A Two-Dimensional Formulation for Path-Placement in the Workcells of Planar 3-R Robots

1995 ◽  
Vol 117 (3) ◽  
pp. 479-484 ◽  
Author(s):  
N. A. Soman ◽  
J. K. Davidson
Keyword(s):  
Three Dimensional ◽  
Solution Space ◽  
Joint Space ◽  
Two Dimensions ◽  
Fusion Welding ◽  
Graphical Form ◽  
Tool Paths ◽  
All Solutions ◽  
Planar Robot ◽  
Systematic Formulation

A new systematic formulation is presented that determines suitable locations for a workpiece, and its associated task-motion, in the workspace of a three-hinged planar (SCARA) robotic workcell. It determines all acceptable positions for the first joint of the robot relative to the workpiece; therefore, all solutions are represented as an area in two dimensions, unlike existing methods of motion-planning that present them as a volume in a three-dimensional joint-space for the same planar robot. This simplifies the solution-space by reducing its dimension from three to two. All possible acceptable designs appear in a graphical form that can be readily visualized and directly measured in a Cartesian frame of reference in the workcell. Applications include locating workpieces with tool-paths for fusion welding and for deposition of adhesives.

Design of Planar 3-R Robotic Workcells in Two-Space With Rotation at the Third Joint Limited to Exactly One Turn

1993 ◽  
Author(s):  
N. A. Soman ◽  
Joseph K. Davidson
Keyword(s):  
Three Dimensional ◽  
Solution Space ◽  
Joint Space ◽  
Two Dimensions ◽  
Fusion Welding ◽  
Graphical Form ◽  
Motion Trajectories ◽  
The Third ◽  
Full Turn ◽  
All Solutions

Abstract An interactive graphics-based computer scheme was developed that determines suitable locations for a workpiece, and its associated task-motion, in the dexterous workspace of a three-hinged planar robotic workcell. It determines all acceptable positions for the first joint of the robot relative to the workpiece; therefore, all solutions are represented as an area in two dimensions, unlike existing methods of motion-planning that present them as a volume in a three-dimensional joint-space for the same planar robot. This simplifies the solution-space by reducing its dimension from three to two. The method differentiates between the constraints that singular configurations, workspace boundaries, the excursion-range of one full turn at the third rotary joint, and physical obstacles impose on the design of a planar robotic workcell, thus giving a better understanding of the global properties and physical limitations of the workcell. All possible acceptable designs appear in a graphical form that can be readily visualized and be directly measured in a Cartesian frame of reference in the workcell. The method can be applied to either open or closed motion trajectories. Applications include the design of robotic workcells that are used for fusion welding and for deposition of adhesives, where, in each case, the attitude of the end-effector is as important to the task as is the path that a point on the tool follows.

Limits at $3 in a New Formulation for Path-Placement in the Workcells of Planar 3-R Robots

1995 ◽  
Vol 117 (3) ◽  
pp. 485-490 ◽  
Author(s):  
J. K. Davidson ◽  
N. A. Soman
Keyword(s):  
Dimensional Space ◽  
Three Dimensional ◽  
Solution Space ◽  
Graphical Form ◽  
Dimensional Solution ◽  
One Dimensional ◽  
Tool Paths ◽  
Planar Robot ◽  
New Formulation ◽  
Systematic Formulation

Excursion-limits at the third joint of a three-hinged planar robot are incorporated into a new systematic formulation for path-placement in which the three-dimensional solution-space is decomposed into a two-dimensional space of variables that strongly control the placement of the path and a one-dimensional space that is much less critical. The new formulation determines all acceptable positions for the first joint of the robot relative to the workpiece. All possible acceptable designs appear in a graphical form that can be readily visualized and be directly measured in a Cartesian frame of reference in the workcell. The method is extended to closed tool-paths, and the method is illustrated with practical examples.

