This paper presents an optimal trajectory planning method of the dual arm manipulator using Dual Arm Manipulability Measure （DAMM）. When the manipulator carries an object from a certain position to the destination, ...This paper presents an optimal trajectory planning method of the dual arm manipulator using Dual Arm Manipulability Measure （DAMM）. When the manipulator carries an object from a certain position to the destination, various trajectory candidates could be conskied. TO select the optimal trajectacy from the several candidates, energy, time, and the length of the tmjecttay could be utilized. In order to quantify the carrying effidency of dual-arms, DAMM has been defined and applied for the decision of the optimal path. DAMM is defined as the interaction of the manipulability ellipsoids of the dualarras, while the manipulability measure irdicates the relationship between the joint velocity and the Cartesian velocity for each ann. The cast function for achieving the optimal path is defined as the Summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-ann robot with distributed controllers for synchronization control has been developed and used for the experiments.展开更多
比利时是一个联邦制国家,由荷语区(Flanders,弗兰德语区)、法语区(Wallonia,瓦隆语区)和德语区构成。自1989年宪法颁布实施以后,每一个语区承担自己的文化和教育事务。国际教育评价组织(International Association for the Evaluation o...比利时是一个联邦制国家,由荷语区(Flanders,弗兰德语区)、法语区(Wallonia,瓦隆语区)和德语区构成。自1989年宪法颁布实施以后,每一个语区承担自己的文化和教育事务。国际教育评价组织(International Association for the Evaluation of Educational Achievement)组织的六科成绩调查(Six Subject Survey)显示,弗兰德语区和瓦隆语区的教育质量在20世纪70年代处于旗鼓相当的水平。进入21世纪以后,弗兰德语区在各种国际学生评价中的表现均优于瓦隆语区。这种优势体现在各门学科(包括语言,数学和自然科学)和各个教育阶段(小学和中学)。与其他工业国家相比,弗兰德语区的学生在语言和数学两个学科处于领先水平,但是在自然科学学科上却处于落后水平。在本期的专家访谈中,我们将与Van Damme教授就弗兰德语区的中小学教育状况展开讨论。Van Damme教授是荷语鲁汶大学(KU Leuven)的荣修教授,他和他的团队长期致力于学生学业成绩和幸福感跟踪研究。展开更多
Neuropathy, or nerve injury, is a severe and common impediment of diabetes. Studies evaluate that 50% of people with diabetes will develop neuropathy. Diabetic nerve injury is impairment of a single solitary nerve (al...Neuropathy, or nerve injury, is a severe and common impediment of diabetes. Studies evaluate that 50% of people with diabetes will develop neuropathy. Diabetic nerve injury is impairment of a single solitary nerve (also named mononeuropathy). Com- monly 2 cranial nerves Viz., cranial nerve VII and cranial nerve VI are involved in facial nerve palsies. The former one is called Bell’s palsy and is acute Lower Motor Neuron facial nerve paralysis (>80%) causing an inability to control facial muscles on the affected side. The later one is sixth nerve palsy, (the abducens nerve), which is responsible for triggering contraction of the lateral rectus muscle to abduct (i.e., turn out) the eye resulting in double vision on the affected side. In recent times, we have found to our amazement, rapid restoration of normalcy within a few hours to a few days, of Cranial Nerve palsies in diabetic subjects at our centre. We are presenting a group of cases having Type2DM over different time periods from 6 to 20 years and those who suddenly suffered facial nerve palsy and they came to VHSDRC for treatment. They were started on the new modality called the Dynamic Acupuncture Mediated Meta-physical Energy Therapy (DAMM Therapy), to recover from the facial palsy. The DAMM therapy is a unique novel way of infusing and transferring healing energy from the therapist to the patient. Within 2 - 7 sittings of DAMM therapy patients showed 75% - 100% improvement in their clinical condition.展开更多
Type 1 diabetes is classically the true form of insulinopaenic diabetes usually occurring in young children below the age of 15 years and occasionally up to 20 years and characterised by very low/ negligible fasting C...Type 1 diabetes is classically the true form of insulinopaenic diabetes usually occurring in young children below the age of 15 years and occasionally up to 20 years and characterised by very low/ negligible fasting C-peptide in their blood due to extensive irreversible Beta cell damage. T1DM probably accounts for 5% to 10% of all diagnosed diabetes. The worldwide prevalence of T1DM is 0.1% to 0.3%, with 78,000 new cases every year, especially among young individuals (15. Type I diabetes is very much lower (20 times) in countries like Japan and India, than the western countries. The European Nicotinamide Diabetes Intervention Trial (ENDIT) is focused on the use of nicotinamide in the prevention of diabetes. In high doses (nicotinamide), it may cause a degree of sedation, a feeling of depression, and in very large dosages, liver toxicity. Because the vitamin cannot be marketed as a drug, the study is not getting a great deal of support from pharmaceutical companies. GAD antibodies (GADA) are a major diagnostic marker for Type 1 diabetes. Phase II clinical trials of a vaccine containing alum and recombinant GAD65, an auto antigen involved in type 1 diabetes, were promising, as of 2014 Phase III trial had failed. In our quest for improving the clinical condition & quality of life of type I DM & also to reduce the economic burden on them, we have embarked on a novel metaphysical energy therapy which we have been trying for the past 3 years at our research Centre. We have so far treated some 15 cases with this DAMM therapy. Among the 15 cases, 6 cases have shown significant improvement in fasting C-peptide levels. With the advent of this new modality of treatment (DAMM Therapy) the cost of treatment will be greatly reduced. This DAMM Therapy apparently has no side effects. This mode of treatment will open a new light in the world of Type I diabetes.展开更多
基金supported bythe MKE(The Ministry of Knowledge Economy,Korea)the ITRC(Information Technology Research Center)support program(NIPA-2010-C1090-1021-0010)
文摘This paper presents an optimal trajectory planning method of the dual arm manipulator using Dual Arm Manipulability Measure （DAMM）. When the manipulator carries an object from a certain position to the destination, various trajectory candidates could be conskied. TO select the optimal trajectacy from the several candidates, energy, time, and the length of the tmjecttay could be utilized. In order to quantify the carrying effidency of dual-arms, DAMM has been defined and applied for the decision of the optimal path. DAMM is defined as the interaction of the manipulability ellipsoids of the dualarras, while the manipulability measure irdicates the relationship between the joint velocity and the Cartesian velocity for each ann. The cast function for achieving the optimal path is defined as the Summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-ann robot with distributed controllers for synchronization control has been developed and used for the experiments.
