Homological invariants for classification of kinematic singularities

Automatica ◽  
2020 ◽  
Vol 111 ◽  
pp. 108611 ◽  
Author(s):  
Frederick A. Leve
Keyword(s):  
Homological Invariants ◽  
Kinematic Singularities

Local Analysis of Closed-Loop Linkages: Mobility, Singularities, and Shakiness

2015 ◽  
Author(s):  
Andreas Müller
Keyword(s):  
Tangent Cone ◽  
Local Approximation ◽  
Approximation Order ◽  
Local Analysis ◽  
Space Geometry ◽  
Geometric Entity ◽  
Best Local Approximation ◽  
Kinematic Singularities ◽  
General Configuration

The mobility of a linkage is determined by the constraints imposed on its members. The constraints define the configuration space (c-space) variety as the geometric entity in which the finite mobility of a linkage is encoded. The instantaneous motions are determined by the constraints, rather than by the c-space geometry. Shaky linkages are prominent examples that exhibit a higher instantaneous than finite DOF even in regular configurations. Inextricably connected to the mobility are kinematic singularities that are reflected in a change of the instantaneous DOF. The local analysis of a linkage, aiming at determining the instantaneous and finite mobility in a given configuration, hence needs to consider the c-space geometry as well as the constraint system. A method for the local analysis is presented based on a higher-order local approximation of the c-space adopting the concept of the tangent cone to a variety. The latter is the best local approximation of the c-space in a general configuration. It thus allows for investigating the mobility in regular as well as singular configurations. Therewith the c-space is locally represented as an algebraic variety whose degree is the necessary approximation order. In regular configurations the tangent cone is the tangent space. The method is generally applicable and computationally simple. It allows for a classification of linkages as overconstrained and underconstrained, and to identify singularities.

scholarly journals Conceptual Design of Schoenflies Motion Generators Based on the Wrench Graph

2013 ◽  
Author(s):  
Semaan Amine ◽  
Latifah Nurahmi ◽  
Philippe Wenger ◽  
Stéphane Caro
Keyword(s):  
Conceptual Design ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Design Stage ◽  
The Subject ◽  
Grassmann Geometry ◽  
Kinematic Singularities ◽  
General Configuration

The subject of this paper is about the conceptual design of parallel Schoenflies motion generators based on the wrench graph. By using screw theory and Grassmann geometry, some conditions on both the constraint and the actuation wrench systems are generated for the assembly of limbs of parallel Schoenflies motion generators, i.e., 3T1R parallel manipulators. Those conditions are somehow related to the kinematic singularities of the manipulators. Indeed, the parallel manipulator should not be in a constraint singularity in the starting configuration for a valid architecture, otherwise it cannot perform the required motion pattern. After satisfying the latter condition, the parallel manipulator should not be in an actuation singularity in a general configuration, otherwise the obtained parallel manipulator is permanently singular. Based on the assembly conditions, six types of wrench graphs are identified and correspond to six typical classes of 3T1R parallel manipulators. The geometric properties of these six classes are highlighted. A simplified expression of the superbracket decomposition is obtained for each class, which allows the determination and the comparison of the singularities of 3T1R parallel manipulators at their conceptual design stage. The methodology also provides new architectures of parallel Schoenflies motion generators based on the classification of wrench graphs and on their singularity conditions.

Local Kinematic Analysis of Closed-Loop Linkages—Mobility, Singularities, and Shakiness

2016 ◽  
Vol 8 (4) ◽  
Author(s):  
Andreas Müller
Keyword(s):  
Kinematic Analysis ◽  
Regular Point ◽  
Geometric Constraints ◽  
Local Analysis ◽  
Kinematic Singularity ◽  
Space Geometry ◽  
Geometric Entity ◽  
Kinematic Singularities ◽  
Space Singularity

