An Automatic Method for Finding the Assembly Configurations of Planar Non-Single-Input-Dyadic Mechanisms

1999 ◽  
Vol 124 (1) ◽  
pp. 58-67 ◽  
Author(s):  
D. E. Foster ◽  
R. J. Cipra

This paper examines the problem of identifying the assembly configurations (ACs), also called circuits, of planar non-single-input-dyadic (NSID) mechanisms. An SID mechanism is a multi-loop mechanism which can be defined by adding one loop at a time such that the mechanism has one degree of freedom (DOF) after each loop is added. An NSID mechanism is any mechanism that does not meet the SID criterion. This includes all multi-DOF mechanisms, and some complex single-DOF mechanisms. An automatic method is presented which allows a computer to determine the ACs of an NSID mechanism. For single-DOF mechanisms, the ACs are represented by curves drawn in a plane represented by two joint variables. For multi-DOF mechanisms, the ACs consist of one or more regions in the plane, which are defined by the curves that bound them. The automated method finds these bounding curves, and then determines which curves belong to the same region, and which regions belong to the same AC. Mechanisms with pin joints and sliding joints are considered.

Author(s):  
David E. Foster ◽  
Raymond J. Cipra

Abstract This paper examines the problem of identifying the assembly configurations (ACs), also called circuits, of planar non-single-input-dyadic (NSID) mechanisms. An SID mechanism is a multi-loop mechanism which can be defined by adding one loop at a time such that the mechanism has one degree of freedom (DOF) after each loop is added. An NSID mechanism is any mechanism that does not meet the SID criterion. This includes all multi-DOF mechanisms, and some complex single-DOF mechanisms. An automatic, method is presented which allows a computer to determine the ACs of an NSID mechanism. For single-DOF mechanisms, the ACs are represented by curves drawn in a plane represented by two joint variables. For multi-DOF mechanisms, the ACs consist of one or more regions in the plane, which are defined by the curves that bound, them. The automated method finds these bounding curves, and then determines which curves belong to the same region, and which regions belong to the same AC. Mechanisms with pin joints and sliding joints are considered.


1998 ◽  
Vol 120 (3) ◽  
pp. 381-386 ◽  
Author(s):  
D. E. Foster ◽  
R. J. Cipra

This paper examines the problem of enumerating the assembly configurations (ACs), also called circuits, and branches of planar single-input dyadic (SID) mechanisms which have links with pin joints and sliding joints. An SID mechanism is a multiloop mechanism which can be defined by adding one loop at a time such that the mechanism has one degree of freedom after each loop is added. A method is given to find the ACs of such a mechanism. The emphasis is on using graphical interpretation to determine the mobility regions of the mechanism which are preserved when each new loop is added to the mechanism. This method of interpretation is readily automated. Each AC can be represented as a set of instructions for the input link to follow, along with a list of dyad configurations for each instruction. Each instruction corresponds to a branch of the mechanism. Examples are given to demonstrate the use of this method.


Author(s):  
David E. Foster ◽  
Raymond J. Cipra

Abstract This paper examines the problem of enumerating the assembly configurations (ACs), also called circuits, of planar single-input dyadic (SID) mechanisms which have links with pin joints and sliding joints. An SID mechanism is a multi-loop mechanism which can be defined by adding one loop at a time such that the mechanism has one degree of freedom after each loop is added. A method is given to find the ACs of such a mechanism. The emphasis is on using graphical interpretation to determine the mobility regions of the mechanism which are preserved when each new loop is added to the mechanism. This method of interpretation is readily automated. Each AC can be represented as a set of instructions for the input link to follow, along with a list of dyad configurations for each instruction. Each instruction corresponds to a branch of the mechanism. Examples are given to demonstrate the use of this method.


1966 ◽  
Vol 12 (7) ◽  
pp. 418-427 ◽  
Author(s):  
Preston Smith ◽  
Caroline H Kurtzman ◽  
Mary E Ambrose

Abstract A direct spectrophotometric method for manual analysis of calcium using the indicator dye Eriochrome Blue S. E. was selected for automation. Most indicator dyes used have been somewhat unstable in solutions sufficiently alkaline to minimize the interference of magnesium. Eriochrome Blue S. E., when kept in an ice bath in the absence of light, permitted the use of sufficient alkali to remove interfering magnesium ions. Magnesium did not interfere in concentrations up to 12 mg./100 ml. when added to standards. The addition of 0.5% (w/v) citric acid removed interference of phosphate in concentrations up to 300 mg./100 ml. The automated method has the advantage of speed, yet retains the accuracy and precision of the conventional methods used for determining calcium.


