation. Hybrid geometries which require both serial and parallel actuation are also considered. Multifingered grippers, walking vehicles, and multiarm manipulation systems in addition to robot arms with a parallel structure can be included in this broad category. The direct and inverse kinematics (and statics) of these devices is discussed with particular attention to applications in control. An analytical method based on screw system theory for obtaining transformation equations be
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50

Bickmore, W. A., and A. D. Carothers. "Factors affecting the timing and imprinting of replication on a mammalian chromosome." Journal of Cell Science 108, no. 8 (1995): 2801–9. http://dx.doi.org/10.1242/jcs.108.8.2801.

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Fluorescence in situ hybridisation has been used to follow replication of the short arm of human chromosome 11 using chromosome anomalies to distinguish the maternally-and paternally-derived homologues. The temporal difference in replication timing within and between chromosomes has been estimated by combining S phase detection with dual colour fluorescence in situ hybridisation. Proximal regions of 11p, including the WT1 gene, tend to replicate earlier on the maternally-derived chromosome than on the paternally-derived homologue. More distal parts of 11p (including the IGF2 gene) have the opp
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