In this paper, trajectory generation for the 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a seven DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired traject...

Background Our study retrospectively assesses the safety and efficacy of the FOLFOX (oxaliplatin, fluorouracil, and leucovorin) versus DOF (docetaxel, oxaliplatin, and fluorouracil) regimens in untreated locally advanced gastric cancer (AGC). Patients and methods A total of 108 patients underwent DOF (N=58) and FOLFOX (N=50) regimens. The end points were overall response rate (ORR), survival,...

Abstract. To absorb the vibration of car body high-speed train in multiple degrees freedom, a multi-degree freedom dynamic absorber (MDOF DVA) is proposed. Installed under body, natural frequency MDOF DVA from each DOF can be designed as for every single degree body. Hence, 12-DOF model including main system and an established, principle Multi-DOF absorption analyzed by combining design method ...

A smart 6-DOF load cell is developed which uses an array of ICP® strain gages with piezo-electric sensing elements. Since the strain gage transducers have multiple-pin connectors, Transducer Electronic Data Sheets (TEDS) can be used to identify each sensing element, thereby simplifying the cabling and eliminating channel identification errors. The TEDS of each strain gage also stores a single w...

For vision guided robotic assembly, one of the fundamental enablers is the robust estimation of 6 degree-offreedom (DOF) pose of industrial parts or subassemblies. In this paper, we present a method to estimate 6 DOF pose of automotive sheet metal panels using 3D closed loop boundary (CLB) features from a stereo vision. The 3D CLBs extracted are used to identify the corresponding CAD model and ...

This paper focuses firstly, on the kinematics structure required for a humanoid service robot arm and secondly, on transferring human motion obtained from visual motion capture to the humanoid arm. The kinematics structure of a ten Degree of Freedom (DOF) humanoid arm which has a two DOF shoulder girdle and has a four DOF glenohumeral joint is presented. A method of obtaining the sternum positi...

There are many design factors and choices when mounting a vision system for robot control. Such factors may include the kinematic and dynamic characteristics in the robot’s degrees of freedom (DOF), which determine at what velocities and fields-of-view a camera can achieve. Another factor is that additional motion components (such as pan-tilt units) are often mounted on a robot and introduce sy...

This paper reports a novel four-degrees-of-freedom (DOF) nonresonant micromachined gyroscope design concept that addresses two major MEMS gyroscope design challenges: eliminating the mode-matching requirement and minimizing instability and drift due to mechanical coupling between the drive and sense modes. The proposed approach is based on utilizing dynamical amplification both in the 2-DOF dri...

Interference management in a three-user interference channel with alternating connectivity with only topological knowledge at the transmitters is considered. The network has a Wyner-type channel flavor, i.e., for each connectivity state the receivers observe at most one interference signal in addition to their desired signal. Degrees of freedom (DoF) upper bounds and lower bounds are derived. T...