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Stratified Deformation Space and Path Planning for a Planar Closed Chain with Revolute Joints [chapter]

L. Han, L. Rudolph, J. Blumenthal, I. Valodzin
Springer Tracts in Advanced Robotics  
We illustrate the general construction in the case of planar nR loops (closed chains with revolute joints), where the deformation space (link collisions allowed) has one connected component or two, stratified  ...  In essence, our approach makes path planning for a planar nR loop essentially no more difficult than for an open chain.  ...  In particular, Trinkle, Milgram and Liu [22, 20, 18, 17] have made important discoveries for CSpace of a kinematic chain with fully rotatable joints, either n spherical joints in space (nS) or n revolute  ... 
doi:10.1007/978-3-540-68405-3_15 fatcat:q7ci2tkdbjhetilxbly6cxakwm

Singularities of parallel manipulators: a geometric treatment

Guanfeng Liu, Yunjiang Lou, Zexiang Li
2003 IEEE Transactions on Robotics and Automation  
This allows us to gain insight on configuration space singularities and understand how to choose design parameters for the manipulator.  ...  A parallel manipulator is naturally associated with a set of constraint functions defined by its closure constraints.  ...  Park at the Seoul National University for his valuable suggestions and kind help.  ... 
doi:10.1109/tra.2003.814507 fatcat:uwwmus35c5g2bjjlnfapw2rlyy

Structure of the Singular Manifold of Protein Backbone and Its Applications

Yonggang Chen, Guanfeng Liu, Yong Yang
2020 IEEE Access  
By modeling chemical bonds as rigid links, and torsional motion around chemical bonds as revolute joints, a fragment of protein backbone turns into a kinematic linkage.  ...  By splitting the forward kinematic map into an orientation and position map, we derive equations of the singular manifolds for both maps and analyze their geometric and combinatorial structures.  ...  ACKNOWLEDGMENT The authors would like to thank Jim Milgram and Jean-Claude Latombe for introducing them to many of the ideas that led to the results obtained.  ... 
doi:10.1109/access.2020.2978546 fatcat:sh54mcvo6ve77l2456ua2sxvlm

Improved Lighthill fish swimming model for bio-inspired robots: Modeling, computational aspects and experimental comparisons

Mathieu Porez, Frédéric Boyer, Auke Jan Ijspeert
2014 The international journal of robotics research  
Simulations and experiments are compared on undulatory gaits and turning manoeuvres for a wide range of parameters.  ...  The approach is presented in a self contained manner, with the concern to help the reader not familiar with fluid dynamics to get insight both into the physics of swimming and the mathematical tools that  ...  Furthermore, this has to be achieved with computational times compatible with their exploitation for control, or fast simulation (as required by optimisation or path planning).  ... 
doi:10.1177/0278364914525811 fatcat:xt7s2lfz3zfbtn4yj4qhs7bnse

Memories of Vladimir Arnold

Boris Khesin, Serge Tabachnikov, Dmitry Fuchs, Yakov Eliashberg, Yulij Ilyashenko, Victor Vassiliev, Helmut Hofer
2012 Notices of the American Mathematical Society  
Ferrand, B. and M. Khesin, J. Pöschel, M. Ratner, S. Tretyakova, and I. Zakharevich.  ...  closed chain of such charts.  ...  We start with a closed oriented manifold M and a vector field X.  ... 
doi:10.1090/noti813 fatcat:ltffmctelng2pggx2bfskhedja

Abstracts of Papers

1954 Acta Crystallographica  
A straight chain of atoms gives rise to rows of strong reflexions in reciprocal space; the direction and spacing of the chain can thence be calculated.  ...  Observed density for a drawn monofflament = 1.16 g.cm. -s. The structure consists of planar chains of CH s groups and amide groups tilted 7 ° from the (001) plane.  ...  The molecular layer boundary can be interpreted as a crystal face of the subcell crystal with its appropriate Miller index. This gives a basis for classifica-tion of long-chain polymorphic forms.  ... 
doi:10.1107/s0365110x54002137 fatcat:c4hkngwd3fh2pdx7wiadsy42ne

Geotechnical Investigations [chapter]

Harvey W. Parker
1996 Tunnel Engineering Handbook  
., feasibility study, formulation of plans and specifications. d. Purpose of the investigation, e.g., evaluate stability of existing structure, design a new structure. e.  ...  Geologic conditions at a site are a major influence on the environmental impact and impact mitigation design, and therefore a primary portion of geotechnical investigations is to observe and report potential  ...  Features such as joint orientation, spacing, joint width, and the degree and type of secondary mineral filling should be carefully noted for each joint set.  ... 
doi:10.1007/978-1-4613-0449-4_4 fatcat:6pyl4mwx7rhjphqoeqxoxfwugm

Geotechnical Investigations [chapter]

2017 Horizontal Auger Boring Projects  
., feasibility study, formulation of plans and specifications. d. Purpose of the investigation, e.g., evaluate stability of existing structure, design a new structure. e.  ...  Geologic conditions at a site are a major influence on the environmental impact and impact mitigation design, and therefore a primary portion of geotechnical investigations is to observe and report potential  ...  Features such as joint orientation, spacing, joint width, and the degree and type of secondary mineral filling should be carefully noted for each joint set.  ... 
doi:10.1061/9780784414583.ch04 fatcat:p2qq45y2bnhxzk7jykvxdmrpqe

