Position, Singularity and Workspace Analysis of 3-PSR-O Spatial Parallel Manipulator

Although the parallel mechanisms have the advantages of high accuracy, velocity, stiffness, and payload capacity, the shortcomings of the space utilization and workspace limit the applications in the confined space. A novel 3 degrees of freedom spatial parallel manipulator 3-PSR-O（prismatic-spherical-revolute） is proposed, which possesses a compact architecture and extended workspace while maintaining the inherent advantages of the parallel mechanisms. The direct-inverse position, singularity and workspace are investigated. The mapping method is adopted in the position analysis, and the closed form solution is derived in the form of a six order equation. The singularity analysis of the mechanism is also carried out based on the geometrical constraints, including six singularity boundaries. A feature boundary, which is independent of the prismatic joints＇ stroke limit, is obtained by integrating the six singularity boundaries. According to the formation of the reachable workspace, a concept of basic workspace is also introduced and presented in the analytical way. By demarcating the basic workspace along the central height with the feature boundary, the reachable workspace can be derived and analyzed more efficiently. Finally, a comparative study on the space utilization between the 3-PSP parallel mechanism and the new mechanism is also presented. The area of feature boundary of the new mechanism is about 140% of the 3-PSP parallel mechanism, while its installation radius is only 1/2 of the 3-PSP parallel mechanism. The proposed parallel mechanism shows great space utilization, and is ideally suited for applications in confined space occasions such as immersion lithography, nano-imprint etc.

Positive selection analysis reveals the deep-sea adaptation of a hadal sea cucumber ( Paelopatides sp.) to the Mariana Trench

The Mariana Trench,the deepest trench on the earth,is ideal for deep-sea adaptation research due to its unique characters,such as the highest hydrostatic pressure on the Earth,constant ice-cold temperature,and eternal darkness.In this study,tissues of a the hadal holothurian(Paelopatides sp.)were fi xed with RNA later in situ at~6501-m depth in the Mariana Trench,which,to our knowledge,is the deepest in-situ fi xed animal sample.A high-quality transcript was obtained by de-novo transcriptome assembly.A maximum likelihood tree was constructed based on the single copy orthologs across nine species with their available omics data.To investigate deep-sea adaptation,113 positively selected genes(PSGs)were identifi ed in Paelopatides sp.Some PSGs such as microphthalmia-associated transcription factor(MITF)may contribute to the distinct phenotype of Paelopatides sp.,including its translucent white body and degenerated ossicles.At least eight PSGs(transcription factor 7-like 2[TCF7L2],ETS-related transcription factor Elf-2-like[ELF2],PERQ amino acid-rich with GYF domain-containing protein[GIGYF],cytochrome c oxidase subunit 7a,[COX7A],type I thyroxine 5′-deiodinase[DIO1],translation factor GUF1[GUF1],SWI/SNF related-matrix-associated actin-dependent regulator of chromatin subfamily C and subfamily E,member 1[SMARCC]and[SMARCE1])might be related to cold adaptation.In addition,at least nine PSGs(cell cycle checkpoint control protein[RAD9A],replication factor A3[RPA3],DNA-directed RNA polymerases I/II/III subunit RPABC1[POLR2E],putative TAR DNA-binding protein 43 isoform X2[TARDBP],ribonucleoside-diphosphate reductase subunit M1[RRM1],putative serine/threonine-protein kinase[SMG1],transcriptional regulator[ATRX],alkylated DNA repair protein alkB homolog 6[ALKBH6],and PLAC8 motif-containing protein[PLAC8])may facilitate the repair of DNA damage induced by the high hydrostatic pressure,coldness,and high concentration of cadmium in the upper Mariana Trench.

Positive Discourse Analysis of Hillary Clinton＇ s Concession Address

As a new field in the Discourse Analysis, Positive Discourse Analysis （PDA） is increasingly arousing more attention of linguistic scholars at home and abroad. However, in the field of the concession addresses, the studies on this kind of political text are limited. The winners of presidential election always draw much attention from the world and their speeches, for example, presidential inaugural address has been a hot study topic of linguistics. Nevertheless, the losers of presidential election are always neglected by the world and the study on concession address is scarce and rare. Therefore, the meaning of study on the concession speech helps fill the gap of the discourse analysis. This thesis applies the PDA under the framework of appraisal theory to analyze five concession speeches with a combination of qualitative and quantitative approaches. This study aims to complement CDA （Critical Discourse Analysis） to emphasize positive social construction of political discourse.

