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.

Type Synthesis of 3-DOF Multi-Mode Translational/Spherical Parallel Mechanisms with Lockable Joints

A 3-DOF (degrees-of-freedom) multi-mode translational/spherical PM (parallel mechanism) with lockable joints is a novel reconfigurable PM. It has both 3-DOF spatial translational operation mode and 3-DOF spherical operation mode. This paper presents an approach to the type synthesis of translational/spherical PMs with lockable joints. Using the proposed approach, several 3-DOF translational/spherical PMs are obtained. It is found that these translational/spherical PMs do not encounter constraint singular configurations and self-motion of sub-chain of a leg during reconfiguration. The approach can also be used for synthesizing other classes of multi-mode PMs with lockable joints, multi-mode PMs with variable kinematic joints, partially decoupled PMs, and reconfigurable PMs with a reconfigurable platform.

Theory of laser-driven double-ionization of atoms at Ti : sapphire laser wavelengths

Progress in the theoretical understanding of non-sequential double-ionization of atoms is reviewed from its beginnings with Kuchiev's work in the late 1980s and Corkum's work in the early 1990s to the present day. The crucial role of laboratory experiment as a persistent stimulus to theoretical endeavour is underlined but the predictive roles of simple, yet fundamental, theory and also of a full quantum mechanical description are not forgotten. A theoretical forward look is provided.

Double ionization in R-matrix theory using a two-electron outer region

We have developed a two-electron outer region for use within R-matrix theory to describe double ionisation processes. The capability of this method is demonstrated for single-photon double ionisation of He in the photon energy region between 80 eV to 180 eV. The cross sections are in agreement with established data. The extended RMT method also provides information on higher-order processes, as demonstrated by the identification of signatures for sequential double ionisation processes involving an intermediate He⁺ state with n=2.

The idea, the machine, and the art: word and image in the 21st century

Taking in recent advances in neuroscience and digital technology, Gander and Garland assess the state of the inter-arts in America and the Western world, exploring and questioning the primacy of affect in an increasingly hypertextual everyday environment. In this analysis they signal a move beyond W. J. T. Mitchell’s coinage of the ‘imagetext’ to an approach that centres the reader-viewer in a recognition, after John Dewey, of ‘art as experience’. New thinking in cognitive and computer sciences about the relationship between the body and the mind challenges any established definitions of ‘embodiment’, ‘materiality’, ‘virtuality’ and even ‘intelligence, they argue, whilst ‘Extended Mind Theory���, they note, marries our cognitive processes with the material forms with which we engage, confirming and complicating Marshall McLuhan’s insight, decades ago, that ‘all media are “extensions of man”’. In this chapter, Gander and Garland open paths and suggest directions into understandings and critical interpretations of new and emerging imagetext worlds and experiences.

Container-based Cloud Virtual Machine Benchmarking

With the availability of a wide range of cloud Virtual Machines (VMs) it is difficult to determine which VMs can maximise the performance of an application. Benchmarking is commonly used to this end for capturing the performance of VMs. Most cloud benchmarking techniques are typically heavyweight - time consuming processes which have to benchmark the entire VM in order to obtain accurate benchmark data. Such benchmarks cannot be used in real-time on the cloud and incur extra costs even before an application is deployed.

In this paper, we present lightweight cloud benchmarking techniques that execute quickly and can be used in near real-time on the cloud. The exploration of lightweight benchmarking techniques are facilitated by the development of DocLite - Docker Container-based Lightweight Benchmarking. DocLite is built on the Docker container technology which allows a user-defined portion (such as memory size and the number of CPU cores) of the VM to be benchmarked. DocLite operates in two modes, in the first mode, containers are used to benchmark a small portion of the VM to generate performance ranks. In the second mode, historic benchmark data is used along with the first mode as a hybrid to generate VM ranks. The generated ranks are evaluated against three scientific high-performance computing applications. The proposed techniques are up to 91 times faster than a heavyweight technique which benchmarks the entire VM. It is observed that the first mode can generate ranks with over 90% and 86% accuracy for sequential and parallel execution of an application. The hybrid mode improves the correlation slightly but the first mode is sufficient for benchmarking cloud VMs.

k-fold Subsampling based Sequential Backward Feature Elimination

We present a new wrapper feature selection algorithm for human detection. This algorithm is a hybrid featureselection approach combining the benefits of filter and wrapper methods. It allows the selection of an optimalfeature vector that well represents the shapes of the subjects in the images. In detail, the proposed featureselection algorithm adopts the k-fold subsampling and sequential backward elimination approach, while thestandard linear support vector machine (SVM) is used as the classifier for human detection. We apply theproposed algorithm to the publicly accessible INRIA and ETH pedestrian full image datasets with the PASCALVOC evaluation criteria. Compared to other state of the arts algorithms, our feature selection based approachcan improve the detection speed of the SVM classifier by over 50% with up to 2% better detection accuracy.Our algorithm also outperforms the equivalent systems introduced in the deformable part model approach witharound 9% improvement in the detection accuracy