Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots

2019 ◽  
Vol 141 (9) ◽  
Author(s):  
Jonathan Eden ◽  
Darwin Lau ◽  
Ying Tan ◽  
Denny Oetomo
Keyword(s):  
System Dynamics ◽  
Physical Properties ◽  
Case Studies ◽  
Arbitrary Number ◽  
System Analysis ◽  
Parallel Robots ◽  
Quality Indices ◽  
Motion Generation ◽  
Workspace Analysis ◽  
The Relationship

The study of the relationship between the desired system dynamics and the actuation wrench producing those dynamics is important for robotic system analysis. For traditionally actuated robots, the quality indices of dexterity and manipulability quantify this relationship. However, for unilaterally actuated robots (UARs), such as grasping hands and cable-driven parallel robots (CDPRs), these indices cannot be applied due to the unilateral actuation constraint. In this paper, the quality indices of unilateral dexterity (UD) and unilateral maximum force amplification (UMFA) are established for UARs with arbitrary number of actuators. It is shown that these quality indices provide task-independent quantifications of the physical properties of robustness and force amplification for UARs, and they can measure the mechanism’s capability both in singular and nonsingular poses. With these indices, manipulability ellipsoid-derived measures can be applied to arbitrary UARs. The significance of the quality indices for robot synthesis and motion generation analysis is illustrated through two case studies: a five-fingered grasp selection problem and the workspace analysis of a spatial CDPR.

The Maximal Singularity-Free Workspace of the Gough–Stewart Platform for a Given Orientation

2008 ◽  
Vol 130 (11) ◽  
Author(s):  
Qimi Jiang ◽  
Clément M. Gosselin
Keyword(s):  
Case Studies ◽  
Parallel Mechanism ◽  
Stewart Platform ◽  
Parallel Robots ◽  
Analytic Method ◽  
Robot Design ◽  
Parallel Mechanisms ◽  
Leg Length ◽  
Maximal Singularity ◽  
The Relationship

The maximal singularity-free workspace of parallel mechanisms is a desirable criterion in robot design. However, for a 6DOF parallel mechanism, it is very difficult to find an analytic method to determine the maximal singularity-free workspace around a prescribed point for a given orientation. Hence, a numerical algorithm is presented in this paper to compute the maximal singularity-free workspace as well as the corresponding leg length ranges of the Gough–Stewart platform. This algorithm is based on the relationship between the maximal singularity-free workspace and the singularity surface. Case studies with different orientations are performed to demonstrate the presented algorithm. The obtained results can be applied to the geometric design or parameter (leg length) setup of this type of parallel robots.

Computation of the Maximal Singularity-Free Workspace of the MSSM for a Given Orientation

2007 ◽  
Author(s):  
Qimi Jiang ◽  
Cle´ment M. Gosselin
Keyword(s):  
Case Studies ◽  
Numerical Algorithm ◽  
Parallel Mechanism ◽  
Parallel Robots ◽  
Analytic Method ◽  
Robot Design ◽  
Parallel Mechanisms ◽  
Leg Length ◽  
Maximal Singularity ◽  
The Relationship

The maximal singularity-free workspace of parallel mechanisms is a desirable criterion in robot design. However, for a 6-dof parallel mechanism, it is very difficult to find an analytic method to determine the maximal singularity-free workspace around a prescribed point for a given orientation. Hence, a numerical algorithm is presented in this paper to compute the maximal singularity-free workspace as well as the corresponding leg length ranges of the MSSM Gough-Stewart platform. This algorithm is based on the relationship between the maximal singularity-free workspace and the singularity surface. Case studies with different orientations are performed to demonstrate the presented algorithm. The results obtained can be applied to the geometric design or parameter (leg length) setup of the MSSM parallel robots.

System Dynamics Model Simulation of Sea Battlefield Situation Assessment

2013 ◽  
Vol 811 ◽  
pp. 710-715 ◽  
Author(s):  
Yong Tao Yu ◽  
Ying Ding ◽  
Yong Xin Yu
Keyword(s):  
System Dynamics ◽  
System Analysis ◽  
Model Simulation ◽  
Objective Assessment ◽  
Flow Diagram ◽  
Initial Parameter ◽  
Causality Analysis ◽  
System Dynamics Model ◽  
Dynamics Model ◽  
The Relationship

The fundamental basis of Navy operational command decision support system is efficient to make an objective assessment of the complex dynamic sea battlefield situation. According to the study proposes the sea battlefield situation based on a system dynamics model evaluate simulation. First sea battlefield situation system analysis; second system causality analysis, to establish a causal loop diagram; again is based on the sea battlefield situation to assess the relationship between flow diagram, build SD simulation model; enter the initial parameter; finally, based on the events of the battlefield to enter the initial parameter, assessment simulation sea battlefield situation, analysis simulation conclusion, put forward suggestions.

Flesh Searches in China

Asian Survey ◽  
2016 ◽  
Vol 56 (2) ◽  
pp. 325-347 ◽  
Author(s):  
Patrick Gorman
Keyword(s):  
Case Studies ◽  
Communist Party ◽  
Chinese Communist Party ◽  
Social Space ◽  
Contemporary China ◽  
Chinese State ◽  
The Chinese Communist Party ◽  
The Relationship

This article explores the relationship between netizens and the Chinese Communist Party by investigating examples of “flesh searches” targeting corrupt officials. Case studies link the initiative of netizens and the reaction of the Chinese state to the pattern of management of social space in contemporary China.