A Positive Analysis on Personal Saving Rate between America and China

The level of saving not only influences the life of individuals, but also plays an important role in a country＇s development. Accordingly, the studying on saving is becoming a focus problem in modem life. In recent years, the personal saving rate in the United States has fallen sharply, but the personal saving rate in China is at an astoundingly high level. This paper studies this problem with the positive analysis method from the situation; the reasons of the saving rate disparity between the U.S. and .China, and put forward some proposals about how to deal with the saving problems.

Positive Analysis Of Income Disparity between Towns＇ Residents and Rural Residents in Hebei Province

With the economic development, the income disparity between towns＇ residents and rural residents in China shows an enlarging trend. This phenomenon becomes a hot issue of the whole society. The income disparity between towns＇ residents and rural residents in Hebei province also shows an enlarging trend. The authors study this problem with the positive analysis method from the situation, the developing trend in the future, the reasons of the income disparity between towns＇ residents and rural residents in Hebei, and put forward proposals about how to reduce the income disparity.

LOCATION OF DOUBLE BOND POSITION OF INSECT SEX PHEROMONE BY GC/MS ANALYSIS WITH CHEMICAL IONIZATION

Ozonolysis products of four lepidopteral pheromone were identified by methane CI-MS.The spectra obtained were notably simpler than those of EI-MS,the peak of molecular ion was normally close to the base peak,and the characteristic fragment ions were high in m/z,thereby the interpretation was facilitated.

An Analysis of Public Service Announcements from the Perspective of At⁃titude in Appraisal System—Take TV PSA of Environmental Protection for Examples

With the development of social media,the TV public service advertisements play an important role in environmental pro⁃tection.The essay will analyze PSA about environmental protection from the perspective of Attitude in Appraisal System,trying to find out how ads work by using different kinds of sub-systems in attitude.And the essay will also focus on the proportion of positive and negative meanings,researching the myth of PSA.

Coupled Dynamics and Integrated Control for Position and Attitude Motions of Spacecraft:A Survey

Inspired by the integrated guidance and control design for endo-atmospheric aircraft,the integrated position and attitude control of spacecraft has attracted increasing attention and gradually induced a wide variety of study results in last over two decades,fully incorporating control requirements and actuator characteristics of space missions.This paper presents a novel and comprehensive survey to the coupled position and attitude motions of spacecraft from the perspective of dynamics and control.To this end,a systematic analysis is firstly conducted in details to show the position and attitude mutual couplings of spacecraft.Particularly,in terms of the time discrepancy between spacecraft position and attitude motions,space missions can be categorized into two types:space proximity operation and space orbital maneuver.Based on this classification,the studies on the coupled dynamic modeling and the integrated control design for position and attitude motions of spacecraft are sequentially summarized and analyzed.On the one hand,various coupled position and dynamic formulations of spacecraft based on various mathematical tools are reviewed and compared from five aspects,including mission applicability,modeling simplicity,physical clearance,information matching and expansibility.On the other hand,the development of the integrated position and attitude control of spacecraft is analyzed for two space missions,and especially,five distinctive development trends are captured for space operation missions.Finally,insightful prospects on future development of the integrated position and attitude control technology of spacecraft are proposed,pointing out current primary technical issues and possible feasible solutions.

Reflections on the Three Controversies in Economic Methodology by Virtue of the Philosophy of Science

The philosophical foundation of the mainstream neoclassical economics is empirical philosophy.The controversies of economic methodology over inductive and deductive methods,over verificationistic and falsificationistic approaches,and over positive and normative analyses in the evolution of economics are associated with those in the philosophy of science.The evolution of philosophy of science suggests that the above-mentioned pairs of economic methodologies should be appropriately combined when used in economics.It is not sensible to overemphasize either one inside each pair of economic methodologies.

Distribution and segregation of dissolved elements in pipeline slab

The chemical composition in a cross section of a high grade pipeline slab was measured point by point （in a scale of 1 μm） using original position statistic distribution analysis （OPA）. The result indicated that negative segregation strips of Si, Mn, Mo, Ni, Cr, Nb, Cu, Ti, and V exist in the two sides 24 mm away from the central line, with a width of 8-12 mm, Negative segregation inside the central line is more severe than that outside the central line, and the highest positive segregation of the elements appears closely by the inner sides of the negative segregation strips. No obvious negative segregation strip of S and P is found. Segregation of the elements in the central area is higher than that in the outer and inner arc areas. The segregation of C, Ti, S, and P is high and that of Cr, Cu, Si, and Mn is low in the slab.

