The influences of joints' error, motion history, speed and robot posture on repeatability are analyzed and the mathematical expressions of the quantity, direction and distribution of the stochastic positional erro...The influences of joints' error, motion history, speed and robot posture on repeatability are analyzed and the mathematical expressions of the quantity, direction and distribution of the stochastic positional error are derived . Using this model the magnitude and direction of the stochastic positional error after any motion can be preestimated and compensated .展开更多
The ataxin-2 （ATXN2） gene is located on human chromo-some 12q24.1. In normal individuals, the coding region in exon 1 of this gene has fewer than 31 CAG repeats （Yu et al., 2005： Laffita-Mesa et al., 2012）. Howev...The ataxin-2 （ATXN2） gene is located on human chromo-some 12q24.1. In normal individuals, the coding region in exon 1 of this gene has fewer than 31 CAG repeats （Yu et al., 2005： Laffita-Mesa et al., 2012）. However, an abnormal expansion of CAG trinucleotide repeats results in the aggre-gation of polyglutamine （polyQ）, which causes spinocer-ebellar ataxia type 2 （SCA2） （Pulst et al., 1996）. The expanded alleles have more than 32 repeats in the affected individuals, and generally there is an inverse correlation between CAG repeat length and age of onset （Pulst et al., 1996）. SCA2 is an autosomal dominant inheritance neurodegenerative disease, whose major clinical feature is progressive cerebellar ataxia. Atrophies of the brainstem and frontal lobe have been frequently detected by magnetic resonance imaging （MRI） （Yamamoto-Watanabe et al., 2010）. This disease has the strong effect on sensory and motor control.展开更多
文摘The influences of joints' error, motion history, speed and robot posture on repeatability are analyzed and the mathematical expressions of the quantity, direction and distribution of the stochastic positional error are derived . Using this model the magnitude and direction of the stochastic positional error after any motion can be preestimated and compensated .
基金supported by the National Natural Science Foundation of China(No.30400264)the Natural Science Foundation of Yunnan Province,China(No.2008ZC068M)the Chinese National High Technology Research and Development Program(No.2012AA021802)
文摘The ataxin-2 （ATXN2） gene is located on human chromo-some 12q24.1. In normal individuals, the coding region in exon 1 of this gene has fewer than 31 CAG repeats （Yu et al., 2005： Laffita-Mesa et al., 2012）. However, an abnormal expansion of CAG trinucleotide repeats results in the aggre-gation of polyglutamine （polyQ）, which causes spinocer-ebellar ataxia type 2 （SCA2） （Pulst et al., 1996）. The expanded alleles have more than 32 repeats in the affected individuals, and generally there is an inverse correlation between CAG repeat length and age of onset （Pulst et al., 1996）. SCA2 is an autosomal dominant inheritance neurodegenerative disease, whose major clinical feature is progressive cerebellar ataxia. Atrophies of the brainstem and frontal lobe have been frequently detected by magnetic resonance imaging （MRI） （Yamamoto-Watanabe et al., 2010）. This disease has the strong effect on sensory and motor control.
