A Novel Modular Approach for Kinematic Modelling and Analysis of Planar Hybrid Manipulators

2021 ◽  
pp. 1-46
Author(s):  
Sakshi Gupta ◽  
Sameer Gupta ◽  
Anupam Agrawal ◽  
Ekta Singla
Keyword(s):  
Kinematic Model ◽  
Medical Robotics ◽  
Modular Approach ◽  
Novel Approach ◽  
Hybrid Manipulator ◽  
Kinematic Modelling ◽  
Hybrid Configuration ◽  
Differential Relations ◽  
Modular Component ◽  
Selection Of

Abstract For customized design of a hybrid-manipulator for a specific application, selection of an appropriate configuration is always a challenge. To assist in this foremost decision in data-driven synthesis, a novel approach is proposed for modular formation of quick configurations and developing respective kinematic model and differential relations for their performance analyses. This unified modular approach utilizes modular primitives to define a planar hybrid configuration. Three types of primitives are introduced as modular component, and pattern study is detailed. Modelling results from the proposed approach are compared to that with normally used partial differentiation with respect to the computational efforts, streamlined modular implementation and applicability in optimal design approaches. The strategy will help a designer as a tool for analysing several configurations. Two realistic case studies are demonstrated in the paper for application of the methodology in medical robotics field.

Development of a Performance-Related Framework for Asphalt Mixture Design for the Illinois Tollway

2021 ◽  
pp. 036119812110148
Author(s):  
Behnam Jahangiri ◽  
Punyaslok Rath ◽  
Hamed Majidifard ◽  
William G. Buttlar
Keyword(s):  
Asphalt Mixture ◽  
Field Performance ◽  
Compact Tension ◽  
T Test ◽  
Novel Approach ◽  
Final Adjustment ◽  
Development And Validation ◽  
High Degree ◽  
Selection Of

Various agencies have begun to research and introduce performance-related specifications (PRS) for the design of modern asphalt paving mixtures. The focus of most recent studies has been directed toward simplified cracking test development and evaluation. In some cases, development and validation of PRS has been performed, building on these new tests, often by comparison of test values to accelerated pavement test studies and/or to limited field data. This study describes the findings of a comprehensive research project conducted at Illinois Tollway, leading to a PRS for the design of mainline and shoulder asphalt mixtures. A novel approach was developed, involving the systematic establishment of specification requirements based on: 1) selection of baseline values based on minimally acceptable field performance thresholds; 2) elevation of thresholds to account for differences between short-term lab aging and expected long-term field aging; 3) further elevation of thresholds to account for variability in lab testing, plus variability in the testing of field cores; and 4) final adjustment and rounding of thresholds based on a consensus process. After a thorough evaluation of different candidate cracking tests in the course of the project, the Disk-shaped Compact Tension—DC(T)—test was chosen to be retained in the Illinois Tollway PRS and to be presented in this study for the design of crack-resistant mixtures. The DC(T) test was selected because of its high degree of correlation with field results and its excellent repeatability. Tailored Hamburg rut depth and stripping inflection point thresholds were also established for mainline and shoulder mixes.

scholarly journals Realtime Motion Assessment For Rehabilitation Exercises: Integration Of Kinematic Modeling With Fuzzy Inference

2014 ◽  
Vol 4 (4) ◽  
pp. 267-285 ◽  
Author(s):  
Wenbing Zhao ◽  
Roanna Lun ◽  
Deborah D. Espy ◽  
M. Ann Reinthal
Keyword(s):  
Fuzzy Inference ◽  
Kinematic Model ◽  
Integrated Approach ◽  
Kinematic Modeling ◽  
Motion Data ◽  
Fuzzy Interference System ◽  
Novel Approach ◽  
Motion Assessment ◽  
Rehabilitation Exercises ◽  
Rehabilitation Exercise

Abstract This article describes a novel approach to realtime motion assessment for rehabilitation exercises based on the integration of comprehensive kinematic modeling with fuzzy inference. To facilitate the assessment of all important aspects of a rehabilitation exercise, a kinematic model is developed to capture the essential requirements for static poses, dynamic movements, as well as the invariance that must be observed during an exercise. The kinematic model is expressed in terms of a set of kinematic rules. During the actual execution of a rehabilitation exercise, the similarity between the measured motion data and the model is computed in terms of their distances, which are then used as inputs to a fuzzy interference system to derive the overall quality of the execution. The integrated approach provides both a detailed categorical assessment of the overall execution of the exercise and the degree of adherence to individual kinematic rules.

scholarly journals Gradient-based selection of cross sections: a novel approach for optimal frame structure design

2017 ◽  
Vol 56 (5) ◽  
pp. 959-972 ◽  
Author(s):  
Christian Krogh ◽  
Mathias H. Jungersen ◽  
Erik Lund ◽  
Esben Lindgaard
Keyword(s):  
Cross Sections ◽  
Structure Design ◽  
Frame Structure ◽  
Novel Approach ◽  
Gradient Based ◽  
Selection Of

scholarly journals A novel approach for rapid high-throughput selection of recombinant functional rat monoclonal antibodies