Laser Scanning Confocal Microscopy and Three-Dimesnsional Reconstruction of the Mitotic Spindles of Unequally Dividing Embryonic Cells

1990 ◽  
Vol 48 (3) ◽  
pp. 166-167
Author(s):  
J. Holy ◽  
G. Schatten
Keyword(s):  
Confocal Microscopy ◽  
Mitotic Spindle ◽  
Laser Scanning ◽  
Three Dimensional ◽  
Laser Scanning Confocal Microscopy ◽  
Two Dimensions ◽  
Embryonic Cells ◽  
Mitotic Spindles ◽  
Cleavage Division ◽  
Scanning Confocal Microscopy

One of the classic limitations of light microscopy has been the fact that three dimensional biological events could only be visualized in two dimensions. Recently, this shortcoming has been overcome by combining the technologies of laser scanning confocal microscopy (LSCM) and computer processing of microscopical data by volume rendering methods. We have employed these techniques to examine morphogenetic events characterizing early development of sea urchin embryos. Specifically, the fourth cleavage division was examined because it is at this point that the first morphological signs of cell differentiation appear, manifested in the production of macromeres and micromeres by unequally dividing vegetal blastomeres.The mitotic spindle within vegetal blastomeres undergoing unequal cleavage are highly polarized and develop specialized, flattened asters toward the micromere pole. In order to reconstruct the three-dimensional features of these spindles, both isolated spindles and intact, extracted embryos were fluorescently labeled with antibodies directed against either centrosomes or tubulin.

scholarly journals Free partition functions and an averaged holographic duality

2021 ◽  
Vol 2021 (1) ◽  
Author(s):  
Nima Afkhami-Jeddi ◽  
Henry Cohn ◽  
Thomas Hartman ◽  
Amirhossein Tajdini
Keyword(s):  
Partition Function ◽  
Spectral Gap ◽  
Central Charge ◽  
Three Dimensional ◽  
Two Dimensions ◽  
Three Dimensions ◽  
Partition Functions ◽  
General Constraints ◽  
Dimensional Gravity ◽  
Holographic Duality

Abstract We study the torus partition functions of free bosonic CFTs in two dimensions. Integrating over Narain moduli defines an ensemble-averaged free CFT. We calculate the averaged partition function and show that it can be reinterpreted as a sum over topologies in three dimensions. This result leads us to conjecture that an averaged free CFT in two dimensions is holographically dual to an exotic theory of three-dimensional gravity with U(1)c×U(1)c symmetry and a composite boundary graviton. Additionally, for small central charge c, we obtain general constraints on the spectral gap of free CFTs using the spinning modular bootstrap, construct examples of Narain compactifications with a large gap, and find an analytic bootstrap functional corresponding to a single self-dual boson.

Turbulent three-dimensional dielectric electrohydrodynamic convection between two plates

2012 ◽  
Vol 696 ◽  
pp. 228-262 ◽  
Author(s):  
A. Kourmatzis ◽  
J. S. Shrimpton
Keyword(s):  
Spatial Data ◽  
Three Dimensional ◽  
Reynolds Numbers ◽  
Two Dimensions ◽  
Three Dimensions ◽  
Energy Budgets ◽  
Turbulent Regime ◽  
Scalar Flux ◽  
Wide Range ◽  
Scalar Variance

AbstractThe fundamental mechanisms responsible for the creation of electrohydrodynamically driven roll structures in free electroconvection between two plates are analysed with reference to traditional Rayleigh–Bénard convection (RBC). Previously available knowledge limited to two dimensions is extended to three-dimensions, and a wide range of electric Reynolds numbers is analysed, extending into a fully inherently three-dimensional turbulent regime. Results reveal that structures appearing in three-dimensional electrohydrodynamics (EHD) are similar to those observed for RBC, and while two-dimensional EHD results bear some similarities with the three-dimensional results there are distinct differences. Analysis of two-point correlations and integral length scales show that full three-dimensional electroconvection is more chaotic than in two dimensions and this is also noted by qualitatively observing the roll structures that arise for both low (${\mathit{Re}}_{E} = 1$) and high electric Reynolds numbers (up to ${\mathit{Re}}_{E} = 120$). Furthermore, calculations of mean profiles and second-order moments along with energy budgets and spectra have examined the validity of neglecting the fluctuating electric field ${ E}_{i}^{\ensuremath{\prime} } $ in the Reynolds-averaged EHD equations and provide insight into the generation and transport mechanisms of turbulent EHD. Spectral and spatial data clearly indicate how fluctuating energy is transferred from electrical to hydrodynamic forms, on moving through the domain away from the charging electrode. It is shown that ${ E}_{i}^{\ensuremath{\prime} } $ is not negligible close to the walls and terms acting as sources and sinks in the turbulent kinetic energy, turbulent scalar flux and turbulent scalar variance equations are examined. Profiles of hydrodynamic terms in the budgets resemble those in the literature for RBC; however there are terms specific to EHD that are significant, indicating that the transfer of energy in EHD is also attributed to further electrodynamic terms and a strong coupling exists between the charge flux and variance, due to the ionic drift term.

