Robustness to Algorithmic Singularities and Sensitivity in Computational Kinematics

A robust approach to computational kinematics intended to cope with algorithmic singularities is introduced in this article. The approach is based on the reduction of the original system of equations to a subsystem of bivariate equations, as opposed to the multivariate polynomial reduction leading to the characteristic univariate polynomial. The effectiveness of the approach is illustrated for the exact function-generation synthesis of planar, spherical, and spatial four-bar linkages. Some numerical examples are provided for the case of the spherical four-bar function generator with six precision points to show the benefits of the proposed method with respect to methods reported in the literature.The first author acknowledges the support of Universidad Politecnica de Valencia, research project PAID-00-09. The second author acknowledges the support of McGill University by means of a James McGill Professorship.Gracia Calandin, LI.; Angeles, J. (2011). Robustness to Algorithmic Singularities and Sensitivity in Computational Kinematics. Proceedings of the Institution of Mechanical Engineers part C - Journal of Mechanical Engineering Science. 225(4):987-999. doi:10.1243/09544062JMES2464S9879992254Raghavan, M., & Roth, B. (1993). Inverse Kinematics of the General 6R Manipulator and Related Linkages. Journal of Mechanical Design, 115(3), 502-508. doi:10.1115/1.2919218Lee, H. Y., Woernle, C., & Hiller, M. (1991). A Complete Solution for the Inverse Kinematic Problem of the General 6R Robot Manipulator. Journal of Mechanical Design, 113(4), 481-486. doi:10.1115/1.2912808Innocenti, C., & Parenti-Castelli, V. (1993). Echelon form solution of direct kinematics for the general fully-parallel spherical wrist. Mechanism and Machine Theory, 28(4), 553-561. doi:10.1016/0094-114x(93)90035-tGosselin, C. M., Sefrioui, J., & Richard, M. J. (1994). On the Direct Kinematics of Spherical Three-Degree-of-Freedom Parallel Manipulators of General Architecture. Journal of Mechanical Design, 116(2), 594-598. doi:10.1115/1.2919419Alizade, R. I., & Kilit, Ö. (2005). Analytical synthesis of function generating spherical four-bar mechanism for the five precision points. Mechanism and Machine Theory, 40(7), 863-878. doi:10.1016/j.mechmachtheory.2004.12.010Cervantes-Sánchez, J. J., Gracia, L., Rico-Martínez, J. M., Medellín-Castillo, H. I., & González-Galván, E. J. (2009). A novel and efficient kinematic synthesis approach of the spherical 4R function generator for five and six precision points. Mechanism and Machine Theory, 44(11), 2020-2037. doi:10.1016/j.mechmachtheory.2009.05.006Angeles, J. (2007). Fundamentals of Robotic Mechanical Systems. Mechanical Engineering Series. doi:10.1007/978-0-387-34580-2Bai, S., Hansen, M. R., & Angeles, J. (2009). A robust forward-displacement analysis of spherical parallel robots. Mechanism and Machine Theory, 44(12), 2204-2216. doi:10.1016/j.mechmachtheory.2009.07.005Sommese, A. J., & Wampler, C. W. (2005). The Numerical Solution of Systems of Polynomials Arising in Engineering and Science. doi:10.1142/5763Forsythe, G. E. (1970). Pitfalls in Computation, or why a Math Book isn’t Enough. The American Mathematical Monthly, 77(9), 931. doi:10.2307/2318109Angeles, J., Hommel, G., & Kovács, P. (Eds.). (1993). Computational Kinematics. Solid Mechanics and Its Applications. doi:10.1007/978-94-015-8192-9Yang, A. T., & Freudenstein, F. (1964). Application of Dual-Number Quaternion Algebra to the Analysis of Spatial Mechanisms. Journal of Applied Mechanics, 31(2), 300-308. doi:10.1115/1.3629601Gupta, K. C., & Beloiu, A. S. (1998). Branch and circuit defect elimination in spherical four-bar linkages. Mechanism and Machine Theory, 33(5), 491-504. doi:10.1016/s0094-114x(97)00078-

Exposure knowledge and perception of wireless communication technologies

The presented survey investigates risk and exposure perceptions of radio frequency electromagnetic fields (RF EMF) associated with base stations, mobile phones and other sources, the key issue being the interaction between both sets of perceptions. The study is based on a cross-sectional design, and conducted with an online sample of 838 citizens from Portugal. The results indicate that respondents’ intuitive exposure perception differs from the actual exposure levels. Furthermore, exposure and risk perceptions are found to be highly correlated. Respondents’ beliefs about exposure factors, which might influence possible health risks, is appropriate. A regression analysis between exposure characteristics, as predictor variables, and RF EMF risk perception, as the response variable, indicates that people seem to use simple heuristics to form their perceptions. What is bigger, more frequent and longer lasting is seen as riskier. Moreover, the quality of exposure knowledge is not an indicator for amplified EMF risk perception. These findings show that exposure perception is key to future risk communication

