Kinematic analysis and workspace determination of hexarot-a novel 6-DOF parallel manipulator with a rotation-symmetric arm system

Parallel mechanisms possess several advantages such as the possibilities for high acceleration and high accuracy positioning of the end effector. However, most of the proposed parallel manipulators suffer from a limited workspace. In this paper, a novel 6-DOF parallel manipulator with coaxial actuated arms is introduced. Since parallel mechanisms have more workspace limitations compared to that of serial mechanisms, determination of the workspace in parallel manipulators is of the utmost importance. For finding position, angular velocity, and acceleration, in this paper, inverse and forward kinematics of the mechanism are studied and after presenting the workspace limitations, workspace analysis of the hexarot manipulator is performed by using MATLAB software. Next, using the obtained cloud of points from simulation, the overall borders of the workspace are illustrated. Finally, it is shown that this manipulator has the important benefits of combining a large positional workspace in relation to its footprint with a sizable range of platform rotations.

Efficacy of nefazodone in the treatment of neuroleptic induced extrapyramidal side effects: a double-blind randomised parallel group placebo-controlled trial.

Many atypical antipsychotics show antagonism at both serotonergic and dopaminergic neurones and show fewer extrapyramidal side effects (EPS). Nefazodone blocks postsynaptic 5HT2A receptors and weakly inhibits serotonin reuptake. This study aimed to elucidate the role of nefazodone in the treatment of antipsychotic-induced EPS. The trial was a double-blind, randomised, placebo-controlled trial of patients requiring antipsychotic treatment with haloperidol 10mg daily; from which a subgroup of patients who developed EPS were selected for the study. Patients were randomised to add-on therapy with either placebo (n=24) or nefazodone (n=25) 100mg bd. EPS were measured on days 0, 3 and 7 using the Simpson Angus, Barnes akathisia, abnormal involuntary movement and Chouinard scales. Nefazodone significantly reduced EPS as measured by both the Simpson Angus scale and CGI (p=0.007 and 0.0247, respectively). Akathisia and tardive dyskinesia did not differ between the two groups (p=0.601; p=0.507, respectively). These results suggest the role of 5HT2 antagonism in the mechanism of action of atypical antipsychotics with respect to lowering rates of drug-induced EPS. In addition, a therapeutic role for nefazodone is suggested in the treatment of antipsychotic-induced EPS.

Workspace analysis of two similar 3-DOF axis-symmetric parallel manipulators

Although parallel manipulators possess the benefits of high acceleration and accuracy, they typically suffer from a limited workspace to footprint ratio. This paper presents a workspace analysis of two recently proposed axis-symmetric parallel manipulators designed to overcome this problem. The studied manipulators are parametrized, their inverse kinematic models are derived and an in-depth singularity analysis is performed. Next, the architectural parameters are generated for one of the manipulators, using a meta-heuristic algorithm to produce the maximum singularity-free workspace. Thereafter, a second parameter calculation is performed to examine the relationship between maximizing the global conditioning index (GCI) and the resultant achievable workspace for the manipulators.

On the feasibility of utilising gearing to extend the rotational workspace of a class of parallel robots

Parallel manipulators provide several benefits compared to serial manipulators of similar size. These advantages typically include higher speed and acceleration, improved position accuracy and increased stiffness. However, parallel manipulators also suffer from several disadvantages. These drawbacks commonly include a small ratio of the positional workspace relative to the manipulator footprint and a limited rotational capability of the manipulated platform. A few parallel manipulators featuring a large ratio of the positional workspace relative to the footprint have been proposed. This paper investigates the feasibility of employing gearing to extend the range of the end-effector rotation of such mechanisms. The objective is to achieve parallel manipulators where both the positional and rotational workspace are comparable to that of serial manipulators.