The Basic Study on the Relationship between the Physical Properties of Coating Pigment and the Coated Paper Quality

2011 ◽  
Vol 65 (12) ◽  
pp. 1293-1297
Author(s):  
Keiko Hashiguchi ◽  
Takehiro Yoshimatsu ◽  
Masanori Kawashima
Keyword(s):  
Physical Properties ◽  
Coated Paper ◽  
Basic Study ◽  
The Relationship ◽  
Paper Quality

Anti-Politics, Depoliticization, and Governance

2017 ◽  
Keyword(s):  
Case Studies ◽  
Political Process ◽  
Common Interest ◽  
Collective Agency ◽  
Nation State ◽  
Growing Body ◽  
Varied Range ◽  
The Relationship

There is a growing body of evidence pointing towards rising levels of public dissatisfaction with the formal political process. Depoliticization refers to a more discrete range of contemporary strategies politicians employ that tend to remove or displace the potential for choice, collective agency, and deliberation. This book examines the relationship between these trends of dissatisfaction and displacement, as understood within the broader shift towards governance. It brings together a number of contributions from scholars who have a varied range of concerns but who nevertheless share a common interest in developing the concept of depoliticization through their engagement with a set of theoretical, conceptual, methodological, and empirical questions. The contributions in this volume explore these questions from a variety of different perspectives by using a number of different empirical examples and case studies from both within the nation state and from other regional, global, and multilevel arenas. In this context, this volume examines the limits and potential of depoliticization as a concept and its contribution to the larger and more established literatures on governance and anti-politics.

Humanism and Music

2020 ◽  
Author(s):  
Christopher M. Driscoll
Keyword(s):  
Artificial Intelligence ◽  
Popular Culture ◽  
Popular Music ◽  
Case Studies ◽  
Contemporary Music ◽  
Theoretical Relationship ◽  
Rock Band ◽  
Historical Developments ◽  
The Relationship

This chapter explores the relationship between humanism and music, giving attention to important theoretical and historical developments, before focusing on four brief case studies rooted in popular culture. The first turns to rock band Modest Mouse as an example of music as a space of humanist expression. Next, the chapter explores Austin-based Rock band Quiet Company and Westcoast rapper Ras Kass and their use of music to critique religion. Last, the chapter discusses contemporary popular music created by artificial intelligence and considers what non-human production of music suggests about the category of the human and, resultantly, humanism. These case studies give attention to the historical and theoretical relationship between humanism and music, and they offer examples of that relationship as it plays out in contemporary music.

Fixing Improvisation

2014 ◽  
Author(s):  
Anthea Kraut
Keyword(s):  
Twentieth Century ◽  
African American ◽  
Intellectual Property ◽  
Case Studies ◽  
Copyright Law ◽  
Property Law ◽  
Intellectual Property Law ◽  
Tap Dance ◽  
American Vernacular ◽  
The Relationship

This chapter juxtaposes brief case studies of African American vernacular dancers from the first half of the twentieth century in order to reexamine the relationship between the ideology of intellectual property law and the traditions of jazz and tap dance, which rely heavily on improvisation. The examples of the blackface performer Johnny Hudgins, who claimed a copyright in his pantomime routine in the 1920s, and of Fred and Sledge, the class-act dance duo featured in the hit 1948 musical Kiss Me, Kate, whose choreography was copyrighted by the white modern dancer Hanya Holm, prompt a rethinking of the assumed opposition between the originality and fixity requirements of copyright law and the improvisatory ethos of jazz and tap dance. Ultimately, the chapter argues that whether claiming or disavowing uniqueness, embracing or resisting documentation, African American vernacular dancers were both advantaged and hampered by copyright law.

Mounting Works on Paper with Neodymium Magnets

2014 ◽  
Vol 35 (3-4) ◽  
Author(s):  
Martina Noehles ◽  
Lena Niehus
Keyword(s):  
Physical Properties ◽  
Case Studies ◽  
Original Work ◽  
Traditional Methods ◽  
Valuable Addition ◽  
Works Of Art ◽  
Successful Case ◽  
Precautionary Measures ◽  
Neodymium Magnets

AbstractNeodymium magnets have been in use as a mounting technique for works of art on paper for several years; however, the method is still in its infancy. These very strong magnets provide a valuable addition to the traditional methods of mounting artworks on paper and objects made from paper, textile, or other materials for exhibitions. They offer an interesting and elegant alternative to attachment with adhesives, especially when adhesives may not or cannot be applied to the original work. This article addresses the physical properties and manufacture of the magnets, including their coatings and nomenclature. Three successful case studies of mounting artworks on paper with these “super magnets” are presented here. In addition, the limits and possible difficulties of working with neodymium magnets are addressed, as well as precautionary measures to take when handling them.

Optimize Mixing Process Parameters of Synchronous Rotor Mixer Based on Orthogonal Method

2012 ◽  
Vol 501 ◽  
pp. 442-447
Author(s):  
Ping Fu ◽  
Feng Bao Bai ◽  
Chuan Sheng Wang ◽  
Shan Hu Li
Keyword(s):  
Physical Properties ◽  
Process Parameters ◽  
Fill Factor ◽  
Cooling Water ◽  
Mixing Process ◽  
Rotor Speed ◽  
Orthogonal Method ◽  
Cooling Water Temperature ◽  
Vulcanized Rubber ◽  
The Relationship

In this paper adopting the orthogonal method, self-developed compound formulation had tested, and the relationship between the physical properties of vulcanized rubber and rectangular synchronous rotor mixer parameters had researched. The results showed that when the fill factor was 0.6, the rotor speed was 70r/min, cooling water temperature was 45 °C, pressure on the top bolt was 0.8Mpa, the physical properties of the vulcanized rubber was best.

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