Mathematical modelling of linear motion error for Hexarot parallel manipulators

Hexarot is a robotic manipulator that belongs to the family of axis symmetric parallel mechanisms. The robot is able to move the robot platform or tool center point in six degrees of freedom (DOF). This paper presents the kinematics model of the robot including the inverse and forward kinematics, and its time derivatives. Then using the kinematics formulations, investigation of the nonlinear motion of the Hexarot robot for a desired linear motion path is performed. For this purpose, the concept of curvature of the robot path is used for measuring the nonlinearity of the actual motion of the robot. The nonlinear motion error of the robot is analyzed for the scenario where the platform moves on a linear path between two arbitrary points of the robot workspace. The effects of different parameters on the nonlinear motion error of the mechanism are demonstrated and strategies for motions with low error values are proposed.

Visual feedback control of a robot in an unknown environment (learning control using neural networks)

In this paper, a visual feedback control approach based on neural networks is presented for a robot with a camera installed on its end-effector to trace an object in an unknown environment. First, the one-to-one mapping relations between the image feature domain of the object to the joint angle domain of the robot are derived. Second, a method is proposed to generate a desired trajectory of the robot by measuring the image feature parameters of the object. Third, a multilayer neural network is used for off-line learning of the mapping relations so as to produce on-line the reference inputs for the robot. Fourth, a learning controller based on a multilayer neural network is designed for realizing the visual feedback control of the robot. Last, the effectiveness of the present approach is verified by tracing a curved line using a 6-degrees-of-freedom robot with a CCD camera installed on its end-effector. The present approach does not necessitate the tedious calibration of the CCD camera and the complicated coordinate transformations.

Critical evaluation of cashmere nutrition experiments and suggestions for the design and conduct of successful experiments

Cashmere fibre production is an order of magnitude less than fibre production of Merino sheep or Angora goats and is more difficult to measure. Based on a comparison between cashmere experiments reporting responses to nutrition and those reporting no response, 13 design and management characteristics were identified that are related to the ability of experiments to discriminate among treatments. Methods must be adopted to reduce the variance in cashmere production within treatments, by using sufficient. animals per treatment, having enough replication to provide plenty of degrees of freedom to reduce error terms in analysis, and using pre-experimental cashmere production attributes as co-variants in analysis. It is preferable to use more productive and older goats, and goats that are used to handling, and to the conditions and feed to be used. Nutrition treatments need to produce different live weight growth curves and an appropriate control is needed such as live weight maintenance. As the raw cashmere fleece is composed primarily of hair and other contaminants, careful attention is required to measure, sample and test cashmere. Cashmere growth experiments should start by midsummer and last for at least four and preferably six months. These requirements make it more difficult for many university students to plan, undertake and complete long-term cashmere nutrition experiments without considerable management support.

Finite element modeling of a generic stemless hip implant design in comparison with conventional hip implants

In this study, the finite element modeling and comparison of the stress and strain analyses were carried out for three different structures that are intact bone, stemless implant and stemmed one. Currently proposed stemless design studied here is the generic concept of stemless implant. This generic stemless implant reconstruction was numerically compared to the conventional stemmed implant and also to the intact bone as control solution. Two loading conditions were applied to the most proximal part of the models, while the most distal part was fixed for all degrees of freedom. The models were divided into two regions and studied along two paths of medial and lateral aspect. The results of this study showed that the stemless implant had less deviation from the control solution of the bone in all regions and in both loading conditions, comparing to the large deviation of the stemmed implant from the intact bone. However, it was shown that the fixation of this type of implant and its effect on sub-trochanter region must be carefully considered for designing the final product of any specific design of stemless implant.

A family of simple and robust finite elements for linear and geometrically nonlinear analysis of laminated composite plates

A family of simple, displacement-based and shear-flexible triangular and quadrilateral flat plate/shell elements for linear and geometrically nonlinear analysis of thin to moderately thick laminate composite plates are introduced and summarized in this paper.

The developed elements are based on the first-order shear deformation theory (FSDT) and von-Karman’s large deflection theory, and total Lagrangian approach is employed to formulate the element for geometrically nonlinear analysis. The deflection and rotation functions of the element boundary are obtained from Timoshenko’s laminated composite beam functions, thus convergence can be ensured theoretically for very thin laminates and shear-locking problem is avoided naturally.

The flat triangular plate/shell element is of 3-node, 18-degree-of-freedom, and the plane displacement interpolation functions of the Allman’s triangular membrane element with drilling degrees of freedom are taken as the in-plane displacements of the element. The flat quadrilateral plate/shell element is of 4-node, 24-degree-of-freedom, and the linear displacement interpolation functions of a quadrilateral plane element with drilling degrees of freedom are taken as the in-plane displacements.