Simulation of small-angle scattering curves by numerical Fourier transformation

2007 ◽  
Vol 40 (1) ◽  
pp. 16-25 ◽  
Author(s):  
Klaus Schmidt-Rohr
Keyword(s):  
Form Factor ◽  
Small Angle ◽  
Fourier Transformation ◽  
Three Dimensional ◽  
Power Laws ◽  
Numerical Approach ◽  
Peak Position ◽  
Two Dimensions ◽  
Correlation Peak ◽  
Scattering Intensity

A simple numerical approach for calculating theq-dependence of the scattering intensity in small-angle X-ray or neutron scattering (SAXS/SANS) is discussed. For a user-defined scattering density on a lattice, the scattering intensityI(q) (qis the modulus of the scattering vector) is calculated by three-dimensional (or two-dimensional) numerical Fourier transformation and spherical summation inqspace, with a simple smoothing algorithm. An exact and simple correction for continuous rather than discrete (lattice-point) scattering density is described. Applications to relatively densely packed particles in solids (e.g.nanocomposites) are shown, where correlation effects make single-particle (pure form-factor) calculations invalid. The algorithm can be applied to particles of any shape that can be defined on the chosen cubic lattice and with any size distribution, while those features pose difficulties to a traditional treatment in terms of form and structure factors. For particles of identical but potentially complex shapes, numerical calculation of the form factor is described. Long parallel rods and platelets of various cross-section shapes are particularly convenient to treat, since the calculation is reduced to two dimensions. The method is used to demonstrate that the scattering intensity from `randomly' parallel-packed long cylinders is not described by simple 1/qand 1/q4power laws, but at cylinder volume fractions of more than ∼25% includes a correlation peak. The simulations highlight that the traditional evaluation of the peak position overestimates the cylinder thickness by a factor of ∼1.5. It is also shown that a mix of various relatively densely packed long boards can produceI(q) ≃ 1/q, usually observed for rod-shaped particles, without a correlation peak.

scholarly journals Forest Height Estimation Based on P-Band Pol-InSAR Modeling and Multi-Baseline Inversion

2020 ◽  
Vol 12 (8) ◽  
pp. 1319
Author(s):  
Xiaofan Sun ◽  
Bingnan Wang ◽  
Maosheng Xiang ◽  
Liangjiang Zhou ◽  
Shuai Jiang
Keyword(s):  
Standard Deviation ◽  
Vertical Structure ◽  
Incidence Angle ◽  
Three Dimensional ◽  
Solution Space ◽  
Model Complexity ◽  
Two Dimensional ◽  
Dimensional Parameter ◽  
Model Inversion ◽  
Forest Height

The Gaussian vertical backscatter (GVB) model has a pivotal role in describing the forest vertical structure more accurately, which is reflected by P-band polarimetric interferometric synthetic aperture radar (Pol-InSAR) with strong penetrability. The model uses a three-dimensional parameter space (forest height, Gaussian mean representing the strongest backscattered power elevation, and the corresponding standard deviation) to interpret the forest vertical structure. This paper establishes a two-dimensional GVB model by simplifying the three-dimensional one. Specifically, the two-dimensional GVB model includes the following three cases: the Gaussian mean is located at the bottom of the canopy, the Gaussian mean is located at the top of the canopy, as well as a constant volume profile. In the first two cases, only the forest height and the Gaussian standard deviation are variable. The above approximation operation generates a two-dimensional volume only coherence solution space on the complex plane. Based on the established two-dimensional GVB model, the three-baseline inversion is achieved without the null ground-to-volume ratio assumption. The proposed method improves the performance by 18.62% compared to the three-baseline Random Volume over Ground (RVoG) model inversion. In particular, in the area where the radar incidence angle is less than 0.6 rad, the proposed method improves the inversion accuracy by 34.71%. It suggests that the two-dimensional GVB model reduces the GVB model complexity while maintaining a strong description ability.

scholarly journals The holographic conformal manifold of 3d $$ \mathcal{N} $$ = 2 S-fold SCFTs

2021 ◽  
Vol 2021 (7) ◽  
Author(s):  
Nikolay Bobev ◽  
Friðrik Freyr Gautason ◽  
Jesse van Muiden
Keyword(s):  
String Theory ◽  
Three Dimensional ◽  
Parameter Family ◽  
Global Symmetry ◽  
Maximal Supergravity ◽  
All Solutions ◽  
Operator Spectrum ◽  
Type Iib String Theory ◽  
Two Parameter

