Motion Synthesis Using Kinematic Mappings

1983 ◽  
Vol 105 (3) ◽  
pp. 460-467 ◽  
Author(s):  
B. Ravani ◽  
B. Roth

This paper studies planar motion approximation problems in the context of a kinematic mapping. Since a planar displacement is determined by three parameters, it can be mapped into a point of a three-dimensional space. A (single-degree-of-freedom) planar motion can, therefore, be represented by a space curve in the space of the mapping and the problem of motion approximation becomes a curve fitting problem in this space. A mapping introduced by Blaschke is used and a general theory for planar motion approximation is developed. The theory is then applied to dimensional synthesis of four-link mechanisms. Furthermore, since the structural error (i.e., the quality of motion approximation) is dependent on the closeness of the fit in the space of the mapping, a general algebraic theory for determining closest fits to points in this space is developed. The theory is illustrated by a numerical example.

2021 ◽  
Vol 2021 (29) ◽  
pp. 136-140
Author(s):  
Dorukalp Durmus

The quality of building electric lighting systems can be assessed using color rendition metrics. However, color rendition metrics are limited in quantifying tunable solid-state light sources, since tunable lighting systems can generate a vast number of different white light spectra, providing flexibility in terms of color quality and energy efficiency. Previous research suggests that color rendition is multi-dimensional in nature, and it cannot be simplified to a single number. Color shifts under a test light source in comparison to a reference illuminant, changes in color gamut, and color discrimination are important dimensions of the quality of electric light sources, which are not captured by a single-numbered metric. To address the challenges in color rendition characterization of modern solid-state light sources, the development of a multi-dimensional color rendition space is proposed. The proposed continuous measure can quantify the change in color rendition ability of tunable solid-state light devices with caveats. Future work, discretization of the continuous color rendition space, will be carried out to address the shortcomings of a continuous three-dimensional space.


Author(s):  
Isabel Wünsche

Faktura, literally "texture," is related to the Russian avant-garde’s preoccupation with the fundamental principles of the creative process. The term, applied to a work of art, addresses the way in which materials are used, the processes, the surrounding environment, and the artistic devices; it characterizes the textural structure of a work of art and the manner by which it was constructed. As a creative principle, it rejects a pictorial space based on perspective and the illusion of three-dimensional space projected onto a flat canvas. The Russian formalist critic Viktor Shklovsky considered faktura to be the single most important quality of an object of art as a constructed object: it was the evidence of its having been made. He applied the term to poetic writing as well as the visual arts; in both cases faktura offered a visual demonstration of the properties inherent in a material or construction: "The whole effort of a poet and a painter is aimed first and foremost at creating a continuous and thoroughly palpable object, an object with a faktura." The term faktura remained a fluid concept during the 1910s, its essential qualities being further defined and developed by members of the avant-garde from 1913 well into the mid-1920s. While faktura, as initially used by members of the early Russian avant-garde, was characterized by the use of natural materials and a holistic–metaphysical approach to art, it was later adapted by the Constructivists to conform to a strictly materialist ideology and utilitarian orientation in artistic production.