2018 ◽  
Vol 19 (1) ◽  
Author(s):  
Qin Chen ◽  
Shengping Qiu ◽  
Huanhuan Li ◽  
Chaolong Lin ◽  
Yong Luo ◽  
...  
Keyword(s):  
Monoclonal Antibodies ◽  
High Throughput ◽  
Novel Approach ◽  
Selection Of

scholarly journals Kinematic Modelling of FES Induced Sit-to-stand Movement in Paraplegia

2017 ◽  
Vol 7 (6) ◽  
pp. 3060
Author(s):  
Mohammed Ahmed ◽  
M. S. Huq ◽  
B. S. K. K. Ibrahim
Keyword(s):  
Dynamic Model ◽  
Initial Phase ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Future Research ◽  
Upper Limbs ◽  
Body System ◽  
Segmental Dynamics ◽  
Sit To Stand ◽  
Kinematic Modelling

FES induced movements from indication is promising due to encouraging results being obtained by scholars. The kinematic model usually constitute the initial phase towards achieving the segmental dynamics of any rigid body system. It can be used to ascertain that the model is capable of achieving the desired goal. The dynamic model builds on the kinematic model and is usually mathematically cumbersome depending on the number of degrees-of-freedom. This paper presents a kinematic model applicable for human sit-to-stand movement scenario that will be used to obtain the dynamic model the FES induced movement in a later study. The study shows that the 6 DOF conceptualized sit-to-stand movement can be achieved conveniently using 4 DOF. The 4 DOF has an additional joint compared to similar earlier works which makes more it accurate and flexible. It is more accurate in the sense that it accommodates additional joint i.e. the neck joint whose dynamics could be captured. And more flexible in the sense that if future research uncover more contributions by the segments it can be easily incorporated including that of other segments e.g. the trunk, neck and upper limbs.

Complete kinematic calibration of a 6-RRRPRR parallel kinematic machine based on the optimal measurement configurations

2019 ◽  
Vol 234 (1) ◽  
pp. 121-136 ◽  
Author(s):  
Chunyang Han ◽  
Yang Yu ◽  
Zhenbang Xu ◽  
Xiaoming Wang ◽  
Peng Yu ◽  
...  
Keyword(s):  
Kinematic Model ◽  
Inverse Kinematic ◽  
Error Model ◽  
Kinematic Calibration ◽  
Universal Joint ◽  
Parallel Kinematic Mechanism ◽  
Simulation And Experiment ◽  
Parallel Kinematic ◽  
Kinematic Mechanism ◽  
Selection Of

This paper presents a kinematic calibration of a 6-RRRPRR parallel kinematic mechanism with offset RR-joints that would be applied in space positioning field. In order to ensure highly accurate and highly effective calibration process, the complete error model, which contains offset universal joint errors, is established by differentiating inverse kinematic model. A calibration simulation comparison with non-complete error model shows that offset universal joint errors are crucial to improve the calibration accuracy. Using the error model, an optimal calibration configuration selection algorithm is developed to determine the least number of measurement configurations as well as the optimal selection of these configurations from the feasible configuration set. To verify the effectiveness of kinematic calibration, a simulation and experiment were performed. The results show that the developed approach can effectively improve accuracy of a parallel kinematic mechanism with relatively low number of calibration configurations.

scholarly journals Novel Approach in the Construction of Bioethanol-Producing Saccharomyces cerevisiae Hybrids

2019 ◽  
Vol 57 (1) ◽  
pp. 5-16 ◽  
Author(s):  
Anamarija Štafa ◽  
Andrea Pranklin ◽  
Ivan Krešimir Svetec ◽  
Božidar Šantek ◽  
Marina Svetec Miklenić ◽  
...  
Keyword(s):  
Saccharomyces Cerevisiae ◽  
Gene Targeting ◽  
Co2 Production ◽  
Production Test ◽  
Fermentation Inhibitors ◽  
Lignocellulosic Hydrolysates ◽  
Novel Approach ◽  
Ethanol Producer ◽  
High Ethanol ◽  
Selection Of

Bioethanol production from lignocellulosic hydrolysates requires a producer strain that tolerates both the presence of growth and fermentation inhibitors and high ethanol concentrations. Therefore, we constructed heterozygous intraspecies hybrid diploids of Saccharomyces cerevisiae by crossing two natural S. cerevisiae isolates, YIIc17_E5 and UWOPS87-2421, a good ethanol producer found in wine and a strain from the flower of the cactus Opuntia megacantha resistant to inhibitors found in lignocellulosic hydrolysates, respectively. Hybrids grew faster than parental strains in the absence and in the presence of acetic and levulinic acids and 2-furaldehyde, inhibitors frequently found in lignocellulosic hydrolysates, and the overexpression of YAP1 gene increased their survival. Furthermore, although originating from the same parental strains, hybrids displayed different fermentative potential in a CO2 production test, suggesting genetic variability that could be used for further selection of desirable traits. Therefore, our results suggest that the construction of intraspecies hybrids coupled with the use of genetic engineering techniques is a promising approach for improvement or development of new biotechnologically relevant strains of S. cerevisiae. Moreover, it was found that the success of gene targeting (gene targeting fidelity) in natural S. cerevisiae isolates (YIIc17_E5α and UWOPS87-2421α) was strikingly lower than in laboratory strains and the most frequent off-targeting event was targeted chromosome duplication.

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