Given a start pose and a goal pose, a large number of singularity-free poses are created randomly in the 6 dimensional task space, a short line segment is used to create a feasible path between two singularity-free po...Given a start pose and a goal pose, a large number of singularity-free poses are created randomly in the 6 dimensional task space, a short line segment is used to create a feasible path between two singularity-free poses. A well connected roadmap can be obtained and stored in the 6 dimension task space for a specific 6 DOF parallel manipulator in this way and a singularity-free path is queried to connect the start pose and the goal pose. So the singularity-free path planning between any two given poses for this parallel manipulator can be performed very efficiently. This singularity-free path planning method can be used with any type of parallel manipulator only if the matrix used can be given to define singularities.展开更多
Redundant serial robot kinematic chains with seven axes are an extension of classical 6-axis ones. The structural synthesis of these structures is useful to provide a working basis, including for the promotion of new ...Redundant serial robot kinematic chains with seven axes are an extension of classical 6-axis ones. The structural synthesis of these structures is useful to provide a working basis, including for the promotion of new structures with 7 axes, besides some already existing and applied structures. This paper summarizes kinematic chain structures using a combinatorial method by listing all possible variants of the structures with 7 axes, obtained by adding a rotational or translational coupling, in a parallel or perpendicular position, against the guiding structure with 6 axes consisting of two distinct modules： positioning module （3 axes） and orientation module （3 axes）. Representation of proper workspaces can help the designer in choosing the structure with maximum functionality for a given application.展开更多
Signal traits are often linked with the physiological state and behavior of their bearer. Direct examination of the causal links among these variables has provided substantial insight into the information content of s...Signal traits are often linked with the physiological state and behavior of their bearer. Direct examination of the causal links among these variables has provided substantial insight into the information content of signals, and into the costs and benefits of signal expression. Yet recent empirical work suggests that the social context in which signals are developed and displayed can play a major role not only in how signals are received, but also in coordinating and mediating the signaling phenotype itself. Here we review both well-established and emerging evidence for direct feedbacks among an individual＇s physiological state, be- havior, and signal elaboration. We then describe an integrative view of signaling that takes into account the bidirectional rela- tionships among components of phenotype and the social context in which signals are developed and displayed. Integrating dy- namic feedback between context and phenotype within models of the evolution and maintenance of signals may yield insights into how signals evolve, how signaling phenotypes are coordinated and maintained on ecological and evolutionary time scales, and how static signals continue to convey relevant phenotypic information about their bearer through time.展开更多
文摘Given a start pose and a goal pose, a large number of singularity-free poses are created randomly in the 6 dimensional task space, a short line segment is used to create a feasible path between two singularity-free poses. A well connected roadmap can be obtained and stored in the 6 dimension task space for a specific 6 DOF parallel manipulator in this way and a singularity-free path is queried to connect the start pose and the goal pose. So the singularity-free path planning between any two given poses for this parallel manipulator can be performed very efficiently. This singularity-free path planning method can be used with any type of parallel manipulator only if the matrix used can be given to define singularities.
文摘Redundant serial robot kinematic chains with seven axes are an extension of classical 6-axis ones. The structural synthesis of these structures is useful to provide a working basis, including for the promotion of new structures with 7 axes, besides some already existing and applied structures. This paper summarizes kinematic chain structures using a combinatorial method by listing all possible variants of the structures with 7 axes, obtained by adding a rotational or translational coupling, in a parallel or perpendicular position, against the guiding structure with 6 axes consisting of two distinct modules： positioning module （3 axes） and orientation module （3 axes）. Representation of proper workspaces can help the designer in choosing the structure with maximum functionality for a given application.
基金Acknowledgements During the span of this project our work was funded by the National Science Foundation （DEBCAREER 1149942 to RJS）, and the National Evolutionary Synthesis Center （NSF #EF- 4120905606） through a graduate fellowship for DMZ.
文摘Signal traits are often linked with the physiological state and behavior of their bearer. Direct examination of the causal links among these variables has provided substantial insight into the information content of signals, and into the costs and benefits of signal expression. Yet recent empirical work suggests that the social context in which signals are developed and displayed can play a major role not only in how signals are received, but also in coordinating and mediating the signaling phenotype itself. Here we review both well-established and emerging evidence for direct feedbacks among an individual＇s physiological state, be- havior, and signal elaboration. We then describe an integrative view of signaling that takes into account the bidirectional rela- tionships among components of phenotype and the social context in which signals are developed and displayed. Integrating dy- namic feedback between context and phenotype within models of the evolution and maintenance of signals may yield insights into how signals evolve, how signaling phenotypes are coordinated and maintained on ecological and evolutionary time scales, and how static signals continue to convey relevant phenotypic information about their bearer through time.