Modal Analysis of Electric sail

Todd D. Lillian
2021 Acta Astronautica  
Frank Six, and all the coordinators including Dr. Gerald Karr, Brooke Graham, and Katie Hayden, for providing this unique opportunity to work with NASA researchers in a NASA environment.  ...  A special gratitude he gives to the MSFC Collaborators, Dr. William Guin and Justin Jackson. They have spent time and efforts to make this Fellowship meaningful and fruitful.  ...  Session 2019 (b)) 1.212Ω hub follows a circular path and pods follow an elliptical motion, nearly planar ( Figure 2 (b)) 1.582Ω Hub and pods translate along the axis of rotation out of phase with one  ... 
doi:10.1016/j.actaastro.2021.05.003 fatcat:haxb75tn2bd7xp43hw6hv4mlya

Singular Perturbations and Time Scales in Guidance and Control of Aerospace Systems: A Survey

D. Subbaram Naidu, Anthony J. Calise
2001 Journal of Guidance Control and Dynamics  
This is a harsh punishment on z(t) for having a close association (multiplication) with the sin gular perturbation parameter €. We assume that the matrix A>» is nonsingular.  ...  ., and Nicosia, S., “On the I Iback Ce Robots with Elastic Joints: A Singular Perturbation Approach University of Rome, Rome, Italy, 1984 “Markopoulos, N., and Calise, A. J..  ... 
doi:10.2514/2.4830 fatcat:qdfw6bvvxrawbmxoelk6ioc5uq

Singular perturbations and time scales in guidance and control of aerospace systems - A survey

D. S. Naidu, Anthony J. Calise
2001 Journal of Guidance Control and Dynamics  
This is a harsh punishment on z(t) for having a close association (multiplication) with the sin gular perturbation parameter €. We assume that the matrix A>» is nonsingular.  ...  ., and Nicosia, S., “On the I Iback Ce Robots with Elastic Joints: A Singular Perturbation Approach University of Rome, Rome, Italy, 1984 “Markopoulos, N., and Calise, A. J..  ... 
doi:10.2514/3.22603 fatcat:v76ixl3625hg5n7jeu3rzceqwq

Sound‐pressure level distribution in a long, narrow hallway: Measurements versus results from a computer model with scattering from surface roughness and diffraction

Lily M. Wang, Jonathan Rathsam, Claus L. Christensen, Jens H. Rindel
2005 Journal of the Acoustical Society of America  
directly using a towed CTD chain.  ...  Nϭ3 singer spacing configurations ͑close, lateral, circumambient͒ and Nϭ2 choir formations ͑sectional and mixed͒.  ...  A wide variety of acoustic systems have multiple sources and receivers. This paper discusses a deconvolution technique for making acoustic measurements simultaneously with multiple sources.  ... 
doi:10.1121/1.4785653 fatcat:vcvuciqds5cztjto3gadvh6rtm

Atlantic Geoscience Society - 1996 Colloquium and General Meeting

1996 Atlantic geology  
In the follow ing pages w e publish the abstracts o f talks and poster sessions presented at the Colloquium which included a special session on "EXTECH-II, the Bathurst Mining Group", and a geophysics  ...  On behalf o f the Society, w e thank Michael Parkhill, Colloquium Chairman, and members o f his organizing com m ittee for providing an excellent meeting.  ...  The second deformation (D2) is responsible for the distribution of rock units and is charac terized by the development of tight, upright to east-plung ing F2 folds.  ... 
doi:10.4138/2079 fatcat:unwzfs2ubbcptgnd4w2i3xrtlq

CARS 2020—Computer Assisted Radiology and Surgery Proceedings of the 34th International Congress and Exhibition, Munich, Germany, June 23–27, 2020

2020 International Journal of Computer Assisted Radiology and Surgery  
A hybrid (analogue and digital) CARS 2020 has therefore been envisaged to take place at the University Hospital in Munich, with a balanced combination of analogue/personal and digital presentations and  ...  In the times of COVID-19 overshadowing CARS 2020 and what the future may hold, a CARS meeting with these numbers of participants is not feasible anymore and new ways have to be explored to still fulfill  ...  Acknowledgements This work was supported by the Technology Innovation Program (No. 10063309, Development of high-precision modular restoration system for fracture reduction and bone deformity correction  ... 
doi:10.1007/s11548-020-02171-6 pmid:32514840 fatcat:lyhdb2zfpjcqbf4mmbunddwroq

Applications of Geodesy to Geodynamics an International Symposium

1977 Bulletin Géodésique  
The author would like to thank Ron Estes for forwarding a cotidal chart for Schwiderski's model and for forwarding a copy of Accad and Pekeris' preprint. 296 the earth by Space Phys., 10, Acknowledgments  ...  This research was supported by the National Aeronautics and Space Administration, NASA Grant NSG 5060. The authors would like . to acknowledge stimulating discussions with A. Kuckes and W. Kaula.  ...  a full revolution.  ... 
doi:10.1007/bf02525113 fatcat:qp7f6qa3yvbhhg77y6qp4wh3oe
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