Generic method for deriving the general shaking force balance conditions of parallel manipulators with application to a redundant planar 4-RRR parallel manipulator

This paper proposes a generic method for deriving\ud the general shaking force balance conditions of parallel\ud manipulators. Instead of considering the balancing of a parallel\ud manipulator link-by-link or leg-by-leg, the architecture is\ud considered altogether.\ud The first step is to write the linear momentum of each element.\ud The second step is to substitute the derivatives of the\ud loop equations, by which the general force balance conditions\ud are obtained. Subsequently specific kinematic conditions are\ud investigated in order to find advantageous, simple balance solutions.\ud As an example, the method is applied to a planar 4-RRR parallel\ud manipulator, for which the force balance conditions and\ud solutions are discussed and illustrated for each step respectively.\ud By including the loop equations, linear relations of the\ud motion among mechanism elements lead to an increase of balance\ud possibilities.For specific kinematic conditions, additional\ud linear relations among the motion of mechanism elements may\ud be obtained, resulting in another increase of balance possibilities.\ud For the latter, symmetric motion is an important feature\ud for which a 4-RRR manipulator is advantageou

Decisional role of the dorsolateral prefrontal cortex in ocular motor behaviour

Three patients with a unilateral cortical lesion affecting the dorsolateral prefrontal cortex (DLPFC), i.e. Brodmann area 46, were tested using different paradigms of reflexive saccades (gap and overlap tasks), intentional saccades (antisaccades, memory‐guided and predictive saccades) and smooth pursuit movements. Visually guided saccades with gap and overlap, latency of correct antisaccades and memory‐guided saccades and the gain of smooth pursuit were normal, compared with controls. These results confirm our anatomical data showing that the adjacent frontal eye field (FEF) was unimpaired in these patients. The specific pattern of abnormalities after a unilateral DLPFC lesion, compared with that of the FEF lesions previously reported, consists mainly of: (i) a bilateral increase in the percentage of errors in the antisaccade task (misdirected reflexive saccades); (ii) a bilateral increase in the variable error in amplitude, without significant decrease in the gain, in the memory‐guided saccade task; and (iii) a bilateral decrease in the percentage of anticipatory saccades in the predictive task. Taken together, these results suggest that the DLPFC plays a crucial role in the decisional processes, preparing saccades by inhibiting unwanted reflexive saccades (inhibition), maintaining memorized information for ongoing intentional saccades (short‐term spatial memory) or facilitating anticipatory saccades (prediction), depending upon current external environmental and internal circumstance

CARINA TCO2 data in the Atlantic Ocean

Water column data of carbon and carbon-relevant hydrographic and hydrochemical parameters from 188 cruises in the Arctic Mediterranean Seas, Atlantic and Southern Ocean have been retrieved and merged in a new data base: the CARINA (CARbon IN the Atlantic) Project. These data have gone through rigorous quality control (QC) procedures so as to improve the quality and consistency of the data as much as possible. Secondary quality control, which involved objective study of data in order to quantify systematic differences in the reported values, was performed for the pertinent parameters in the CARINA data base. Systematic biases in the data have been tentatively corrected in the data products. The products are three merged data files with measured, adjusted and interpolated data of all cruises for each of the three CARINA regions (Arctic Mediterranean Seas, Atlantic and Southern Ocean). Ninety-eight cruises were conducted in the "Atlantic" defined as the region south of the Greenland-Iceland-Scotland Ridge and north of about 30° S. Here we report the details of the secondary QC which was done on the total dissolved inorganic carbon (TCO2) data and the adjustments that were applied to yield the final data product in the Atlantic. Procedures of quality control – including crossover analysis between stations and inversion analysis of all crossover data – are briefly described. Adjustments were applied to TCO2 measurements for 17 of the cruises in the Atlantic Ocean region. With these adjustments, the CARINA data base is consistent both internally as well as with GLODAP data, an oceanographic data set based on the WOCE Hydrographic Program in the 1990s, and is now suitable for accurate assessments of, for example, regional oceanic carbon inventories, uptake rates and model validation

N,N′-Bis(2-chloro­phen­yl)succinamide

There is one half-mol­ecule in the asymmetric unit of the title compound, C16H14Cl2N2O2, with a center of symmetry at the mid-point of the central C—C bond. The N—H and C=O bonds in the C—NH—C(O)—C fragment are anti to each other and the amide O atom is anti to the H atoms attached to the adjacent C atoms. However, the conformation of the N—H bond in the amide fragments is syn to the ortho-chloro groups in the adjacent benzene rings. The dihedral angle between the benzene ring and the NH—C(O)—CH2 fragment is 47.0 (2)°. In the crystal, a series of N—H⋯O inter­molecular hydrogen bonds link the mol­ecules into chains along the b axis

TLR3 MATURATION, LOCALISATION AND APOPTOTIC ROLE IN CANCER

Oral Communication presented at the ";Forum des Jeunes Chercheurs";, Brest (France) 2011

Towards robotizing the processes of testing lithium-ion batteries

To boost the circular economy of the electric vehicle battery industry, an accurate assessment of the state of health of retired batteries is essential to assign them an appropriate value in the post automotive market and material degradation before recycling. In practice, the advanced battery testing techniques are usually limited to laboratory benches at the battery cell level and hardly used in the industrial environment at the battery module or pack level. This necessitates developing battery recycling facilities that can handle the assessment and testing undertakings for many batteries with different form factors. Towards this goal, for the first time, this article proposes proof of concept to automate the process of collecting the impedance data from a retired 24kWh Nissan LEAF battery module. The procedure entails the development of robot end-of-arm tooling that was connected to a Potentiostat. In this study, the robot was guided towards a fixed battery module using visual servoing technique, and then impedance control system was applied to create compliance between the end-of-arm tooling and the battery terminals. Moreover, an alarm system was designed and mounted on the robot’s wrist to check the connectivity between a Potentiostat and the battery terminals. Subsequently, the electrochemical impedance spectroscopy test was run over a wide range of frequencies at a 5% state of charge. The electrochemical impedance spectroscopy data obtained from the automated test is validated by means of the three criteria (linearity, causality and stability) and compared with manually collected measurements under the same conditions. Results suggested the proposed automated configuration can accurately accomplish the electrochemical impedance spectroscopy test at the battery module level with no human intervention, which ensures safety and allows this advanced testing technique to be adopted in grading retired battery modules

N-(2-Chloro­phen­yl)-N′-(2-methyl­phen­yl)succinamide

In the title compound, C17H17ClN2O2, the asymmetric unit contains half a mol­ecule with a centre of symmetry at the mid-point of the central C—C bond. The conformations of the amide O atoms are anti to the methyl­ene atoms. Further, the N—H bonds in the amide fragments are anti to the ortho-chloro/methyl groups in the adjacent benzene rings. The dihedral angle between the benzene ring and the NH—C(O)—CH2 segment in the two halves of the mol­ecule is 62.0 (2)°. In the crystal, a series of N—H⋯O inter­molecular hydrogen bonds link the mol­ecules into column-like infinite chains along the a axis. The methyl and Cl groups are disordered with respect to the ortho positions of the benzene ring, with site-occupation factors of 0.5 each

Organizing, supporting and linking the world marine biodiversity research community

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