Design of a Lightweight Hyper-Redundant Deployable Binary Manipulator

2004 ◽  
Vol 126 (1) ◽  
pp. 29-39 ◽  
Author(s):  
Vivek A. Sujan ◽  
Steven Dubowsky
Keyword(s):  
Degree Of Freedom ◽  
Robotic Systems ◽  
Muscle Type ◽  
Complex Tasks ◽  
Power Resources ◽  
Future Space ◽  
Wide Range ◽  
Binary Actuators ◽  
High Degree

This paper presents the design of a new lightweight, hyper-redundant, deployable Binary Robotic Articulated Intelligent Device (BRAID), for space robotic systems. The BRAID is intended to meet the challenges of future space robotic systems that need to perform more complex tasks than are currently feasible. It is lightweight, has a high degree of freedom, and has a large workspace. The device is based on embedded muscle type binary actuators and flexure linkages. Such a system may be used for a wide range of tasks, and requires minimal control computation and power resources.

scholarly journals Snake Robot with Driving Assistant Mechanism

2020 ◽  
Vol 10 (21) ◽  
pp. 7478
Author(s):  
Junseong Bae ◽  
Myeongjin Kim ◽  
Bongsub Song ◽  
Maolin Jin ◽  
Dongwon Yun
Keyword(s):  
Dynamic Simulation ◽  
Degree Of Freedom ◽  
Rough Terrain ◽  
Snake Robot ◽  
Wide Range ◽  
Locomotion Speed ◽  
High Degree ◽  
Snake Robots

Snake robots are composed of multiple links and joints and have a high degree of freedom. They can perform various motions and can overcome various terrains. Snake robots need additional driving algorithms and sensors that acquire terrain data in order to overcome rough terrains such as grasslands and slopes. In this study, we propose a driving assistant mechanism (DAM), which assists locomotion without additional driving algorithms and sensors. In this paper, we confirmed that the DAM prevents a roll down on a slope and increases the locomotion speed through dynamic simulation and experiments. It was possible to overcome grasslands and a 27 degrees slope without using additional driving controllers. In conclusion, we expect that a snake robot can conduct a wide range of missions well, such as exploring disaster sites and rough terrain, by using the proposed mechanism.

The Effect of Gravity and Rotor Configuration on Dry Friction Whip and Safe Rotor/Stator Clearance

2019 ◽  
Author(s):  
Rajiv Kumar Vashisht
Keyword(s):  
Mathematical Model ◽  
Fault Diagnosis ◽  
Dry Friction ◽  
Rotating Machinery ◽  
Degree Of Freedom ◽  
System Response ◽  
Rich Variety ◽  
Wide Range ◽  
Clearance Level ◽  
High Degree

Abstract A mathematical model is developed for a real rotor/stator system with high degrees-of-freedoms, multiple disks, flexible bearing supports and couplings. The safe clearance level for coasting up of the rotor is calculated for a general high degree-of-freedom rotor/stator system. The harmful phenomena of dry friction whip, which is generally observable for simple 2 degree-of-freedom Jeffcott rotors in the absence of gravity only, can be proved to exist (in real rotor/stator systems) even in the presence of gravity for a wide range of clearance levels. In case of Jeffcott rotors, by fixing the clearance and increasing the rotor spin frequency, the response of the system follows the pattern: No rub - Forward Annular Rub (FAR) - Partial Forward Whirl (PFW) - Partial Backward Whirl (PBW) - dry whip (WHIP). In case of a real rotor/stator system, at certain frequencies, the system directly jumps to dry whip. The simulated results show a rich variety of system dynamics including FAR, PFW and WHIP in case of vertical rotors where the effect of gravity is neglected. For horizontal rotors, under the effect of gravity, the system response contains multi-harmonics, chaotic responses and multi-period vibrations. Based on these responses, a robust fault diagnosis strategy can be designed to identify the rubbing action in rotating machinery.

Understanding Conformational Entropy in Small Molecules

2020 ◽  
Author(s):  
Lucian Chan ◽  
Garrett Morris ◽  
Geoffrey Hutchison
Keyword(s):  
Small Molecules ◽  
Degrees Of Freedom ◽  
Absolute Error ◽  
Low Energy ◽  
Standard Entropy ◽  
Free Energies ◽  
Conformational Entropy ◽  
Wide Range ◽  
High Degree ◽  
Empirical Corrections

The calculation of the entropy of flexible molecules can be challenging, since the number of possible conformers grows exponentially with molecule size and many low-energy conformers may be thermally accessible. Different methods have been proposed to approximate the contribution of conformational entropy to the molecular standard entropy, including performing thermochemistry calculations with all possible stable conformations, and developing empirical corrections from experimental data. We have performed conformer sampling on over 120,000 small molecules generating some 12 million conformers, to develop models to predict conformational entropy across a wide range of molecules. Using insight into the nature of conformational disorder, our cross-validated physically-motivated statistical model can outperform common machine learning and deep learning methods, with a mean absolute error ≈4.8 J/mol•K, or under 0.4 kcal/mol at 300 K. Beyond predicting molecular entropies and free energies, the model implies a high degree of correlation between torsions in most molecules, often as- sumed to be independent. While individual dihedral rotations may have low energetic barriers, the shape and chemical functionality of most molecules necessarily correlate their torsional degrees of freedom, and hence restrict the number of low-energy conformations immensely. Our simple models capture these correlations, and advance our understanding of small molecule conformational entropy.

