Analysis of the Compliance Properties of an Industrial Robot with the Mozzi Axis Approach

In robotic processes, the compliance of the robot arm plays a very important role. In some conditions, for example, in robotic assembly, robot arm compliance can compensate for small position and orientation errors of the end-effector. In other processes, like machining, robot compliance may generate chatter vibrations with an impairment in the quality of the machined surface. In industrial robots, the compliance of the end-effector is chiefly due to joint compliances. In this paper, joint compliances of a serial six-joint industrial robot are identified with a novel modal method making use of specific modes of vibration dominated by the compliance of only one joint. Then, in order to represent the effect of the identified compliances on robot performance in an intuitive and geometric way, a novel kinematic method based on the concept of \u201cMozzi axis\u201d of the end-effector is presented and discusse

Vector bundles on the projective line and finite domination of chain complexes

Finitely dominated chain complexes over a Laurent polynomial ring in one indeterminate are characterised by vanishing of their Novikov homology. We present an algebro-geometric approach to this result, based on extension of chain complexes to sheaves on the projective line. We also discuss the K-theoretical obstruction to extension.Comment: v1: 11 page

Lymphatic vessels in human adipose tissue

Despite being considered present in most vascularised tissues, lymphatic vessels have not been properly shown in human adipose tissue (AT). Our goal in this study is to investigate an unanswered question in AT biology, regarding lymphatic network presence in tissue parenchyma. Using human subcutaneous (S-) and visceral (V-) AT samples with whole mount staining for lymphatic specific markers and three-dimensional imaging, we showed lymphatic capillaries and larger lymphatic vessels in the human VAT. Conversely, in the human SAT, microcirculatory lymphatic vascular structures were rarely detected and no initial lymphatics were found

Self-amplified spontaneous emission for a single pass free-electron laser

SPARC (acronym of "Sorgente Pulsata ed Amplificata di Radiazione Coerente", i.e. Pulsed and Amplified Source of Coherent Radiation) is a single pass free-electron laser designed to obtain high gain amplification at a radiation wavelength of 500 nm. Self-amplified spontaneous emission has been observed driving the amplifier with the high-brightness beam of the SPARC linac. We report measurements of energy, spectra, and exponential gain. Experimental results are compared with simulations from several numerical codes

A quantum analogue of the first fundamental theorem of invariant theory

We establish a noncommutative analogue of the first fundamental theorem of classical invariant theory. For each quantum group associated with a classical Lie algebra, we construct a noncommutative associative algebra whose underlying vector space forms a module for the quantum group and whose algebraic structure is preserved by the quantum group action. The subspace of invariants is shown to form a subalgebra, which is finitely generated. We determine generators of this subalgebra of invariants and determine their commutation relations. In each case considered, the noncommutative modules we construct are flat deformations of their classical commutative analogues. Thus by taking the limit as $q\to 1$, our results imply the first fundamental theorem of classical invariant theory, and therefore generalise them to the noncommutative case.Comment: 44 pages, 3 figure

Measurement of the cross-section and charge asymmetry of WW bosons produced in proton-proton collisions at s=8\sqrt{s}=8 TeV with the ATLAS detector

This paper presents measurements of the $W^+ \rightarrow \mu^+\nu$ and $W^- \rightarrow \mu^-\nu$ cross-sections and the associated charge asymmetry as a function of the absolute pseudorapidity of the decay muon. The data were collected in proton--proton collisions at a centre-of-mass energy of 8 TeV with the ATLAS experiment at the LHC and correspond to a total integrated luminosity of 20.2~\mbox{fb^{-1}}. The precision of the cross-section measurements varies between 0.8% to 1.5% as a function of the pseudorapidity, excluding the 1.9% uncertainty on the integrated luminosity. The charge asymmetry is measured with an uncertainty between 0.002 and 0.003. The results are compared with predictions based on next-to-next-to-leading-order calculations with various parton distribution functions and have the sensitivity to discriminate between them.Comment: 38 pages in total, author list starting page 22, 5 figures, 4 tables, submitted to EPJC. All figures including auxiliary figures are available at https://atlas.web.cern.ch/Atlas/GROUPS/PHYSICS/PAPERS/STDM-2017-13

Reactivity against Complementary Proteinase-3 Is Not Increased in Patients with PR3-ANCA-Associated Vasculitis

The etiology of anti-neutrophil cytoplasmic antibodies (ANCA) associated vasculitides (AAV) is unknown, but the association between infections and autoimmunity has been studied extensively. In 2004, a novel theory was proposed that could link infection and autoimmunity. This ‘theory of autoantigen complementarity’ was based on the serendipitous finding of antibodies against complementary-PR3 (cPR3) in patients with PR3-ANCA-associated vasculitis. cPR3 demonstrated homology to several bacterial proteins, and it was hypothesized that PR3-ANCA develop in response to anti-cPR3 antibodies, as a consequence of the anti-idiotypic network. These data have not been confirmed in other patient cohorts. We investigated the presence of anti-cPR3 antibodies in a Dutch cohort of PR3-ANCA-associated vasculitis patients. Anti-cPR3 reactivity was determined in serum using ELISA. Two separate batches of cPR3 were used to determine reactivity in two separate cohorts of PR3-ANCA-associated vasculitis patients. We found that anti-cPR3-reactivity was not increased in our PR3-ANCA-associated vasculitis patients, in comparison to control groups. Further research will be necessary to prove the concept of autoantigen complementarity in autoimmune diseases

Single hadron response measurement and calorimeter jet energy scale uncertainty with the ATLAS detector at the LHC

The uncertainty on the calorimeter energy response to jets of particles is derived for the ATLAS experiment at the Large Hadron Collider (LHC). First, the calorimeter response to single isolated charged hadrons is measured and compared to the Monte Carlo simulation using proton-proton collisions at centre-of-mass energies of sqrt(s) = 900 GeV and 7 TeV collected during 2009 and 2010. Then, using the decay of K_s and Lambda particles, the calorimeter response to specific types of particles (positively and negatively charged pions, protons, and anti-protons) is measured and compared to the Monte Carlo predictions. Finally, the jet energy scale uncertainty is determined by propagating the response uncertainty for single charged and neutral particles to jets. The response uncertainty is 2-5% for central isolated hadrons and 1-3% for the final calorimeter jet energy scale.Comment: 24 pages plus author list (36 pages total), 23 figures, 1 table, submitted to European Physical Journal