Fundamental Parameters of He-Weak and He-Strong Stars

We carried out low resolution spectroscopic observations in the wavelength range 3400-4700 A of 20 He-weak and 8 He-strong stars to determine their fundamental parameters by means of the Divan-Chalonge-Barbier (BCD) spectrophotometric system. For a few He-weak stars we also estimate the effective temperatures and the angular diameters by integrating absolute fluxes observed over a wide spectral range. Non-LTE model calculations are carried out to study the influence of the He/H abundance ratio on the emergent radiation of He-strong stars and on their Teff determination. We find that the effective temperatures, surface gravities and bolometric absolute magnitudes of He-weak stars estimated with the BCD system and the integrated flux method are in good agreement between each other, and they also agree with previous determinations based on several different methods. The mean discrepancy between the visual absolute magnitudes derived using the Hipparcos parallaxes and the BCD values is on average 0.3 mag for He-weak stars, while it is 0.5 mag for He-strong stars. For He-strong stars, we note that the BCD calibration, based on stars in the solar environment, leads to overestimated values of Teff. By means of model atmosphere calculations with enhanced He/H abundance ratios we show that larger He/H ratios produce smaller BD which naturally explains the Teff overestimation. We take advantage of these calculations to introduce a method to estimate the He/H abundance ratio in He-strong stars. The BD of HD 37479 suggests that the Teff of this star remains fairly constant as the star spectrum undergoes changes in the intensity of H and He absorption lines. Data for the He-strong star HD 66765 are reported for the first time.Comment: Accepted for publication in A&

Conceptual design of mechanisms based on computational synthesis and simulation of kinematic building blocks

Although many ingenious mechanisms have been designed, the fundamental task of conceptualizing these devices is, to a great extent, still an art. While sophisticated computational tools for dynamic analysis of mechanisms exist, hardly any computational methods exist for generalized synthesis. To develop a computational model for synthesis, a formal foundation for mechanisms design must be laid by rationalizing the process of mechanical synthesis. Rationalization in synthesis implies that complex mechanical motions can be described in terms of primitives or building blocks. In this paper, we present a matrix methodology that forms the basis for a computable approach to design synthesis. In this methodology, the continuous design space of a mechanisms domain is discretized into functional subspaces, and each subspace is represented uniquely by a conceptual building block. The matrix scheme serves as a formal means to (a) represent and reason with the building blocks at different levels of abstraction, (b) generate alternate conceptual design configurations, and (c) facilitate rapid simulation of design concepts by connecting a series of building blocks.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/45878/1/163_2005_Article_BF01580146.pd

Plastid phylogenomics resolves ambiguous relationships within the orchid family and provides a solid timeframe for biogeography and macroevolution

Recent phylogenomic analyses based on the maternally inherited plastid organelle have enlightened evolutionary relationships between the subfamilies of Orchidaceae and most of the tribes. However, uncertainty remains within several subtribes and genera for which phylogenetic relationships have not ever been tested in a phylogenomic context. To address these knowledge-gaps, we here provide the most extensively sampled analysis of the orchid family to date, based on 78 plastid coding genes representing 264 species, 117 genera, 18 tribes and 28 subtribes. Divergence times are also provided as inferred from strict and relaxed molecular clocks and birth–death tree models. Our taxon sampling includes 51 newly sequenced plastid genomes produced by a genome skimming approach. We focus our sampling efforts on previously unplaced clades within tribes Cymbidieae and Epidendreae. Our results confirmed phylogenetic relationships in Orchidaceae as recovered in previous studies, most of which were recovered with maximum support (209 of the 262 tree branches). We provide for the first time a clear phylogenetic placement for Codonorchideae within subfamily Orchidoideae, and Podochilieae and Collabieae within subfamily Epidendroideae. We also identify relationships that have been persistently problematic across multiple studies, regardless of the different details of sampling and genomic datasets used for phylogenetic reconstructions. Our study provides an expanded, robust temporal phylogenomic framework of the Orchidaceae that paves the way for biogeographical and macroevolutionary studies.Universidad de Costa Rica/[814-B8-257]/UCR/Costa RicaUniversidad de Costa Rica/[814-B6-140]/UCR/Costa RicaIDEA WILD/[]//Estados UnidosSociedad Colombiana de Orquideología/[]/SCO/ColombiaFundação de Amparo à Pesquisa do Estado de São Paulo/[11/08308-9]/FAPESP/BrasilFundação de Amparo à Pesquisa do Estado de São Paulo/[13/19124-1]/FAPESP/BrasilSwiss Orchid Foundation/[]//SuizaRoyal Botanic Gardens, Kew/[]//InglaterraSwedish Research Council/[2019-05191]//SueciaSwedish Foundation for Strategic Research/[FFL15-0196]/SSF/SueciaUCR::Vicerrectoría de Investigación::Unidades de Investigación::Ciencias Agroalimentarias::Jardín Botánico Lankester (JBL