A novel parallel algorithm for frequent itemsets mining in massive small files datasets

In big data analysis, frequent itemsets mining plays a key role in mining associations, correlations and causality. Since some traditional frequent itemsets mining algorithms are unable to handle massive small files datasets effectively, such as high memory cost, high I/O overhead, and low computing performance, we propose a novel parallel frequent itemsets mining algorithm based on the FP-Growth algorithm and discuss its applications in this paper. First, we introduce a small files processing strategy for massive small files datasets to compensate defects of low read-write speed and low processing efficiency in Hadoop. Moreover, we use MapReduce to redesign the FP-Growth algorithm for implementing parallel computing, thereby improving the overall performance of frequent itemsets mining. Finally, we apply the proposed algorithm to the association analysis of the data from the national college entrance examination and admission of China. The experimental results show that the proposed algorithm is feasible and valid for a good speedup and a higher mining efficiency, and can meet the actual requirements of frequent itemsets mining for massive small files datasets. © 2014 ISSN 2185-2766.

Selective visuo-haptic rendering of heterogeneous objects in 'parallel universes'

 Haptic rendering of complex models is usually prohibitive due to its much higher update rate requirement compared to visual rendering. Previous works have tried to solve this issue by introducing local simulation or multi-rate simulation for the two pipelines. Although these works have improved the capacity of haptic rendering pipeline, they did not take into consideration the situation of heterogeneous objects in one scenario, where rigid objects and deformable objects coexist in one scenario and close to each other. In this paper, we propose a novel idea to support interactive visuo-haptic rendering of complex heterogeneous models. The idea incorporates different collision detection and response algorithms and have them seamlessly switched on and off on the fly, as the HIP travels in the scenario. The selection of rendered models is based on the hypothesis of “parallel universes”, where the transition of rendering one group of models to another is totally transparent to users. To facilitate this idea, we proposed a procedure to convert the traditional single universe scenario into a “multiverse” scenario, where the original models are grouped and split into each parallel universe, depending on the scenario rendering requirement rather than just locality. We also proposed to add simplified visual objects as background avatars in each parallel universe to visually maintain the original scenario while not overly increase the scenario complexity. We tested the proposed idea in a haptically-enabled needle thoracostomy training environment and the result demonstrates that our idea is able to substantially accelerate visuo-haptic rendering with complex heterogeneous scenario objects.

Analysis of the inverse kinematics problem for 3-DOF axis-symmetric parallel manipulators with parasitic motion

 Determining an analytical solution to the inverse kinematics problem for a parallel manipulator is typically a straightforward problem. However, lower mobility parallel manipulators with 2-5 degrees of freedom (DOFs) often suffer from an unwanted parasitic motion in one or more DOFs. For such manipulators, the inverse kinematics problem can be significantly more difficult. This paper contains an analysis of the inverse kinematics problem for a class of 3-DOF parallel manipulators with axis-symmetric arm systems. All manipulators in the studied class exhibit parasitic motion in one DOF. For manipulators in the studied class, the general solution to the inverse kinematics problem is reduced to solving a univariate equation, while analytical solutions are presented for several important special cases.

Dividing traffic sub-areas based on a parallel K-means algorithm

In order to alleviate the traffic congestion and reduce the complexity of traffic control and management, it is necessary to exploit traffic sub-areas division which should be effective in planing traffic. Some researchers applied the K-Means algorithm to divide traffic sub-areas on the taxi trajectories. However, the traditional K-Means algorithms faced difficulties in processing large-scale Global Position System(GPS) trajectories of taxicabs with the restrictions of memory, I/O, computing performance. This paper proposes a Parallel Traffic Sub-Areas Division(PTSD) method which consists of two stages, on the basis of the Parallel K-Means(PKM) algorithm. During the first stage, we develop a process to cluster traffic sub-areas based on the PKM algorithm. Then, the second stage, we identify boundary of traffic sub-areas on the base of cluster result. According to this method, we divide traffic sub-areas of Beijing on the real-word (GPS) trajectories of taxicabs. The experiment and discussion show that the method is effective in dividing traffic sub-areas.

A general method to eliminate laboratory induced recombinants during massive, parallel sequencing of cDNA library.

