scholarly journals Reconfiguration Analysis of an RRRRS Single-Loop Mechanism

Robotics ◽  
2018 ◽  
Vol 7 (3) ◽  
pp. 51
Author(s):  
Maurizio Ruggiu ◽  
Xianwen Kong
Keyword(s):  
Numerical Solutions ◽  
Motion Equation ◽  
Degree Of Freedom ◽  
Solid Model ◽  
Variable Degree ◽  
Single Loop ◽  
Motion Modes ◽  
The One ◽  
Classical Vector ◽  
First Time

The paper deals with the reconfiguration analysis of the single-loop variable degree-of-freedom (DOF) RRRRS mechanism composed of five links connected by four revolute (R) joints and one spherical (S) joint. The mechanism may show two modes of motion: one-DOF and two-DOF motion. In the paper, a classical vector procedure is used to obtain the quartic motion equation (QME) that allows one to inspect the nature of the motion. In general, the solutions of the QME provide the one-DOF motion of the mechanism except when all the coefficients of the equation vanish. In this case, the mechanism undergoes the two-DOF motion. The motion of the mechanism built according to two specific architectures was analyzed by the numerical solutions of the QME and with the help of the solid model of the mechanism. It is revealed for the first time that the perpendicular architecture has one 2-DOF motion and two 1-DOF motion modes.

A Novel Method for Constructing Multi-Mode Deployable Polyhedron Mechanisms Using Symmetric Spatial RRR Compositional Units

2018 ◽  
Author(s):  
Jieyu Wang ◽  
Xianwen Kong
Keyword(s):  
Kinematic Chain ◽  
Degree Of Freedom ◽  
Single Loop ◽  
Kinematic Chains ◽  
The Third ◽  
Motion Modes ◽  
3D Printed ◽  
Novel Method ◽  
Multi Mode ◽  
Motion Mode

A novel construction method is proposed to construct multimode deployable polyhedron mechanisms (DPMs) using symmetric spatial RRR compositional units, a serial kinematic chain in which the axes of the first and the third revolute (R) joints are perpendicular to the axis of the second R joint. Single-loop deployable linkages are first constructed using RRR units and are further assembled into polyhedron mechanisms by connecting single-loop kinematic chains using RRR units. The proposed mechanisms are over-constrained and can be deployed through two approaches. The prism mechanism constructed using two Bricard linkages and six RRR limbs has one degree-of-freedom (DOF). When removing three of the RRR limbs, the mechanism obtains one additional 1-DOF motion mode. The DPMs based on 8R and 10R linkages also have multiple modes, and several mechanisms are variable-DOF mechanisms. The DPMs can switch among different motion modes through transition positions. Prototypes are 3D-printed to verify the feasibility of the mechanisms.

Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints

2020 ◽  
Author(s):  
Xianwen Kong
Keyword(s):  
Configuration Space ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Variable Degree ◽  
Circular Trajectory ◽  
Spatial Mechanism ◽  
Spatial Mechanisms ◽  
Motion Modes ◽  
Multi Mode ◽  
Motion Mode

Abstract This paper deals with the construction and reconfiguration analysis of a spatial mechanism composed of four circular translation (G) joints. Two links connected by a G joint, which can be in different forms such as a planar parallelogram, translate along a circular trajectory with respect to each other. A spatial 4G mechanism, which is composed of four G joints, usually has 1-DOF (degree-of-freedom). Firstly, a 2-DOF 4G mechanism is constructed. Then a novel variable-DOF spatial 4G mechanism is constructed starting from the 2-DOF 4G mechanism using the approach based on screw theory. Finally, the reconfiguration analysis is carried out in the configuration space using dual quaternions. The analysis shows that the variable-DOF spatial 4G mechanism has one 2-DOF motion mode and one to two 1-DOF motion modes and reveals how the 4G mechanism can switch among these motion modes. By removing one link from two adjacent G joints each and two links from each of the remaining two G joints, we can obtain a queer-rectangle and a queer-parallelogram, which are the generalization of the queer-square or derivative queer-square in the literature. The approach in this paper can be extended to the analysis of other types of coupled mechanisms using cables and gears and multi-mode spatial mechanisms involving G joints.

