Geometry and kinematics for a spherical-base integrated parallel mechanism

Parallel mechanisms, in general, have a rigid base and a moving platform connected by several limbs. For achieving higher mobility and dexterity, more degrees of freedom are introduced to the limbs. However, very few researchers focus on changing the design of the rigid base and making it foldable and reconfigurable to improve the performance of the mechanism. Inspired by manipulating an object with a metamorphic robotic hand, this paper presents for the first time a parallel mechanism with a reconfigurable base. This novel spherical-base integrated parallel mechanism has an enlarged workspace compared with traditional parallel manipulators. Evolution and structure of the proposed parallel mechanism is introduced and the geometric constraint of the mechanism is investigated based on mechanism decomposition. Further, kinematics of the proposed mechanism is reduced to the solution of a univariate polynomial of degree 8. Moreover, screw theory based Jacobian is presented followed by the velocity analysis of the mechanism

Spatially explicit poisoning risk affects survival rates of an obligate scavenger

Obligate scavengers such as vultures provide critical ecosystem services and their populations have undergone severe declines in Asia and Africa. Intentional poisoning is a major threat to vultures in Africa, yet the impact on vulture populations of where poisoned carcasses are positioned is not known. We used re-sightings of 183 African white-backed vultures captured and tagged in two regions of South Africa, some 200 km apart, to estimate spatial differences in relative survival rates across life stages. Juvenile survival rates were similar in the two regions, whilst subadult and adult survival rates differed significantly. Using agent-based modelling, we show that this pattern of relative survival rates is consistent between regions that differ in intensity of poisoning, despite the proximity of the two regions. This may have important consequences for vulture conservation and the targeting of conservation efforts, particularly with regard to the efficacy of “vulture safe zones” around vulture breeding populations

Root Canal Anatomy of Maxillary and Mandibular Teeth

It is a common knowledge that a comprehensive understanding of the complexity of the internal anatomy of teeth is imperative to ensure successful root canal treatment. The significance of canal anatomy has been emphasized by studies demonstrating that variations in canal geometry before cleaning, shaping, and obturation procedures had a greater effect on the outcome than the techniques themselves. In recent years, significant technological advances for imaging teeth, such as CBCT and micro-CT, respectively, have been introduced. Their noninvasive nature allows to perform in vivo anatomical studies using large populations to address the influence of several variables such as ethnicity, aging, gender, and others, on the root canal anatomy, as well as to evaluate, quantitatively and/or qualitatively, specific and fine anatomical features of a tooth group. The purpose of this chapter is to summarize the morphological aspects of the root canal anatomy published in the literature of all groups of teeth and illustrate with three-dimensional images acquired from micro-CT technology.info:eu-repo/semantics/publishedVersio

Exploring biographical fictions: the role of imagination in writing and reading narrative

The creation of a literary biography requires an awareness both of how we construct what we believe we ‘know’ about a writer, and how the stories we adopt change our reading of their works. Research into the sources used to construct Marlowe’s and Shakespeare’s biographies supports the conclusion that when writers can no longer create their own stories, those created about them are necessarily fictions, even if delivered under the supposedly more ‘factual’ genre of biography. Historical biographers construct narrative by imaginative interpretation of evidence. Writers’ biographies are commonly written not by historians but by literary critics, who draw extra biographical ‘evidence’ from interpreting the author’s works. But interpreting the works is a highly subjective exercise, and the story we find there may depend upon the story we are looking for. In the process of researching and writing a novel in verse based on Marlovian Theory - the idea that Christopher Marlowe faked his own death, fled to Northern Italy and wrote the works attributed to Shakespeare - the utilisation of Shakespeare’s Sonnets to create a new narrative exposes the inherently deceptive nature of poetry. By switching between literal and figurative readings, and emphasising previously overlooked phrases, it is possible to interpret the Sonnets in such a way that they support Marlovian Theory more easily than they support the orthodox narrative

The mammals of Angola

Scientific investigations on the mammals of Angola started over 150 years ago, but information remains scarce and scattered, with only one recent published account. Here we provide a synthesis of the mammals of Angola based on a thorough survey of primary and grey literature, as well as recent unpublished records. We present a short history of mammal research, and provide brief information on each species known to occur in the country. Particular attention is given to endemic and near endemic species. We also provide a zoogeographic outline and information on the conservation of Angolan mammals. We found confirmed records for 291 native species, most of which from the orders Rodentia (85), Chiroptera (73), Carnivora (39), and Cetartiodactyla (33). There is a large number of endemic and near endemic species, most of which are rodents or bats. The large diversity of species is favoured by the wide range of habitats with contrasting environmental conditions, while endemism tends to be associated with unique physiographic settings such as the Angolan Escarpment. The mammal fauna of Angola includes 2 Critically Endangered, 2 Endangered, 11 Vulnerable, and 14 Near-Threatened species at the global scale. There are also 12 data deficient species, most of which are endemics or near endemics to the countryinfo:eu-repo/semantics/publishedVersio

Process operational windows and robotic scenarios for assembly of large aluminium structures by robotic friction stir welding

Peer reviewed: YesNRC publication: Ye

Challenges in Aerospace Automation

NRC publication: Ye