Massive, parallel sequencing is a potent tool for dissecting the regulation of biological processes by revealing the dynamics of the cellular RNA profile under different conditions. Similarly, massive, parallel sequencing can be used to reveal the complexity of viral quasispecies that are often found in the RNA virus infected host. However, the production of cDNA libraries for next-generation sequencing (NGS) necessitates the reverse transcription of RNA into cDNA and the amplification of the cDNA template using PCR, which may introduce artefact in the form of phantom nucleic acids species that can bias the composition and interpretation of original RNA profiles.

Brutalism, metabolism and its American parallel : encounters in Skopje and in the architecture of Georgi Konstantinovski

Abstract Massive, raw concrete structures – the likes of the Telecommunications Building (1972–81) by Janko Konstantinov; the campus of Ss. Cyril and Methodius University (1974) by Marko Musˇicˇ; the National Hydraulic Institute (1972) by Krsto Todorovski; and the Bank Complex (1970) by R. Lalovik and O. Papesˇ – have led to the production of an enduring monumental presence and helped inspire Skopje’s title as the “Brutalist capital of the world”. These works followed Kenzo Tange’s introduction of Japanese Metabolism to Skopje through his role in the 1965 United Nations sponsored reconstruction competition. The unique position of a Non-Aligned Yugoslavia staged and facilitated architectural and professional exchange during the Cold War. Each trajectory and manifestation illustrates the complex picture of international architectural exchange and local production. Skopje and its numerous Brutalist edifices is an elucidative story, because it represents a meeting point between Brutalism, Metabolism and its American parallel. This article discusses, in particular, the Skopje Archive Building (1966) and the “Goce Delcˇev” Student Dormitory (1969) – two buildings designed by the architect Georgi Konstantinovski, realised on his return from a Masters program at Yale University and employment within I. M. Pei’s New York office. Their architecture illustrates the simultaneous preoccupations of leading architects at the time in regaining a conceptual ground made explicit through a complete and apprehensible image. From this particular position, the article explores the question of ethics and aesthetics central to Banham’s outline of the “New Brutalism”.

Development of a novel soft parallel robot equipped with polymeric artificial muscles

This paper presents the design, analysis and fabrication of a novel low-cost soft parallel robot for biomedical applications, including bio-micromanipulation devices. The robot consists of two active flexible polymer actuator-based links, which are connected to two rigid links by means of flexible joints. A mathematical model is established between the input voltage to the polymer actuators and the robot's end effector position. The robot has two degrees-of-freedom, making it suitable for handling planar micromanipulation tasks. Moreover, a number of robots can be configured to operate in a cooperative manner for increasing micromanipulation dexterity. Finally, the experimental results demonstrate two main motion modes of the robot.

Distributed agent-based control scheme for single-phase parallel inverters in microgrids with photovoltaic systems

In this paper, an agent-based distributed control scheme is presented to control single-phase parallel inverters in solar photovoltaic (PV) systems connected to microgrids. A communication assisted multi-agent framework is developed within microgrids where agents perform their tasks in a distributed manner with an aim of stabilizing load voltage and current under normal and faulted conditions through the asymptotic tracking of the reference current signal. The distributed agent-based control scheme requires information from the neighboring agents through communication network to decide control actions. The proposed control scheme utilizes Ziegler-Nichols (Z-N) tuning approach to design proportional integral (PI) controllers for controlling inverters within the multi-agent system (MAS). A microgrid with parallel inverter-connected solar PV systems is considered for simulations under normal and faulted conditions where results show the excellency of the proposed agent-based scheme in comparison to the conventional scheme without MAS.

Cross-border travellers and parallel trade: implications for Asian economies

This paper explores the impact of parallel trade in an export market by cross-border travellers on welfare of the home country in a model with heterogeneous consumers' perceptions. We show that such parallel trade when it is organised trading always hurts the home-country welfare. However, when parallel trade is unorganised trading, it might benefit the home-country welfare provided that the size of the export market is relatively small. Along these lines, we suggest optimal policy responses in the home country to parallel trade by cross-border travellers. The results of the paper yield insightful policy implications for Asian economies.