The developed elements are simple in formulation, free from shear-locking, and include conventional engineering degrees of freedom. Numerical examples demonstrate that the elements are convergent, not sensitive to mesh distortion, accurate and efficient for linear and geometric nonlinear analysis of thin to moderately thick laminates.

A review of cashmere nutrition experiments with suggestions for improving their design and conduct

The scientific literature contains divergent views about the effects of nutrition on cashmere. The consequences of ignoring nutrition will be an increase in the number of goats suffering lower production, increased welfare risks and premature mortality. This review evaluated published reports to identify current knowledge and best practice in regard to the design and management of cashmere nutrition experiments. The ability of experiments to distinguish between treatments was evaluated based on their statistical evidence. Many experiments had serious deficiencies in their design, conduct and reporting. Six of 16 papers did not provide statistical information that would enable a reader to verify differences between treatments. For most experiments to detect nutrition affects at P < 0.05, they required a difference between treatments of 0.2–0.8 μm in cashmere mean fibre diameter and 15–42 g in clean cashmere production. Government Research Institutes research was characterised by more experienced authors conducting longer (P < 0.05) and larger (P < 0.05) experiments than those conducted by Universities. Much of the “debate” regarding the affects of nutrition on cashmere production arises from the misinterpretation of both experiments that did not detect statistically significant effects and of experiments that did detect statistically significant effects. Based on a comparison between experiments reporting responses to nutrition with those reporting no response, 13 design and management features were identified that are related to the ability of experiments to detect significant treatment affects. Methods must be adopted to reduce the variance in cashmere production within treatments, by using sufficient animals per treatment, and having replication to provide sufficient degrees of freedom to reduce error terms in analysis. The power of experimental designs should be evaluated before experiments commence. Cashmere production records from a previous full production year could be used as co-variants during statistical analyses but this requires that potential experimental goats are managed in one flock, without variations resulting from different grazing, reproduction or other management for a year prior to an experiment. It is preferable to use more productive and older goats, and goats that are used to handling, and to the conditions and feed to be used. Allocation of animals to treatments must take into account live weight. Nutrition treatments need to be sufficiently different to produce different growth curves. An appropriate control is needed such as live weight maintenance. Evidence of both nutrition intake and growth curves must be published with cashmere production data so the claims made can be verified by the actual responses. As cashmere production is an order of magnitude less than fibre production of Merino sheep or Angora goats and is more difficult to measure, the requirements for measurement, sampling and testing cashmere fleeces are summarised. The use of mid side cashmere patches to determine cashmere growth and quality is seriously biased and must be avoided, preferably by shearing goats prior to and at the end of experiments. In order to obtain higher fleece growth responses and improve the ability of experiments to detect treatment effects it is preferable to start cashmere growth experiments by midsummer and conduct experiments for at least 4 months. These requirements make it difficult for many university students to plan, undertake and complete long-term cashmere nutrition experiments without considerable management support. It is not possible for experiments to disprove the Null hypothesis regarding the effects of nutrition on cashmere production as they can only report a failure to detect treatment effects. Researchers and journals need to be more rigorous in providing statistical information including: degrees of freedom for error terms, treatment variances, standard error of differences or similar to enable readers to compare treatment effects. Publications that do not provide sufficient statistical information should be disregarded from future discussions. Claims that an experiment shows no responses to nutrition should be subject to rigorous examination using the issues identified in this review.

The use of prolog in the realisation of digital transfer functions

Systems characterised by general graphs are very flexible because of a given application they offer a great number of degrees of freedom and consequently a great possibility of choice to the designer. This can become a drawback in practice when myriads of cases have to be examined analytically and most of them rejected for a variety of heterogeneous reasons. For such design problems, it appears that logic programming languages are ideally suited because they can implement the heterogeneous rules which describe the desired system in a natural way. An application of the Prolog language to the design of active RC biquad circuits investigated by Mouly in his doctoral thesis illustrates the advantages of such a rule-based approach.