The mobility of a linkage is determined by the constraints imposed on its members. The geometric constraints define the configuration space (c-space) variety as the geometric entity in which the finite mobility of a linkage is encoded. The aim of a local kinematic analysis of a linkage is to deduce its finite mobility, in a given configuration, from the local c-space geometry. In this paper, a method for the local analysis is presented adopting the concept of the tangent cone to a variety. The latter is an algebraic variety approximating the c-space. It allows for investigating the mobility in regular as well as singular configurations. The instantaneous mobility is determined by the constraints, rather than by the c-space geometry. Shaky and underconstrained linkages are prominent examples that exhibit a permanently higher instantaneous than finite DOF even in regular configurations. Kinematic singularities, on the other hand, are reflected in a change of the instantaneous DOF. A c-space singularity as a kinematic singularity, but a kinematic singularity may be a regular point of the c-space. The presented method allows to identify c-space singularities. It also reveals the ith-order mobility and allows for a classification of linkages as overconstrained and underconstrained. The method is applicable to general multiloop linkages with lower pairs. It is computationally simple and only involves Lie brackets (screw products) of instantaneous joint screws. The paper also summarizes the relevant kinematic phenomena of linkages.

Note on the spectral classification of carbon stars in the photographic infrared region

1966 ◽  
Vol 24 ◽  
pp. 21-23
Author(s):  
Y. Fujita
Keyword(s):  
Infrared Region ◽  
Spectral Classification ◽  
Carbon Stars

We have investigated the spectrograms (dispersion: 8Å/mm) in the photographic infrared region fromλ7500 toλ9000 of some carbon stars obtained by the coudé spectrograph of the 74-inch reflector attached to the Okayama Astrophysical Observatory. The names of the stars investigated are listed in Table 1.

Diagnostic Value of Electron Microscopy in Soft Tissue Tumors

1970 ◽  
Vol 28 ◽  
pp. 220-221
Author(s):  
Gerald Fine ◽  
Azorides R. Morales
Keyword(s):  
Cardiac Myxoma ◽  
Osteogenic Sarcoma ◽  
Diagnostic Value ◽  
Soft Tissue Tumors ◽  
Amelanotic Melanoma ◽  
Growth Patterns ◽  
Light Microscopic Level ◽  
Mesenchymal Tumors ◽  
Good Agreement

For years the separation of carcinoma and sarcoma and the subclassification of sarcomas has been based on the appearance of the tumor cells and their microscopic growth pattern and information derived from certain histochemical and special stains. Although this method of study has produced good agreement among pathologists in the separation of carcinoma from sarcoma, it has given less uniform results in the subclassification of sarcomas. There remain examples of neoplasms of different histogenesis, the classification of which is questionable because of similar cytologic and growth patterns at the light microscopic level; i.e. amelanotic melanoma versus carcinoma and occasionally sarcoma, sarcomas with an epithelial pattern of growth simulating carcinoma, histologically similar mesenchymal tumors of different histogenesis (histiocytoma versus rhabdomyosarcoma, lytic osteogenic sarcoma versus rhabdomyosarcoma), and myxomatous mesenchymal tumors of diverse histogenesis (myxoid rhabdo and liposarcomas, cardiac myxoma, myxoid neurofibroma, etc.)

Ultrastructure of mesotheliomas

1984 ◽  
Vol 42 ◽  
pp. 98-101
Author(s):  
Irving Dardick
Keyword(s):  
Electron Microscopy ◽  
Latent Period ◽  
Spindle Cell ◽  
Spindle Cell Sarcoma ◽  
Metastatic Adenocarcinoma ◽  
Cell Sarcoma ◽  
Cytological Features ◽  
Industrial Use ◽  
Degree Of Differentiation

With the extensive industrial use of asbestos in this century and the long latent period (20-50 years) between exposure and tumor presentation, the incidence of malignant mesothelioma is now increasing. Thus, surgical pathologists are more frequently faced with the dilemma of differentiating mesothelioma from metastatic adenocarcinoma and spindle-cell sarcoma involving serosal surfaces. Electron microscopy is amodality useful in clarifying this problem.In utilizing ultrastructural features in the diagnosis of mesothelioma, it is essential to appreciate that the classification of this tumor reflects a variety of morphologic forms of differing biologic behavior (Table 1). Furthermore, with the variable histology and degree of differentiation in mesotheliomas it might be expected that the ultrastructure of such tumors also reflects a range of cytological features. Such is the case.

