Parallel manipulators with a rotation-symmetric arm system

Parallel manipulators with a rotation-symmetric arm system possess all the typical advantages of parallel robots, such as high acceleration and high-accuracy positioning. Contrary to the majority of proposed parallel manipulators, the rotation-symmetric arm system leads to a large workspace in relation to the footprint of the manipulator. This paper focuses on a subclass of these manipulators with additional favorable qualities, including low inertia and high eigenfrequencies. These qualities are achieved using only 5-DOF lower arm links and by mounting all actuators on the nonmoving base column of the manipulator. The common feature of all previously proposed manipulators in this subclass is identified and several novel 3-DOF and 4-DOF members are introduced.

Reliability maps and probabilistic guarantee of task motion for robotic manipulators

There are many applications for which reliable and safe robots are desired. For example, assistant robots for disabled or elderly people and surgical robots are required to be safe and reliable to prevent human injury and task failure. However, different levels of safety and reliability are required for different tasks so that understanding the reliability of robots is paramount. Currently, it is possible to guarantee the completion of a task when the robot is fault tolerant and the task remains in the fault-tolerant workspace (FTW). The traditional definition of FTW does not consider different reliabilities for the robotic manipulator's different joints. The aim of this paper is to extend the concept of a FTW to address the reliability of different joints. Such an extension can offer a wider FTW while maintaining the required level of reliability. This is achieved by associating a probability with every part of the workspace to extend the FTW. As a result, reliable fault-tolerant workspaces (RFTWs) are introduced by using the novel concept of conditional reliability maps. Such a RFTW can be used to improve the performance of assistant robots while providing the confidence that the robot remains reliable for completion of its assigned tasks. © 2012 Copyright Taylor & Francis and The Robotics Society of Japan.

Disrupted fine-scale population processes in fragmented landscapes despite large-scale genetic connectivity for a widespread and common cooperative breeder : the superb fairy-wren (Malurus cyaneus)

Understanding how habitat fragmentation affects population processes (e.g. dispersal) at different spatial scales is of critical importance to conservation. We assessed the effects of habitat fragmentation on dispersal and regional and fine-scale population structure in a currently widespread and common cooperatively breeding bird species found across south-eastern Australia, the superb fairy-wren Malurus cyaneus. Despite its relative abundance and classification as an urban tolerant species, the superb fairy-wren has declined disproportionately from low tree-cover agricultural landscapes across the Box-Ironbark region of north-central Victoria, Australia. Loss of genetic connectivity and disruption to its complex social system may be associated with the decline of this species from apparently suitable habitat in landscapes with low levels of tree cover. To assess whether reduced structural connectivity has had negative consequences for genetic connectivity in the superb fairy-wren, we used a landscape-scale approach to compare patterns of genetic diversity and gene flow at large (landscape/regional) and fine (site-level) spatial scales. In addition, using genetic distances, for each sex, we tested landscape models of decreased dispersal through treeless areas (isolation-by-resistance) while controlling for the effect of isolation-by-distance. Landscape models indicated that larger-scale gene flow across the Box-Ironbark region was constrained by distance rather than by lack of structural connectivity. Nonetheless, a pattern of isolation-by-resistance for males (the less-dispersive sex) and lower genetic diversity and higher genetic similarity within sites in low-cover fragmented landscapes indicated disruption to fine-scale gene flow mechanisms and/or mating systems. Although loss of structural connectivity did not appear to impede gene flow at larger spatial scales, fragmentation appeared to affect fine-scale population processes (e.g. local gene flow mechanisms and/or mating systems) adversely and may contribute to the decline of superb fairy-wrens in fragmented landscapes in the Box-Ironbark region. © 2012 British Ecological Society.

Occurrences of cooperative breeding in the masked lapwing vanellus miles

The Masked Lapwing Vanellus miles is a common ground-nesting shorebird inhabiting grasslands, paddocks, rivers, lakes, swamps and, tidal mud flats. It is particularly common in the urban areas of Phillip Island, Victoria (Dann 1981, Marchant and Higgins 1993). The Masked Lapwing usually lays between one and four eggs (the mean number of eggs per clutch of this study was 3.6 ± 1 SD) that hatch after 31 days. Both sexes incubate eggs, brood young and defend the eggs and young. Masked Lapwings produce precocial and nidifugous chicks that remain with the adults on defended territories until fledging (Marchant and Higgins 1993, Thomas 1969). The chicks are able to feed themselves within hours of hatching and rely on their parents only for protection (alarm signals) and warmth (brooding) (Marchant and Higgins 1993). Here we report three instances of likely co-operative breeding of Vanellus miles on Phillip Island between 18 July and 13 September 2012.

Kinematics analysis of 6-DOF parallel micro-manipulators with offset U-Joints : a case study

This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies.

Kinematics analysis of 6-DOF parallel micro-manipulators with offset u-joints : a case study

This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies.

Forward kinematics analysis of offset 6-RRCRR parallel manipulators

A methodology for the numerical solution of the forward kinematics problem of 6-RRCRR parallel manipulators with orthogonal non-intersecting RR-joint configuration is presented in this article. The inverse and forward kinematics solutions of such robots compared with that of parallel robots with orthogonal intersecting RR-joint or universal joint configurations are much more complicated due to the existence of dependent joint variables. The constraints of RR-joints are analysed and the numerical algorithm for the forward kinematics solution is assessed. Numerical results for the solution of the forward kinematics of 6-RRCRR parallel robot under study are provided to confirm the accuracy and efficiency of the procedure.

Inverse kinematics analysis of 6-RRCRR parallel manipulators

This paper presents a solution to the inverse kinematics of 6-RRCRR parallel manipulators with orthogonal non-intersecting RR-joint configuration. The inverse kinematics solution of such parallel robots compared with that of parallel robots with orthogonal intersecting RR-joint or universal joint configuration is more complex due to the existence of RR-joint variables. A novel methodology is established to define 6 independent variables of the actuators and 12 dependent RR-joint variables using the pose of the mobile platform with respect to the base frame. The constraint of RR-joints are analysed and the numerical algorithm to obtain joint variables is assessed. The forward kinematics of a 6- RRCRR parallel manipulator is modelled and computational analysis is performed in order to numerically verify the accuracy and effectiveness of the proposed methodology for the inverse kinematics analysis. Numerical results of a trajectory tracking simulation are provided. The results verify high accuracy for the proposed inverse kinematics solution of this special family of parallel micromanipulators.

Cooperative and competitive structures of trust relations in teams

This article argues that it is not just trust-generating but also trust-inhibiting mechanisms that operate in teams, and that these cooperative and competitive structures of interpersonal relations of trust within teams may affect team performance. Specifically, we propose that the presence of trust-generating structures (e.g., reciprocity, trusting in the referrals of others we trust, trusting in high performers and more experienced people) and the absence of trust-inhibiting structures (e.g., not trusting in the referrals of others we trust) are more likely to be associated with successful teams. Using exponential random graph models, a particular class of statistical model for social networks, we examine three professional sporting teams from the Australian Football League for the presence and absence of these mechanisms of interpersonal relations of trust. Quantitative network results indicate a differential presence of these postulated structures of trust relations in line with our hypotheses. Qualitative comparisons of these quantitative findings with team performance measures suggest a link between trust-generating and trust-inhibiting mechanisms of trust and team performance. Further theorization on other trust-inhibiting structures of trust relations and related empirical work is likely to shed further light on these connections.