Abstract We employ a non-compact gauging of four-dimensional maximal supergravity to construct a two-parameter family of AdS4 J-fold solutions preserving $$ \mathcal{N} $$ N = 2 supersymmetry. All solutions preserve $$ \mathfrak{u} $$ u (1) × $$ \mathfrak{u} $$ u (1) global symmetry and in special limits we recover the previously known $$ \mathfrak{su} $$ su (2) × $$ \mathfrak{u} $$ u (1) invariant $$ \mathcal{N} $$ N = 2 and $$ \mathfrak{su} $$ su (2) × $$ \mathfrak{su} $$ su (2) invariant $$ \mathcal{N} $$ N = 4 J-fold solutions. This family of AdS4 backgrounds can be uplifted to type IIB string theory and is holographically dual to the conformal manifold of a class of three-dimensional S-fold SCFTs obtained from the $$ \mathcal{N} $$ N = 4 T [U(N)] theory of Gaiotto-Witten. We find the spectrum of supergravity excitations of the AdS4 solutions and use it to study how the operator spectrum of the three-dimensional SCFT depends on the exactly marginal couplings.

scholarly journals On the forces that cable webs under tension can support and how to design cable webs to channel stresses

2019 ◽  
Vol 475 (2223) ◽  
pp. 20180781 ◽  
Author(s):  
Guy Bouchitté ◽  
Ornella Mattei ◽  
Graeme W. Milton ◽  
Pierre Seppecher
Keyword(s):  
Linear Programming ◽  
Convex Hull ◽  
Structural Engineering ◽  
Three Dimensional ◽  
Two Dimensions ◽  
Three Dimensions ◽  
Sufficient Condition ◽  
Necessary And Sufficient Condition ◽  
Finite Dimensional ◽  
Necessary And Sufficient

In many applications of structural engineering, the following question arises: given a set of forces f 1 ,  f 2 , …,  f N applied at prescribed points x 1 ,  x 2 , …,  x N , under what constraints on the forces does there exist a truss structure (or wire web) with all elements under tension that supports these forces? Here we provide answer to such a question for any configuration of the terminal points x 1 ,  x 2 , …,  x N in the two- and three-dimensional cases. Specifically, the existence of a web is guaranteed by a necessary and sufficient condition on the loading which corresponds to a finite dimensional linear programming problem. In two dimensions, we show that any such web can be replaced by one in which there are at most P elementary loops, where elementary means that the loop cannot be subdivided into subloops, and where P is the number of forces f 1 ,  f 2 , …,  f N applied at points strictly within the convex hull of x 1 ,  x 2 , …,  x N . In three dimensions, we show that, by slightly perturbing f 1 ,  f 2 , …,  f N , there exists a uniloadable web supporting this loading. Uniloadable means it supports this loading and all positive multiples of it, but not any other loading. Uniloadable webs provide a mechanism for channelling stress in desired ways.

scholarly journals Three-dimensional quantification of twisting in the Arabidopsis petiole

2021 ◽  
Author(s):  
Yuta Otsuka ◽  
Hirokazu Tsukaya
Keyword(s):  
Cross Sections ◽  
Three Dimensional ◽  
Light Sheet ◽  
Underlying Mechanism ◽  
Two Dimensions ◽  
Observation Angle ◽  
Differential Growth ◽  
Light Sheet Microscopy ◽  
Definition Of ◽  
Twisting Angle

AbstractOrganisms have a variety of three-dimensional (3D) structures that change over time. These changes include twisting, which is 3D deformation that cannot happen in two dimensions. Twisting is linked to important adaptive functions of organs, such as adjusting the orientation of leaves and flowers in plants to align with environmental stimuli (e.g. light, gravity). Despite its importance, the underlying mechanism for twisting remains to be determined, partly because there is no rigorous method for quantifying the twisting of plant organs. Conventional studies have relied on approximate measurements of the twisting angle in 2D, with arbitrary choices of observation angle. Here, we present the first rigorous quantification of the 3D twisting angles of Arabidopsis petioles based on light sheet microscopy. Mathematical separation of bending and twisting with strict definition of petiole cross-sections were implemented; differences in the spatial distribution of bending and twisting were detected via the quantification of angles along the petiole. Based on the measured values, we discuss that minute degrees of differential growth can result in pronounced twisting in petioles.

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