Cerebellotrigeminal Dermal Dysplasia (Gómez-López-Hernández Syndrome)

2018 ◽  
Vol 16 (05) ◽  
pp. 362-368 ◽  
Author(s):  
Federica Sullo ◽  
Agata Polizzi ◽  
Stefano Catanzaro ◽  
Selene Mantegna ◽  
Francesco Lacarrubba ◽  
...  
Keyword(s):  
De Novo ◽  
Chromosomal Rearrangements ◽  
Number Of Patients ◽  
Wide Range ◽  
Visual Problems ◽  
Neurodevelopmental Abnormalities ◽  
Clinical Triad ◽  
High Degree ◽  
Motor Handicap

Cerebellotrigeminal dermal (CTD) dysplasia is a rare neurocutaneous disorder characterized by a triad of symptoms: bilateral parieto-occipital alopecia, facial anesthesia in the trigeminal area, and rhombencephalosynapsis (RES), confirmed by cranial magnetic resonance imaging. CTD dysplasia is also known as Gómez-López-Hernández syndrome. So far, only 35 cases have been described with varying symptomatology. The etiology remains unknown. Either spontaneous dominant mutations or de novo chromosomal rearrangements have been proposed as possible explanations. In addition to its clinical triad of RES, parietal alopecia, and trigeminal anesthesia, CTD dysplasia is associated with a wide range of phenotypic and neurodevelopmental abnormalities.Treatment is symptomatic and includes physical rehabilitation, special education, dental care, and ocular protection against self-induced corneal trauma that causes ulcers and, later, corneal opacification. The prognosis is correlated to the mental development, motor handicap, corneal–facial anesthesia, and visual problems. Follow-up on a large number of patients with CTD dysplasia has never been reported and experience is limited to few cases to date. High degree of suspicion in a child presenting with characteristic alopecia and RES has a great importance in diagnosis of this syndrome.

scholarly journals Controlling Teleportation-Based Locomotion in Virtual Reality with Hand Gestures: A Comparative Evaluation of Two-Handed and One-Handed Techniques

Electronics ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 715
Author(s):  
Alexander Schäfer ◽  
Gerd Reis ◽  
Didier Stricker
Keyword(s):  
Virtual Reality ◽  
Virtual Worlds ◽  
User Preferences ◽  
Interaction Techniques ◽  
Hand Gestures ◽  
Wide Range ◽  
Effectiveness And Efficiency ◽  
High Degree ◽  
Additional Hardware ◽  
Comprehensive Study

Virtual Reality (VR) technology offers users the possibility to immerse and freely navigate through virtual worlds. An important component for achieving a high degree of immersion in VR is locomotion. Often discussed in the literature, a natural and effective way of controlling locomotion is still a general problem which needs to be solved. Recently, VR headset manufacturers have been integrating more sensors, allowing hand or eye tracking without any additional required equipment. This enables a wide range of application scenarios with natural freehand interaction techniques where no additional hardware is required. This paper focuses on techniques to control teleportation-based locomotion with hand gestures, where users are able to move around in VR using their hands only. With the help of a comprehensive study involving 21 participants, four different techniques are evaluated. The effectiveness and efficiency as well as user preferences of the presented techniques are determined. Two two-handed and two one-handed techniques are evaluated, revealing that it is possible to move comfortable and effectively through virtual worlds with a single hand only.

Krypton 85 myocardial blood flow: precordial scintillation versus coronary sinus sampling

1965 ◽  
Vol 209 (4) ◽  
pp. 705-710 ◽  
Author(s):  
Michael D. Klein ◽  
Lawrence S. Cohen ◽  
Richard Gorlin
Keyword(s):  
Blood Flow ◽  
Myocardial Blood Flow ◽  
Coronary Sinus ◽  
Human Subjects ◽  
Radioactive Decay ◽  
Empirical Correction ◽  
Wide Range ◽  
Actual Flow ◽  
Flow Through ◽  
High Degree

Myocardial blood flow in human subjects was assessed by comparative simultaneous measurement of krypton 85 radioactive decay from coronary sinus and precordial scintillation. Empirical correction of postclearance background from precordial curves yielded a high degree of correlation between flows derived from the two sampling sites (r = .889, P < .001). Comparison of left and right coronary flows in nine subjects revealed similarity in flow through the two vessels over a wide range of actual flow values (r = .945, P < .001).