2018 ◽  
Vol 3 (2) ◽  
pp. 81-97
Author(s):  
V. A. Ryabov

Hydroacoustic regularities of food behavior of dolphins are determined by characteristics and functionality of their acoustic signals. All the acoustic signals of dolphins are classified depending on their physical characteristics by the theory of signals and echolocation as follows: sequences of ultrashort ultrawideband coherent pulses – ‘clicks’, frequency-modulated (FM) simultones with uniformly distributed tones – ‘whistles’, packets of mutually coherent pulses (CI), packets of mutually noncoherent pulses (NI) and packets of versatile pulses (VI). They play the role of probing signals of six dolphin sonars optimized for solving various echolocation tasks. The possibilities of using the signals by dolphins in searching and classifying food objects by echolocation have been studied in this work on the basis of both experimental data obtained by the researcher and those available in literature. The dolphins can use sequences of ‘clicks’ to detect food objects (individual fish at the distance up to 70–110 m, a school of fish at the distance up to 450–600 m) and conspecifics (dolphins) (at the distance up to 450–600 m) and to classify food objects. The dolphins can use ‘whistles’ to detect food objects (individual fish at the distance up to 2 km, a school of fish at the distance up to 9–13 km) and conspecifics (dolphins) (at the distance up to 9–13 km) and to determine their range and relative radial velocity. ‘Whistles’ provide higher accuracy and the range of echolocation of food objects and conspecifics compared to ‘clicks’ (by more than an order of magnitude). Furthermore, the FM sonar provides the measure of the radial velocity of approaching or distance removing of underwater object to or from a dolphin. However, an acute analysis of the amplitude-time regularities of the fish echo for the purpose of their classification is the advantage of sonar using ‘clicks’. The dolphins can use the packs of CI at the distances shorter than 2.5 m for tracing the position dynamics of the prey aiming at accurate capture. The high hearing resolution of the dolphin in time is about 0.02 ms; it allows processing the subtle temporal dynamics of the echoes. Packs of NI (signals of spoken language) can be used by dolphins to organize various types of association and complex cooperation between themselves when hunting and catching fish. Packets of VI can be used by dolphins to expand the echolocation of the survey area around the dolphin in order to improve the quality of food objects monitoring, regardless of the position of the dolphin’s head, as well as to determine the range, relative radial velocity and class of food objects, at short distances. Evolution and perfection of various types of acoustic signals, sonars and various methods of processing echo signals in dolphins is caused, first of all, by optimization of hydroacoustic regularities of their food behavior, along with the need for orientation in three-dimensional space. One can assume the presence of similar hydroacoustic regularities of food behavior in Odontoceti based on the similarity of their acoustic signals and morphology. The acoustic regularities of food behavior of dolphins and bats are similar, despite the fact that they have different habitats (water and terrestrial-air), and these mammals belong to different orders of the animal kingdom (Сetacea and Chiroptera).


2020 ◽  
Vol 12 (6) ◽  
pp. 1040 ◽  
Author(s):  
Aleksandra Sekrecka ◽  
Damian Wierzbicki ◽  
Michal Kedzierski

Images acquired at a low altitude can be the source of accurate information about various environmental phenomena. Often, however, this information is distorted by various factors, so a correction of the images needs to be performed to recreate the actual reflective properties of the imaged area. Due to the low flight altitude, the correction of images from UAVs (unmanned aerial vehicles) is usually limited to noise reduction and detector errors. The article shows the influence of the Sun position and platform deviation angles on the quality of images obtained by UAVs. Tilting the camera placed on an unmanned platform leads to incorrect exposures of imagery, and the order of this distortion depends on the position of the Sun during imaging. An image can be considered in three-dimensional space, where the x and y coordinates determine the position of the pixel and the third dimension determines its exposure. This assumption is the basis for the proposed method of image exposure compensation. A three-dimensional transformation by rotation is used to determine the adjustment matrix to correct the image quality. The adjustments depend on the angles of the platform and the difference between the direction of flight and the position of the Sun. An additional factor regulates the value of the adjustment depending on the ratio of the pitch and roll angles. The experiments were carried out for two sets of data obtained with different unmanned systems. The correction method used can improve the block exposure by up to 60%. The method gives the best results for simple systems, not equipped with lighting compensation systems.


2016 ◽  
Vol 8 (5) ◽  
Author(s):  
Ping Zhao ◽  
Xin Ge ◽  
Bin Zi ◽  
Q. J. Ge

It has been well established that kinematic mapping theory could be applied to mechanism synthesis, where discrete motion approximation problem could be converted to a surface fitting problem for a group of discrete points in hyperspace. In this paper, we applied kinematic mapping theory to planar discrete motion synthesis of an arbitrary number of approximated poses as well as up to four exact poses. A simultaneous type and dimensional synthesis approach is presented, aiming at the problem of mixed exact and approximate motion realization with three types of planar dyad chains (RR, RP, and PR). A two-step unified strategy is established: first N given approximated poses are utilized to formulate a general quadratic surface fitting problem in hyperspace, then up to four exact poses could be imposed as pose-constraint equations to this surface fitting system such that they could be strictly satisfied. The former step, the surface fitting problem, is converted to a linear system with two quadratic constraint equations, which could be solved by a null-space analysis technique. On the other hand, the given exact poses in the latter step are formulated as linear pose-constraint equations and added back to the system, where both type and dimensions of the resulting optimal dyads could be determined by the solution. These optimal dyads could then be implemented as different types of four-bar linkages or parallel manipulators. The result is a novel algorithm that is simple and efficient, which allows for N-pose motion approximation of planar dyads containing both revolute and prismatic joints, as well as handling of up to four prescribed poses to be realized precisely.


Author(s):  
B. Rutledge ◽  
J. Vorro ◽  
L. DeStefano ◽  
T. Francisco ◽  
S. Gorbis ◽  
...  