A PLATE MODEL FOR THE EVALUATION OF PULL-IN INSTABILITY OCCURRENCE IN ELECTROSTATIC MICROPUMP DIAPHRAGMS

2011 ◽  
Vol 03 (01) ◽  
pp. 1-19 ◽  
Author(s):  
EMANUELE BERTARELLI ◽  
RAFFAELE ARDITO ◽  
RAFFAELE ARDITO ◽  
ALBERTO CORIGLIANO ◽  
ROBERTO CONTRO
Keyword(s):  
Nonlinear Dynamics ◽  
Loading Condition ◽  
Mechanical Response ◽  
Closed Form Solution ◽  
Form Solution ◽  
Degree Of Freedom ◽  
Plate Model ◽  
The One ◽  
Quality Factor Q ◽  
First Time

This work deals with the mechanical response of circular microplates undergoing electrostatic actuation. A one degree-of-freedom model and Finite Element approaches are exploited in a nondimensional framework. First, a quasi-static conventional approach is adopted. From the one degree-of-freedom model a closed form solution for the plate electromechanical problem is obtained for the first time. Then a strong attention is paid to pull-in phenomena in nonlinear dynamics. Dynamic behavior of the structure is explored, leading to the identification of a pull-in loading condition which is dependent on the quality factor Q. The outcomes are discussed and widely compared with those available in the literature for similar microsystems.

A Novel Method for Constructing Multimode Deployable Polyhedron Mechanisms Using Symmetric Spatial Compositional Units

2019 ◽  
Vol 11 (2) ◽  
Author(s):  
Jieyu Wang ◽  
Xianwen Kong
Keyword(s):  
Kinematic Chain ◽  
Construction Method ◽  
Degree Of Freedom ◽  
Multiple Modes ◽  
Single Loop ◽  
The Third ◽  
Motion Modes ◽  
3D Printed ◽  
Novel Method ◽  
Motion Mode

A novel construction method is proposed to construct multimode deployable polyhedron mechanisms (DPMs) using symmetric spatial RRR compositional units, a serial kinematic chain in which the axes of the first and the third revolute (R) joints are perpendicular to the axis of the second R joint. Single-loop deployable linkages are first constructed using RRR units and are then assembled into polyhedron mechanisms by connecting the single-loop linkages using RRR units. The proposed mechanisms are over-constrained and can be deployed. The prism mechanism constructed using two Bricard linkages and six RRR chains has one degree-of-freedom (DOF). When removing three of the RRR chains, the mechanism will have one additional 1-DOF motion mode. The DPMs based on 8R and 10R linkages also have multiple modes, and several mechanisms have variable-DOF. The DPMs can switch among different motion modes through transition positions. Prototypes are 3D-printed to verify the feasibility of the mechanisms.

Variable degree-of-freedom spatial mechanisms composed of four circular translation joints

2021 ◽  
pp. 1-16
Author(s):  
Xianwen Kong
Keyword(s):  
Algebraic Geometry ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Variable Degree ◽  
Circular Trajectory ◽  
Spatial Mechanism ◽  
Spatial Mechanisms ◽  
Motion Modes ◽  
Multi Mode ◽  
Motion Mode

Abstract This paper deals with the construction and reconfiguration analysis of a spatial mechanism composed of four circular translation (G) joints. Two links connected by a G joint, which can be in different forms such as a planar parallelogram, translate along a circular trajectory with respect to each other. A spatial 4G mechanism, which is composed of four G joints, usually has 1-DOF (degree-of-freedom). Firstly, a 2-DOF spatial 4G mechanism is constructed. Then a novel variable-DOF spatial 4G mechanism is constructed starting from the 2-DOF 4G mechanism using the approach based on screw theory. Finally, the reconfiguration analysis is carried out in the configuration space using dual quaternions and tools from algebraic geometry. The analysis shows that the variable-DOF spatial 4G mechanism has one 2-DOF motion mode and one to two 1-DOF motion modes and reveals how the 4G mechanism can switch among these motion modes. By removing one link from two adjacent G joints each and two links from each of the remaining two G joints, we can obtain a queer-rectangle and a queer-parallelogram, which are the generalization of the queer-square or derivative queer-square in the literature. The approach in this paper can be extended to the analysis of other types of coupled mechanisms using cables and gears and multi-mode spatial mechanisms involving G joints.