2020 ◽  
Vol 21 (Supplement_1) ◽  
Author(s):  
Y Nabeshima ◽  
T Kitano ◽  
K Otani ◽  
M Takeuchi

Abstract Background Stroke volume (SV) using Doppler echocardiography is a significant prognosticator in patients with atrial fibrillation (AF). However, tracing multiple left ventricular outflow tract (LVOT) Doppler flow velocity envelope is tedious. Although ASE recommends to average 5 -10 beats of SV in AF, this has not been validated. Recently developed fully automated Doppler flow velocity analytical software can analyze Doppler parameters in multiple consecutive beats on the screen within a few seconds. Purpose We aimed to determine the usefulness of the software, and to validate the minimum number of beats required to approximate SV in patients with AF. Methods We selected 21 AF patients who had undergone 2D echocardiography using GE ultrasound machine (E95, GE healthcare). LVOT area was calculated by 3.14×(LVOT diameter/2)². LVOT pulse-wave Doppler velocity was recorded from an apical approach with a quiet breathing. To maximize the number of flow envelope on the screen, sweep speed was set at 12.5 mm/s. LVOT velocity time integral was measured by both manual tracing method and fully automated method (Cardiac Auto Doppler, GE healthcare). The grand truth of mean SV (reference SV) in each patient was defined as the averaged values of SV from all consecutive beats. We also calculated the mean SV value with the successive addition of sequential beats started from the 1st beat. Each value was compared with the reference SV and % variability was calculated. We determined the minimum number of beats showing %variability becoming <5%. Results Mean age was 77 years. Mean heart rate and reference SV index (SVI) were 80 ± 12 bpm and 35 ± 10 mL/m2. A total number of beats for recording was ranged from 16 to 25 in each patient. The fully automated software could analyze Doppler envelope in 395 out of 412 beats (Feasibility: 96%). Although there was a good correlation of SV in individual beats between the manual and automatic method (r = 0.92), the automatic method significantly overestimated SV (mean bias: 2.6 mL, p < 0.001) compared with the manual method. The median values of minimum number of beats showing % variability < 5% were 4 (interquartile range: 2 -7) for manual tracing method. The corresponding values were 5 (2 -6) for automatic method. If we used mean values of SV during consecutive 10 beats, 92% of patients using manual method and 96% of patients using automatic method showed % variability < 5%. There were excellent correlation between reference SV and averaged SV from the 1st beat to 10th beat (manual: r = 0.98, automatic: r = 0.99). If we defined low flow status as < 35 mL/m2, averaged SVI during consecutive 10 beats using the automatic method had a correct diagnosis in 20 out of 21 patients. Conclusions We concluded that minimum number of required beats for averaging was 10 in most AF patients. Rapid and reliable SV analysis with a novel fully automated Doppler software has a potential for its adoption in busy echocardiography laboratories.


1966 ◽  
Vol 49 (6) ◽  
pp. 1213-1218
Author(s):  
Charles W Gehrke ◽  
James H Baumgartner ◽  
James P Ussary

Abstract An automatic photometric method utilizing the Technicon AutoAnalyzer has been developed to determine phosphorus in all forms of fertilizer phosphorus in the range of 2.0–4.5 mg P2O5/100 ml at a sampling rate of 40 analyses/hr. Multiple analyses of KH2PO4, 9 Magruder check samples, and numerous commercial fertilizers were made and compared with results obtained by the official quinolinium phosphomolybdate method, 2.025(b). Average range for five independent determinations was 0.22% P2O5 for the automated method and 0.26% P2O5 for the gravimetric method; average relative standard deviations were 0.44 and 0.60%, respectively. The average recovery of P2O5 from KH2PO4 was 99.8% with the photometric method and 100.3% with the quinolinium method. Results on 69 commercial fertilizers containing 5–54% P2O5 by the automatic method were only 0.02%% lower than those by the gravimetric quinolinium method. Results show that the automated phosphomolybdovanadate method for direct available phosphorus in fertilizers is accurate, precise, and less time consuming for routine control and industrial laboratories.


Author(s):  
B S Dalay ◽  
V S Medvedev ◽  
T A Romanova

Methods of analysing single input and single output control systems are well established (1). The same is not true of techniques for solving problems involving multi-inputs and multi-outputs. Such problems arise when controlling manipulators having many degrees of freedom. In this paper techniques of control system synthesis for manipulator mechanisms are considered. The method is based on locating the roots of the characteristic equation to give the desired dynamic properties for every link's servo system in the mechanism. Each link is treated independently. Simple examples to illustrate the method are presented.


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