The majority of musculoskeletal (MSD) impairments in the cervical (neck) region cannot be determined through MRIs or radiographs but are instead diagnosed through a clinical assessment technique using palpation. Palpatory diagnostic techniques are based on range of motion (ROM), tissue textures, quality of motion (smooth, elastic or bone on bone) and symmetry [1]. However, because scientifically accepted objective measures are not yet available to complement a clinical diagnosis, the documentation of the impairment as well as effects of treatment can be challenging. Thus, the purpose of this research was to explore the use of three-dimensional kinematics as a potential tool for relating movement patterns of the head/neck to clinical diagnosis and documenting treatment effects.


2017 ◽  
Vol 44 (4) ◽  
pp. 65-74 ◽  
Author(s):  
Michał Taraska ◽  
Remigiusz Iwańkowicz

The paper characterises a class of problems for packing boxes in the container. It presents the current state of knowledge in this area and distinguishes evolutionary algorithms, as the most promising in the search for quasi-optimal loading conditions. The method proposed in the paper focuses on certain criteria important from a practical point of view, which in a formalised manner have not been included so far in the solving-problems models. Apart from the traditional consideration of the problem of three-dimensional space loading maximisation, the proposed method considers the deviation of the loaded container weight centre from its symmetry planes and the availability of packages during unloading. New elements in the described method are: the applied criteria, penalty function, way of coding the container loading state in the evolutionary algorithm and fast crossover and mutations operators dedicated to the adopted coding. It was observed that the evolution in the developed algorithm occurs properly, that is seeking to minimise the criteria. The article also includes a calculation example showing the effect of the method with the discussion of the results indicating the advantages and disadvantages of the proposed solution. The performance of the algorithm has been considered in the context of time necessary to obtain the acceptable solution and quality of the obtained solution. It was found that the algorithm in its current form is a strong base for its further improvement.


1981 ◽  
Vol 103 (3) ◽  
pp. 585-591 ◽  
Author(s):  
S. De Sa ◽  
B. Roth

A classification scheme is developed for algebraic motions in the plane. The method is based upon the study of curves in a special three dimensional space into which the planar motions are mapped. As an example all possible cubic motions are classified. It is shown that this mapping, originally proposed by Blaschke, is based upon the rotation curves and the rotation angles of the planar motion.


Author(s):  
Anurag Purwar ◽  
Aditya Gupta

In this paper, we present our ongoing work on development of a visual design tool for designing planar parallel manipulators that satisfy a given rational motion. Although in this paper, we have restricted ourselves to RRR- and RPR-type legs, the approach presented here is general enough to accommodate other leg topologies. The basic idea is to represent the kinematic constraint of such parallel manipulators as an algebraic manifold and the given motion as a one-parameter curve in the image space of planar displacements. The algebraic manifold is projected in the three-dimensional space and a simple set of relationships are obtained that couple the geometry of the projected manifold to the design parameters of the parallel manipulators. Simple geometric transformations in the projected space allow a user to visually contain the image curve inside the manifold, thus satisfying the kinematic constraints. This interactive process, at the end, gives the dimensions of the links of the legs and the location of the fixed and moving frames. This is an extension of our previous work on the dimensional synthesis of planar 6R closed chains.


Author(s):  
S. Khadpe ◽  
R. Faryniak

The Scanning Electron Microscope (SEM) is an important tool in Thick Film Hybrid Microcircuits Manufacturing because of its large depth of focus and three dimensional capability. This paper discusses some of the important areas in which the SEM is used to monitor process control and component failure modes during the various stages of manufacture of a typical hybrid microcircuit.Figure 1 shows a thick film hybrid microcircuit used in a Motorola Paging Receiver. The circuit consists of thick film resistors and conductors screened and fired on a ceramic (aluminum oxide) substrate. Two integrated circuit dice are bonded to the conductors by means of conductive epoxy and electrical connections from each integrated circuit to the substrate are made by ultrasonically bonding 1 mil aluminum wires from the die pads to appropriate conductor pads on the substrate. In addition to the integrated circuits and the resistors, the circuit includes seven chip capacitors soldered onto the substrate. Some of the important considerations involved in the selection and reliability aspects of the hybrid circuit components are: (a) the quality of the substrate; (b) the surface structure of the thick film conductors; (c) the metallization characteristics of the integrated circuit; and (d) the quality of the wire bond interconnections.


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