Research on Simulation Customers Participate Type in Open Innovation

2014 ◽  
Vol 926-930 ◽  
pp. 2054-2057
Author(s):  
Jun Hui He
Keyword(s):  
Open Innovation ◽  
Degrees Of Freedom ◽  
New Products ◽  
Innovation Process ◽  
Degree Of Freedom ◽  
Three Dimensions ◽  
Dynamic Evolution ◽  
Evolution Simulation ◽  
High Degree

This paper proposed customers to participate typology based on three dimensions, which are the customers’ autonomy in the process, the nature of the firm‐customer collaboration, and the stage of the innovation process. Then proposed customers to participate in the type of open innovation framework. Through the static comparative and dynamic evolution simulation found: customers tend to be open to participate in the development of new products pre innovation, the tendency to begin to choose the low participation of degrees of freedom, and ultimately tend to opt for a high degree of freedom to participate.

Historical Dynamics

2018 ◽  
Author(s):  
Peter Turchin
Keyword(s):  
Religious Conversion ◽  
Synthetic Approach ◽  
Dynamical Processes ◽  
Factors Affecting ◽  
Historical Processes ◽  
Wide Range ◽  
Historical Dynamics ◽  
State Breakdown ◽  
Political Economic ◽  
High Degree

Many historical processes are dynamic. Populations grow and decline. Empires expand and collapse. Religions spread and wither. Natural scientists have made great strides in understanding dynamical processes in the physical and biological worlds using a synthetic approach that combines mathematical modeling with statistical analyses. Taking up the problem of territorial dynamics—why some polities at certain times expand and at other times contract—this book shows that a similar research program can advance our understanding of dynamical processes in history. The book develops hypotheses from a wide range of social, political, economic, and demographic factors: geopolitics, factors affecting collective solidarity, dynamics of ethnic assimilation/religious conversion, and the interaction between population dynamics and sociopolitical stability. It then translates these into a spectrum of mathematical models, investigates the dynamics predicted by the models, and contrasts model predictions with empirical patterns. The book's highly instructive empirical tests demonstrate that certain models predict empirical patterns with a very high degree of accuracy. For instance, one model accounts for the recurrent waves of state breakdown in medieval and early modern Europe. And historical data confirm that ethno-nationalist solidarity produces an aggressively expansive state under certain conditions (such as in locations where imperial frontiers coincide with religious divides). The strength of the book's results suggests that the synthetic approach advocated can significantly improve our understanding of historical dynamics.

Main approaches to treatment of hypoxia in acute respiratory distress syndrome, bacterial and viral pneumonia (part III)

2021 ◽  
pp. 38-55
Author(s):  
A. V. Vlasenko ◽  
E. A. Evdokimov ◽  
E. P. Rodionov
Keyword(s):  
Respiratory Failure ◽  
Distress Syndrome ◽  
Experimental Studies ◽  
Viral Pneumonia ◽  
Medical Technologies ◽  
Clinical Observations ◽  
Wide Range ◽  
Prevention And Treatment ◽  
High Degree

The paper summarizes data on modern approaches to the diagnosis, prevention and treatment of severe acute parenchymal respiratory failure of various origins, including ARDS due to bacterial viral pneumonia. The work is based on the data of modern well-organized studies, analysis of international clinical guidelines with a high degree of evidence, as well as the results of our own long-term experimental studies and clinical observations of the treatment of patients with ARDS of various origins, including viral pneumonia of 2009, 2016, 2020. Scientifically grounded algorithms for prevention, differential diagnosis and personalized therapy of severe acute respiratory failure using innovative medical technologies and a wide range of respiratory and adjuvant treatment methods have been formulated. The authors tried to adapt as much as possible the existing current recommendations for the daily clinical practice of anesthesiologists and resuscitators.

Mechanical Manipulator for Intuitive Control of Endoscopic Instruments With Seven Degrees of Freedom

2004 ◽  
Author(s):  
J. E. N. Jaspers ◽  
M. Shehata ◽  
F. Wijkhuizen ◽  
J. L. Herder ◽  
C. A. Grimbergen
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Complex Tasks ◽  
Steel Wires

Performing complex tasks in Minimally Invasive Surgery (MIS) is demanding due to a disturbed hand-eye co-ordination, the use of non-ergonomic instruments with limited degrees of freedom (DOFs) and a lack of force feedback. Robotic telemanipulatory systems enhance surgical dexterity by providing up to 7 DOFs. They allow the surgeon to operate in an ergonomically favorable position with more intuitive manipulation of the instruments. Commercially available robotic systems, however, are very bulky, expensive and do not provide any force feedback. The aim of our study was to develop a simple mechanical manipulator for MIS. When manipulating the handle of the device, the surgeon’s wrist and grasping movements are directly transmitted to the deflectable instrument tip in 7 DOFs. The manipulator consists of a parallelogram mechanism with steel wires. First phantom experience indicated that the system functions properly. The MIM provides some force feedback improving safety. A set of MIMs seems to be an economical and compact alternative for robotic systems.

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