A comparison study of the numerical integration methods in the trajectory tracking application of redundant robot manipulators

Differential kinematic has a wide range application area in robot kinematics. The main advantage of the differential kinematic is that it can be easily implemented any kind of mechanisms. In differential kinematic method, Jacobian is used as a mapping operator in the velocity space. The joint velocities are required to be integrated to obtain the pose of the robot manipulator. This integration can be evaluated by using numerical integration methods, since the inverse kinematic equations are highly complex and nonlinear. Thus, the performances of the numerical integration methods affect the trajectory tracking application. This paper compares the performances of numerical integration methods in the trajectory tracking application of redundant robot manipulators. Four different and widely used numerical integration methods are implemented to the trajectory tracking application of the 7-DOF redundant robot manipulator named PA-10 and simulation results are given

A Comparative Study of Three Inverse Kinematic Methods of Serial Industrial Robot Manipulators in the Screw Theory Framework

In this paper, we compare three inverse kinematic formulation methods for the serial industrial robot manipulators. All formulation methods are based on screw theory. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates. In these three formulation methods, the first one is based on quaternion algebra, the second one is based on dual-quaternions, and the last one that is called exponential mapping method is based on matrix algebra. Compared with the matrix algebra, quaternion algebra based solutions are more computationally efficient and they need less storage area. The method which is based on dual-quaternion gives the most compact and computationally efficient solution. Paden-Kahan sub-problems are used to derive inverse kinematic solutions. 6-DOF industrial robot manipulator\u27s forward and inverse kinematic equations are derived using these formulation methods. Simulation and experimental results are given

Recurso de amparo. Contaminación mercurial

Se interpuso una acción penal ante el juzgado segundo de primera instancia en lo civil, mercantil, tránsito y trabajo de la circunscripción de estado.A criminal action was filed before the second court of first instance in civil, commercial, traffic and labor matters of the state district

Flight control and collision avoidance of three UAVs following each other

An unmanned aerial vehicle is a hardware and software complex with multi-purpose control. Unlike manned aviation, an unmanned aerial vehicle requires additional modules in its control system. These include the drone itself, the operator's workplace, software, data transmission lines and blocks necessary to fulfil the set flight objectives. The range of applications of unmanned aerial vehicles in the civil sector is not limited, but with the current state of the legal framework for the use of airspace, flight operations are somewhat difficult. The article formulates the main scientific position on the methodology of solving auxiliary tasks set in the work. The methodology specifies the main research stages, and it is a generalized methodological algorithm for the implementation of scientific research, which provides theoretical developments, field observations and simulation computer modelling. As a result of the study, it was found that the motion control systems of unmanned aerial vehicles are used for the process of their differentiation by the principle of complete external control, the advantages of which are considered in the work. For external control of divergence process of unmanned aerial vehicles, a method is considered for assessing the situation of convergence of unmanned aerial vehicles and choosing the manoeuvre of their difference using the area of dangerous courses, unmanned aerial vehicles approach, and it is possible to take into account the inertia of unmanned aerial vehicles when turning and the presence of navigational hazards that are in the manoeuvring area

Temas Socio-Jurídicos. Volumen 9 No. 23 Julio 1990

La edición número 23 de la revista temas socio-jurídicos, presenta a la comunidad universitaria, el primer capítulo del trabajo de grado elaborado por la egresada Diana Lucia Cortes Niño, denominado protección jurídica del patrimonio cultural colombiano, bajo la dirección de la profesora Mónica Cortes Falla. La investigación, cuyo extracto se publica acompañado del texto de un PROYECTO DE LEY, Sobre protección y defensa del patrimonio Cultural Colombiano, pretende ofrecer a los funcionarios de las entidades que tienen por misión la preservación de los recursos culturales, un manual jurídico de fácil acceso y comprensión, que les permita dilucidar en forma rápida las incidencias jurídicas de las controversias que deben dirimir e iniciar con premura las acciones correspondientes a la protección de estos importantes recursos de la Nación Colombiana.The 23rd edition of the TEMAS SOCIO-JURIDICOS magazine presents to the university community the first chapter of the degree work prepared by the graduate DIANA LUCIA CORTES NIÑO, called LEGAL PROTECTION OF COLOMBIAN CULTURAL HERITAGE, under the direction of Professor MONICA CORTES FALLA . The research, the extract of which is published together with the text of a PROJECT LAW, on the protection and defense of the Colombian Cultural Heritage, intends to offer the officials of the entities whose mission is the preservation of cultural resources, a legal manual of easy access and understanding, which allows them to quickly elucidate the legal incidences of the controversies that must be resolved and promptly initiate the actions corresponding to the protection of these important resources of the Colombian Nation

The effect of mesenchymal stem cell transplantation on the recovery of bladder and hindlimb function after spinal cord contusion in rats

<p>Abstract</p> <p>Background</p> <p>Mesenchymal stem cells are widely used for transplantation into the injured spinal cord in vivo model and for safety, many human clinical trials are continuing to promote improvements of motor and sensory functions after spinal cord injury. Yet the exact mechanism for these improvements remains undefined. Neurogenic bladder following spinal cord injury is the main problem decreasing the quality of life for patients with spinal cord injury, but there are no clear data using stem cell transplantation for the improvement of neurogenic bladder for in vivo studies and the clinical setting.</p> <p>The purpose of this study was to delineate the effect of human mesenchymal stem cell (hMSCs) transplantation on the restoration of neurogenic bladder and impaired hindlimb function after spinal cord contusion of rats and the relationship between neurotrophic factors such as brain derived neurotrophic factor (BDNF) and neurotrophin-3 (NT-3) and bladder and hindlimb functions.</p> <p>Results</p> <p>Modified moderate contusion injury were performed on the thoracic spinal cord of Sprague-Dawley rats using MASCIS impactor and hMSCs, human fibroblasts or phosphate-buffered saline were transplanted into injured spinal cord 9 days after injury for hMSC and two control groups respectively. Ladder test showed more rapid restoration of hindlimb function in hMSC group than in control group, but Basso, Beattie, and Bresnahan score and coupling score were not different significantly among hMSC and two control groups. Neurogenic bladder was not improved in either group. ED1 positive macrophages were significantly reduced in hMSC group than in two control groups, but ELISA and RT-PCR studies revealed BDNF and NT-3 levels in spinal cord and bladder were not different among hMSC and two control groups regardless the experimental duration.</p> <p>Conclusion</p> <p>hMSC transplantation was effective in reducing inflammatory reaction after spinal cord contusion of rats but not sufficient to recover locomotor and bladder dysfunction. BDNF and NT-3 levels in the spinal cord and bladder were not increased 28 and 56 days after hMSC transplantation.</p

Solution of inverse kinematic problem for serial robot using quaterninons

A new inverse kinematic solution for serial robot manipulators is represented in this paper. Major aims of this paper are to obtain singularity avoiding inverse kinematic solutions and formulize kinematic problems in a compact closed form. Our solution method is based on screw theory and it uses quaternions as a screw motion operator. Screw theory methods based on line transformation. All screw motions are represented as a rotation about a line together with a translation along the line with respect to base frame. Thus screw theory methods do not suffer from singularities. Two quaterninos are used to represent screw motion. First one is for orientation and second one is for translation. Thus we formulize kinematic problems in a compact closed form. 6R-DOF industrial robot manipulators forward and inverse kinematic equations are derived using this new formulation and also it compared with D-H convention that is the most common method in robot kinematic