Effects of Constraint Errors on Parallel Manipulators with Decoupled Motion

From perspective of structure synthesis, certain special geometric constraints, such as joint axes intersecting at one point or perpendicular to each other, are necessary in realizing the end-effector motion of kinematically decoupled parallel manipulators (PMs) along individual motion axes. These requirements are difficult to achieve in the actual system due to assembly errors and manufacturing tolerances. Those errors that violate the geometric constraint requirements are termed “constraint errors”. The constraint errors usually are more troublesome than other manipulator errors because the decoupled motion characteristics of the manipulator may no longer exist and the decoupled kinematic models will be rendered useless due to these constraint errors. Therefore, identification and prevention of these constraint errors in initial design and manufacturing stage are of great significance. In this article, three basic types of constraint errors are identified, and an approach to evaluate the effects of constraint errors on decoupling characteristics of PMs is proposed. This approach is illustrated by a 6-DOF PM with decoupled translation and rotation. The results show that the proposed evaluation method is effective to guide design and assembly.

Northern Ireland: The Politics of Constraint

The article surveys the interrupted experience of devolution in Northern Ireland since 1999 and draws a number of comparisons between the first devolved Assembly and Executive and their successors elected in 2007. It underlines the significance of the changed political, electoral and paramilitary context in the period leading up to the 2007 Assembly election which, together with a number of procedural changes effected by the 2006 St Andrews Agreement, enabled the restoration of power-sharing devolution to occur. Against the background of its legislative and policy record and the wider altered state of Northern Ireland, it concludes that the contrived consociational model of governance can work, up to a point, but perhaps as much because of the politics of constraint than consociationalism's much vaunted promise to reflect and engender the politics of accommodation.

Image segmentation based on multi-scan constraint satisfaction neural network

A novel image segmentation method based on a constraint satisfaction neural network (CSNN) is presented. The new method uses CSNN-based relaxation but with a modified scanning scheme of the image. The pixels are visited with more distant intervals and wider neighborhoods in the first level of the algorithm. The intervals between pixels and their neighborhoods are reduced in the following stages of the algorithm. This method contributes to the formation of more regular segments rapidly and consistently. A cluster validity index to determine the number of segments is also added to complete the proposed method into a fully automatic unsupervised segmentation scheme. The results are compared quantitatively by means of a novel segmentation evaluation criterion. The results are promising.