Structure Synthesis and Reconfiguration Analysis of Variable-DOF Single-Loop Mechanisms With Prismatic Joints Using Dual Quaternions

2021 ◽  
pp. 1-26
Author(s):  
Kai Liu ◽  
Jingjun Yu ◽  
Xianwen Kong
Keyword(s):  
Algebraic Method ◽  
Variable Degree ◽  
Prime Decomposition ◽  
Single Loop ◽  
Dual Quaternions ◽  
Motion Modes ◽  
Structure Synthesis ◽  
Prismatic Joints ◽  
Kinematic Mapping ◽  
Motion Mode

Abstract This paper deals with the structure synthesis and reconfiguration analysis of variable-DOF (variable degree-of-freedom) single-loop mechanisms with prismatic joints based on a unified tool - the dual quaternion. According to motion polynomials over dual quaternions, an algebraic method is presented to synthesize variable-DOF single-loop 5R2P mechanisms (R and P denote revolute and prismatic joints respectively), which are composed of the Bennett and RPRP mechanisms. Using this approach, variable-DOF single-loop RRPRPRR and RRPRRPR mechanisms are constructed by joints obtained from the factorization of motion polynomials. Then reconfiguration analysis of these variable-DOF single-loop mechanisms is performed in light of the kinematic mapping and the prime decomposition. The results show that the variable-DOF 5R2P mechanisms have a 1-DOF spatial 5P2P motion mode and a 2-DOF Bennett-RPRP motion mode. Furthermore, the variable-DOF 5R2P mechanisms have two transition configurations, from which the mechanisms can switch among their two motion modes.

scholarly journals Atlas of ticks (Acari: Argasidae, Ixodidae) in Germany

2021 ◽  
Author(s):  
Franz Rubel ◽  
Katharina Brugger ◽  
Lidia Chitimia-Dobler ◽  
Hans Dautel ◽  
Elisabeth Meyer-Kayser ◽  
...  
Keyword(s):  
Tick Species ◽  
Migratory Birds ◽  
Dermacentor Reticulatus ◽  
Ixodid Ticks ◽  
Federal States ◽  
Ixodes Frontalis ◽  
Argas Reflexus ◽  
The One ◽  
Argasid Tick ◽  
First Time

AbstractAn updated and increased compilation of georeferenced tick locations in Germany is presented here. This data collection extends the dataset published some years ago by another 1448 new tick locations, 900 locations of which were digitized from literature and 548 locations are published here for the first time. This means that a total of 3492 georeferenced tick locations is now available for Germany. The tick fauna of Germany includes two species of Argasidae in the genera Argas and Carios and 19 species of Ixodidae in the genera Dermacentor, Haemaphysalis, and Ixodes, altogether 21 tick species. In addition, three species of Ixodidae in the genera Hyalomma (each spring imported by migratory birds) and Rhipicephalus (occasionally imported by dogs returning from abroad with their owners) are included in the tick atlas. Of these, the georeferenced locations of 23 tick species are depicted in maps. The occurrence of the one remaining tick species, the recently described Ixodes inopinatus, is given at the level of the federal states. The most common and widespread tick species is Ixodes ricinus, with records in all 16 federal states. With the exception of Hamburg, Dermacentor reticulatus was also found in all federal states. The occurrence of the ixodid ticks Ixodes canisuga, Ixodes frontalis, Ixodes hexagonus and I. inopinatus were documented in at least 11 federal states each. The two mentioned argasid tick species were also documented in numerous federal states, the pigeon tick Argas reflexus in 11 and the bat tick Carios vespertilionis in seven federal states. The atlas of ticks in Germany and the underlying digital dataset in the supplement can be used to improve global tick maps or to study the effects of climate change and habitat alteration on the distribution of tick species.

