11 research outputs found

    Dynamics of the Orthoglide parallel robot

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    Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the Cartesian coordinate system with fixed orientation, which means that the actuating directions are normal to each other. Three identical legs connecting to the moving platform are located on three planes being perpendicular to each other too. Knowing the position and the translation motion of the platform, we develop the inverse kinematics problem and determine the position, velocity and acceleration of each element of the robot. Further, the principle of virtual work is used in the inverse dynamic problem. Some matrix equations offer iterative expressions and graphs for the input forces and the powers of the three actuators

    Kinematics of A 3-PRP planar parallel robot

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    Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting to the moving platform of the manipulator are located in a vertical plane. Knowing the motion of the platform, we develop the inverse kinematics and determine the positions, velocities and accelerations of the robot. Several matrix equations offer iterative expressions and graphs for the displacements, velocities and accelerations of three prismatic actuators

    Internal joint forces in dynamics of a 3-PRP planar parallel robot

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    Recursive matrix relations for the complete dynamics of a 3-PRP planar parallel robot are established in this paper. Three identical planar legs connecting to the moving platform are located in the same vertical plane. Knowing the motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities and accelerations of the robot. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work. Finally, some graphs of simulation for the input powers of three actuators and the internal joint forces are obtained.Comment: arXiv admin note: substantial text overlap with arXiv:0904.005

    Identification of Lynch syndrome risk variants in the Romanian population.

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    To access publisher's full text version of this article, please click on the hyperlink in Additional Links field or click on the hyperlink at the top of the page marked DownloadTwo familial forms of colorectal cancer (CRC), Lynch syndrome (LS) and familial adenomatous polyposis (FAP), are caused by rare mutations in DNA mismatch repair genes (MLH1, MSH2, MSH6, PMS2) and the genes APC and MUTYH, respectively. No information is available on the presence of high-risk CRC mutations in the Romanian population. We performed whole-genome sequencing of 61 Romanian CRC cases with a family history of cancer and/or early onset of disease, focusing the analysis on candidate variants in the LS and FAP genes. The frequencies of all candidate variants were assessed in a cohort of 688 CRC cases and 4567 controls. Immunohistochemical (IHC) staining for MLH1, MSH2, MSH6, and PMS2 was performed on tumour tissue. We identified 11 candidate variants in 11 cases; six variants in MLH1, one in MSH6, one in PMS2, and three in APC. Combining information on the predicted impact of the variants on the proteins, IHC results and previous reports, we found three novel pathogenic variants (MLH1:p.Lys84ThrfsTer4, MLH1:p.Ala586CysfsTer7, PMS2:p.Arg211ThrfsTer38), and two novel variants that are unlikely to be pathogenic. Also, we confirmed three previously published pathogenic LS variants and suggest to reclassify a previously reported variant of uncertain significance to pathogenic (MLH1:c.1559-1G>C).European Union EE

    Equilvalent definitions and basic properties of Frechet semi-differentials

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    Revised version of Frechet semi-differentials of real-valued functions Preprint no. 6/1986-1987, Istituto Matematico U. DINI Firenze, ItalySIGLEITItal

    Nuclear safety research in light of the Fukushima Daiichi accident at the European Commission - Joint Research Centre

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    Nuclear safety research programmes in the European Commission's Joint Research Centre cover aspects related to the behaviour of the reactor system, of the nuclear fuel during in-pile irradiation and of spent fuel thereafter. Several projects at JRC-ITU are dedicated to the study of properties and behaviour of nuclear fuel compounds under normal and off-normal conditions, including severe accident characterized by fuel rod degradation, core meltdown and radionuclide release. Safety relevant aspects associated with spent fuel during cooling and storage after discharge from the reactor, and for final disposal in a geologic repository are also studied. At JRC-IRMM a non-destructive method to determine the fissile content of melted fuel is under development. In 2012 JRC-IET established a new team, with strong expertise on nuclear accident modelling to contribute to European post-Fukushima efforts to update the Severe Accident Management strategies and practices. A major component of this team's work is the support to development and validation of the Reference European code ASTEC (Accident Source Term Evaluation Code) developed by IRSN (France) and GRS (Germany) for light water reactors severe accident analyses and source term evaluation.JRC.E.2-Safety of Irradiated Nuclear Material
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