Interpreting HVEM of muscle-cell impulse networks

1992 ◽  
Vol 50 (1) ◽  
pp. 126-127
Author(s):  
Paul DeCosta ◽  
Kyugon Cho ◽  
Stephen Shemlon ◽  
Heesung Jun ◽  
Stanley M. Dunn
Keyword(s):  
Structural Analysis ◽  
Muscle Cell ◽  
Electron Micrographs ◽  
Relative Size ◽  
Automatic Classification ◽  
Nerve Fibers ◽  
Analysis Algorithm ◽  
Structural Networks

Introduction: The analysis and interpretation of electron micrographs of cells and tissues, often requires the accurate extraction of structural networks, which either provide immediate 2D or 3D information, or from which the desired information can be inferred. The images of these structures contain lines and/or curves whose orientation, lengths, and intersections characterize the overall network.Some examples exist of studies that have been done in the analysis of networks of natural structures. In, Sebok and Roemer determine the complexity of nerve structures in an EM formed slide. Here the number of nodes that exist in the image describes how dense nerve fibers are in a particular region of the skin. Hildith proposes a network structural analysis algorithm for the automatic classification of chromosome spreads (type, relative size and orientation).

Dual stain kit for the microscopic gram classification of ocular infection bacteria

1993 ◽  
Vol 51 ◽  
pp. 248-249
Author(s):  
Jacob S. Hanker ◽  
Dale N. Holdren ◽  
Kenneth L. Cohen ◽  
Beverly L. Giammara
Keyword(s):  
Contact Lenses ◽  
Ocular Infection ◽  
Gram Negative Bacteria ◽  
Gram Negative ◽  
Gram Staining ◽  
Ocular Infections ◽  
Different Types ◽  
Culture Positive ◽  
Increased Susceptibility

Keratitis and conjunctivitis (infections of the cornea or conjunctiva) are ocular infections caused by various bacteria, fungi, viruses or parasites; bacteria, however, are usually prominent. Systemic conditions such as alcoholism, diabetes, debilitating disease, AIDS and immunosuppressive therapy can lead to increased susceptibility but trauma and contact lens use are very important factors. Gram-negative bacteria are most frequently cultured in these situations and Pseudomonas aeruginosa is most usually isolated from culture-positive ulcers of patients using contact lenses. Smears for staining can be obtained with a special swab or spatula and Gram staining frequently guides choice of a therapeutic rinse prior to the report of the culture results upon which specific antibiotic therapy is based. In some cases staining of the direct smear may be diagnostic in situations where the culture will not grow. In these cases different types of stains occasionally assist in guiding therapy.

Ultrastructural Classification of Pituary Adenomas

1990 ◽  
Vol 48 (3) ◽  
pp. 258-258
Author(s):  
S. Arumugam ◽  
Sarasa Bharati Arumugam
Keyword(s):  
Cytoplasmic Organelle ◽  
Null Cell ◽  
Cell Adenoma ◽  
Mixed Cell ◽  
Light Microscope Level ◽  
Null Cell Adenoma ◽  
Growth Hormone Cell ◽  
Ultrastructural Characteristics ◽  
Organelle Morphology

Adenoaas of the pituitary are no longer classified based on their tinctorial affinity to dyes. With the advent of the newer methods of sophisticated technology, it is now possible to classify. These depending upon the type of hormone secreted based either on histochemical techniques or on ultrastructural characteristics. The latter provides an insight into the cytoplasmic organelle morphology which offers a delightful feast to the eye as well.This paper presents the ultrastructural characters of the pituitary adenoma as seen in Madras. 171 adenomas (124 males and 47 females) were seen during 1972-1989, classified at the light microscope level as 159 chromophobe, 2 basophilic, 4 eosinophilic and 6 mixed adenomas.Ultrastructural examination showed that the sparsely granular prolactin cell adenoma is the commonest adenoma to be encountered closely followed by the growth hormone cell adenoma, null cell adenoma, the mixed cell adenoma and others.

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