The conservative congruence transformation (CCT), K Kg = J T KpJ , was proposed by Chen and Kao as the correct congruence transformation to replace the conventional mapping, K = J T KpJ , proposed by Salisbury in 1980. The conventional mapping was shown to lead to physically inconsistent results when external force is present in sti ness control. Theoretical proofs are also provided to show the...

Jianhao Zhang, Jinda Cai Numerical Control And Display Lab, USST, 200093 ShangHai,China Emails:[email protected] Abstract:A method of compensation is proposed based on the error model with the robot’s parameters of kinematic structure and the joint angle. Using the robot kinematics equation depending on D-H algorithm, a kinematic error model is deduced relative to the end actuator of the robot, ...

Background and aims: The aim of this study was the modeling of the incidence rates of Colorectal, breast and prostate cancers using a shared component model in order to explore the spatial pattern of their shared risk factors (i.e., obesity and low physical activity) affecting on cancer incidence, and also to estimate the relative weight of these shared components. Methods: In this study,...

Presence of joints and fractures in rocks strongly influences the behavior of the rock mass by dividing the media into smaller units. These structures intensify the potential instability besides the development of sliding and rotational movements. The assumption of discontinuum media changes the whole analysis conditions in relation to the continuum analysis. Acquisition of geometrical and stru...

Technical limitations imposed by resolution and B1 homogeneity have thus far limited quantitative in vivo T2 mapping of cartilage to the patella. The purpose of this study is to develop T2 mapping of the femoral/tibial joint and assess regional variability of cartilage T2 in the knee. Quantitative in vivo T2 mapping of the knee was performed on 15 asymptomatic adults (age, 22-44) using a 3T MR ...

In a network robot system, a robot and a sensor network are integrated smoothly to develop their advantages and benefit from each other. Robot localization, sensor network calibration and environment mapping are three coupled issues to be solved once network robot system is introduced into a service environment. In this article, the problem of simultaneous localization, calibration and mapping ...