Intuitionistic fuzzy two-factor variance analysis of movie ticket sales

2021 ◽  
pp. 1-11
Author(s):  
Velichka Traneva ◽  
Stoyan Tranev
Keyword(s):  
Comparative Analysis ◽  
Real Data ◽  
Intuitionistic Fuzzy Sets ◽  
Real Numbers ◽  
Data Set ◽  
Important Method ◽  
Ticket Sales ◽  
Intuitionistic Fuzzy ◽  
The One ◽  
First Time

Analysis of variance (ANOVA) is an important method in data analysis, which was developed by Fisher. There are situations when there is impreciseness in data In order to analyze such data, the aim of this paper is to introduce for the first time an intuitionistic fuzzy two-factor ANOVA (2-D IFANOVA) without replication as an extension of the classical ANOVA and the one-way IFANOVA for a case where the data are intuitionistic fuzzy rather than real numbers. The proposed approach employs the apparatus of intuitionistic fuzzy sets (IFSs) and index matrices (IMs). The paper also analyzes a unique set of data on daily ticket sales for a year in a multiplex of Cinema City Bulgaria, part of Cineworld PLC Group, applying the two-factor ANOVA and the proposed 2-D IFANOVA to study the influence of “ season ” and “ ticket price ” factors. A comparative analysis of the results, obtained after the application of ANOVA and 2-D IFANOVA over the real data set, is also presented.

scholarly journals Experiential ownership and body ownership are different phenomena

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Caleb Liang ◽  
Wen-Hsiang Lin ◽  
Tai-Yuan Chang ◽  
Chi-Hong Chen ◽  
Chen-Wei Wu ◽  
...  
Keyword(s):  
Conscious Experience ◽  
Distinct Type ◽  
Body Part ◽  
The Body ◽  
Body Ownership ◽  
Rubber Hand ◽  
Person Perspective ◽  
The One ◽  
First Time ◽  
Full Body

AbstractBody ownership concerns what it is like to feel a body part or a full body as mine, and has become a prominent area of study. We propose that there is a closely related type of bodily self-consciousness largely neglected by researchers—experiential ownership. It refers to the sense that I am the one who is having a conscious experience. Are body ownership and experiential ownership actually the same phenomenon or are they genuinely different? In our experiments, the participant watched a rubber hand or someone else’s body from the first-person perspective and was touched either synchronously or asynchronously. The main findings: (1) The sense of body ownership was hindered in the asynchronous conditions of both the body-part and the full-body experiments. However, a strong sense of experiential ownership was observed in those conditions. (2) We found the opposite when the participants’ responses were measured after tactile stimulations had ceased for 5 s. In the synchronous conditions of another set of body-part and full-body experiments, only experiential ownership was blocked but not body ownership. These results demonstrate for the first time the double dissociation between body ownership and experiential ownership. Experiential ownership is indeed a distinct type of bodily self-consciousness.

Address of the President Lord Blackett, O. M., C. H. at the Anniversary Meeting, 1 December 1969

1970 ◽  
Vol 174 (1037) ◽  
pp. 403-417
Keyword(s):  
Immunological Response ◽  
Immunological Tolerance ◽  
Cell Mediated Immunity ◽  
Specific Cell ◽  
Subsequent Work ◽  
The One ◽  
First Time ◽  
Improved Methods ◽  
Specific Tolerance ◽  
Immunological Barrier

The Copley Medal is awarded to Sir Peter Medawar, C. B. E., F. R. S. Medawar’s first major contribution was to prove conclusively that skin grafts made between different individuals usually fail because of an immunological response made by the recipient against foreign antigens in the donor’s cells, and then to show that the most important mechanism was a specific cell-mediated immunity due to lymphocytes. In attempting to find means of preventing the response against grafted tissues, without impairing immunological capacity in other respects, Medawar made a second major contribution by showing for the first time that it was possible to induce specific tolerance of foreign antigens by administering them to very young animals. His subsequent work, directed towards achieving practical means of overcoming the immunological barrier to tissue transplantation, led him on the one hand to investigate improved methods of inducing specific immunological tolerance and, on the other, to use antiserum against lymphocytes to suppress the damaging effects of these cells. His successful results in experimental animals have indicated the way to their possible application in Man. Medawar’s work has throughout been distinguished by a penetrating clarity of thought combined with insight, and by elegant and original experimental design. He also has a justly high reputation for his analyses and predictions in wider fields of biology, and his study of scientific method.

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