Investigating directionality for a media consumption construct : establishing the utility of confirmatory vanishing tetrad analysis

Purpose – When assessing the psychometric properties of measures and estimate relations among latent variables, many studies in the social sciences (including management and marketing) often fail to comprehensively appraise the directionality of indicants. Such failures can lead to model misspecification and inaccurate parameter estimates. The purpose of this paper is to apply a post hoc test called confirmatory vanishing tetrad analysis (CTA hereafter) to a single construct called mass media consumption information exposure, which antecedent studies conceptually posited to be a formative (causative) representation.
Design/methodology/approach – This paper analyses a consumer sample of 585 US respondents and applies the CTA test to a single construct by its inclusion in various matrices within a statistical analysis system-macro that takes into account nonnormal data characteristics. The matrices are derived from Mplus 5 through the estimation of a single-factor congeneric model. The CTA test calculates a test statistic similar to an asymptotic x2 distribution with degrees of freedom equal to the number of nonredundant tetrads tested.
Findings – The preliminary data analyses reveal that the data characteristics are nonnormal which is not uncommon in social research. The CTA results reveal that the reflective (emergent) item orientation cannot be fully ruled out as being the correct model representation. This is in contrast to prior theoretical conceptual work which would strongly support this construct being a formative representation.
Originality/value – Insofar as the authors are aware, there is no paper with a particular focus on how the CTA might not provide sound results with a demonstrated example. The paper makes a valuable contribution by discussing modelling philosophy and a procedure for directionality testing. The authors advocate the implementation of pre and post hoc tests as a key component of standard research practice.

Degrees of difficulty : an ecological account of learning in Australian higher education

In this article, the difficulties some Australian university students experience in academic learning environments are explored. Particular attention is given to the experiences of students whose difficulties are often portrayed as intrinsic to them, and who are diagnosed as having learning disabilities or 'disorders'. In so doing, dominant neuro-psychological perspectives on students' learning 'problems' are challenged, broadening the discussion to include sociocultural explanations of students' difficulties. Research that foregrounds these students' own accounts of their problems is reported, identifying a number of tests of time, association and dissimulation that they experience in coming to terms with the particular institutional requirements of university life. At the very least, these explanations draw attention to the need for university teaching scholars to also be learners, and to consider their own practices in the construction of learning difficulties for their students.

Physically based simulation of heterogeneous deformable models using XFEM

This paper addresses the problem of heterogeneous deformable model accuracy using the finite element methods (FEM). Classic FEM uses predefined shape functions for interpolation and does not account easily for regions of discontinuities. Extended finite element methods (XFEM) use enrichment functions to compensate for the change in an element degrees of freedom (DoFs) in deformable objects. The XFEM is an accurate and fast method as no remeshing is required. In this study we investigate the performance of XFEM and demonstrate how it may be applied to discontinuities of materials that exist in heterogeneous (piece-wise homogeneous) models. The results show realistic stress prediction compared to modeling the same objects with classic FEM.

The evolution of freedom of association in Australia's federal industrial relations law: from trade union security to workplace rights

The early provisions protecting freedom of association in Australian federal industrial relations law supported trade union security. The interests of individuals were seen as adequately protected by collective groups. This principle dominated the industrial relations laws from 1904 to the mid-1970s. However, from the late 1970s, the laws were incrementally altered to promote freedom of choice and the rights of individuals not to be part of trade unions. The reframing of the laws also reflected changes in the wider Australian community, manifested particularly in the decline of union density rates. These changes were also part of an international trend, favouring the ideology of neoliberalism which contributed to an unsympathetic environment for trade unions. The current Fair Work Act 2009 (Cth) has signalled a return to collectivism, although freedom of choice is at the heart of the laws rather than the promotion of collective groups. In the absence of legislative support promoting the viability of collective groups, this freedom to choose is threatened, leaving many workers with little choice but to disassociate.

A hybrid contact state analysis methodology for robotic-based adjustment of cylindrical pair

The peg-in-hole insertion and adjustment operation is one of the most common tasks in the robotic and automatic assembly processes. Fine motion strategies associated with adjustment operations on a peg-in-hole are fundamental manipulations that can be utilised in dynamic assembly and reconfigurable workholding or fixturing systems. This paper presents a comprehensive study of robotic-based height adjustment of a cylindrical pair based on maintaining minimum contact forces between the links. The outer link is held by the end-effector of a six-DOF (Degrees of freedom) serial articulated robot manipulator. The environment represented by the inner link can be either static or dynamic. A force-based approach and a d value approach are established to determine the type of contact that exists between the links of a cylindrical pair, and to extract control parameters. Based on the comparison and analysis of these two approaches, a hybrid methodology is established by combining a d value approach with a force-based approach for contact state determination. Formulations capable of extracting necessary control parameters, which ensure minimum contact forces between the links, are established from both planar and spatial viewpoints under both static and dynamic environmental conditions. Experimental results demonstrate the effectiveness of the proposed methodology.