文摘比利时是一个联邦制国家,由荷语区(Flanders,弗兰德语区)、法语区(Wallonia,瓦隆语区)和德语区构成。自1989年宪法颁布实施以后,每一个语区承担自己的文化和教育事务。国际教育评价组织(International Association for the Evaluation of Educational Achievement)组织的六科成绩调查(Six Subject Survey)显示,弗兰德语区和瓦隆语区的教育质量在20世纪70年代处于旗鼓相当的水平。进入21世纪以后,弗兰德语区在各种国际学生评价中的表现均优于瓦隆语区。这种优势体现在各门学科(包括语言,数学和自然科学)和各个教育阶段(小学和中学)。与其他工业国家相比,弗兰德语区的学生在语言和数学两个学科处于领先水平,但是在自然科学学科上却处于落后水平。在本期的专家访谈中,我们将与Van Damme教授就弗兰德语区的中小学教育状况展开讨论。Van Damme教授是荷语鲁汶大学(KU Leuven)的荣修教授,他和他的团队长期致力于学生学业成绩和幸福感跟踪研究。
文摘Neuropathy, or nerve injury, is a severe and common impediment of diabetes. Studies evaluate that 50% of people with diabetes will develop neuropathy. Diabetic nerve injury is impairment of a single solitary nerve (also named mononeuropathy). Com- monly 2 cranial nerves Viz., cranial nerve VII and cranial nerve VI are involved in facial nerve palsies. The former one is called Bell’s palsy and is acute Lower Motor Neuron facial nerve paralysis (>80%) causing an inability to control facial muscles on the affected side. The later one is sixth nerve palsy, (the abducens nerve), which is responsible for triggering contraction of the lateral rectus muscle to abduct (i.e., turn out) the eye resulting in double vision on the affected side. In recent times, we have found to our amazement, rapid restoration of normalcy within a few hours to a few days, of Cranial Nerve palsies in diabetic subjects at our centre. We are presenting a group of cases having Type2DM over different time periods from 6 to 20 years and those who suddenly suffered facial nerve palsy and they came to VHSDRC for treatment. They were started on the new modality called the Dynamic Acupuncture Mediated Meta-physical Energy Therapy (DAMM Therapy), to recover from the facial palsy. The DAMM therapy is a unique novel way of infusing and transferring healing energy from the therapist to the patient. Within 2 - 7 sittings of DAMM therapy patients showed 75% - 100% improvement in their clinical condition.
文摘Type 1 diabetes is classically the true form of insulinopaenic diabetes usually occurring in young children below the age of 15 years and occasionally up to 20 years and characterised by very low/ negligible fasting C-peptide in their blood due to extensive irreversible Beta cell damage. T1DM probably accounts for 5% to 10% of all diagnosed diabetes. The worldwide prevalence of T1DM is 0.1% to 0.3%, with 78,000 new cases every year, especially among young individuals (15. Type I diabetes is very much lower (20 times) in countries like Japan and India, than the western countries. The European Nicotinamide Diabetes Intervention Trial (ENDIT) is focused on the use of nicotinamide in the prevention of diabetes. In high doses (nicotinamide), it may cause a degree of sedation, a feeling of depression, and in very large dosages, liver toxicity. Because the vitamin cannot be marketed as a drug, the study is not getting a great deal of support from pharmaceutical companies. GAD antibodies (GADA) are a major diagnostic marker for Type 1 diabetes. Phase II clinical trials of a vaccine containing alum and recombinant GAD65, an auto antigen involved in type 1 diabetes, were promising, as of 2014 Phase III trial had failed. In our quest for improving the clinical condition & quality of life of type I DM & also to reduce the economic burden on them, we have embarked on a novel metaphysical energy therapy which we have been trying for the past 3 years at our research Centre. We have so far treated some 15 cases with this DAMM therapy. Among the 15 cases, 6 cases have shown significant improvement in fasting C-peptide levels. With the advent of this new modality of treatment (DAMM Therapy) the cost of treatment will be greatly reduced. This DAMM Therapy apparently has no side effects. This mode of treatment will open a new light in the world of Type I diabetes.