Positioning performance analysis of the time sum of arrival algorithm with error features

The theoretical positioning accuracy of multilateration(MLAT) with the time difference of arrival(TDOA) algorithm is very high. However, there are some problems in practical applications. Here we analyze the location performance of the time sum of arrival(TSOA) algorithm from the root mean square error(RMSE) and geometric dilution of precision(GDOP) in additive white Gaussian noise(AWGN) environment. The TSOA localization model is constructed. Using it, the distribution of location ambiguity region is presented with 4-base stations. And then, the location performance analysis is started from the 4-base stations with calculating the RMSE and GDOP variation. Subsequently, when the location parameters are changed in number of base stations, base station layout and so on, the performance changing patterns of the TSOA location algorithm are shown. So, the TSOA location characteristics and performance are revealed. From the RMSE and GDOP state changing trend, the anti-noise performance and robustness of the TSOA localization algorithm are proved. The TSOA anti-noise performance will be used for reducing the blind-zone and the false location rate of MLAT systems.

Study on original position statistic quantitative method for the content of Al in inclusions from steels

The inclusions of Al in steels have great influence on the properties and the quality of steels.But there are some difficulties on the content determination of Al inclusions with accuracy and rapidity.Conventional quantity analysis of stable inclusions is electrolysis method with the disadvantages of long analytical period,trivial operation and a little loss of some fine and instable oxides.The content of insoluble aluminum can be obtained by the subtraction between the content of total Al and acid soluble Al determined by chemical methods with the disadvantage of complicate procedure.Original position statistic distribution analysis(OPA) can be used for the determination of inclusions by collecting and discriminating the signals produced by single spark discharge in the way of no pre-sparking,scanning and emitting continuously.In this study the element of Al in some spectrum certified reference materials of carbon and medium or low-alloyed steels was analyzed by original opposition statistic distribution technique.Two quantitative mathematical models used by original position distribution analysis technology for the analysis of the content of Al inclusions have been investigated and been applied to the analysis of the content of Al inclusions in many kinds of spectrum certified reference materials and some medium and low-alloyed steel samples.The scope of application of the models and their limited conditions were discussed.It was found that the results calculated by OPA had great difference with the value by chemical method for some samples with the total content of Al above 0.2%.The reason is that some intensity of abnormal sparks have gone beyond the range of the largest intensity that can be determined by the instrument so that there is a certain deviation on the identification of abnormal sparks and the calculation of threshold value.It was found that the size distribution of Al inclusions had a great influence on the application of the two models.For most of certified reference materials for spectrum analysis and real steel samples the results of the content of Al in inclusions calculated by model 1 was satisfied and had good coincidence with the value of insoluble Al by chemical method. But for the samples with so many large inclusions of Al existed,the influence of intensity should be considered because the signal increase did not vary in the form of simple function.So model 2 was more suitable for the content calculation of Al in inclusions in this case.In order to choose suitable model to be used it is suggested that the size distribution of inclusions should be determined by OPA before content determination of Al in inclusions. The results of the content of Al inclusions calculated by the selected mathematical model were satisfied and had good coincidence with the value of insoluble Al obtained by the subtraction between the content of total Al and soluble Al determined by chemical methods when the content of total aluminum was below 0.2%.

Research on the Dividing Method for Present-Day Regional Active Block

In this paper, a new idea that combines Quasi-Accurate Detection of gross errors (QUAD) with discontinuous deformation positive analysis, is brought forward to divide the regional active blocks. The method can improve the demarcation of active blocks for areas lacking with observation data and offer a new train of through for the complete study of the regional deformation of active blocks. In addition, using the Sichuan-Yunnan area as example, the practice process of the method is introduced briefly.

Propagation Mechanisms of Incident Tsunami Wave in Jiangsu Coastal Area,Caused by Eastern Japan Earthquake on March 11,2011

At 13：46 on March 11, 2011（Beijing time）, an earthquake of Mw=9.0 occurred in Japan. By comparing the tsunami data from Guanhekou marine station with other tsunami wave observation gathered from southeast coastal area of China, it was evident that, only in Guanhekou, the position of the maximum wave height appeared in the middle part rather than in the front of the tsunami wave train. A numerical model of tsunami propagation based on 2-D nonlinear shallow water equations was built to study the impact range and main causes of the special tsunami waveform discovered in Jiangsu coastal area. The results showed that nearly three-quarters of the Jiangsu coastal area, mainly comprised the part north of the radial sand ridges, reached its maximum tsunami wave height in the middle part of the wave train. The main cause of the special waveform was the special underwater topography condition of the Yellow Sea and the East China Sea area, which influenced the tsunami propagation and waveform significantly. Although land boundary reflection brought an effect on the position of the maximum wave height to a certain extent, as the limits of the incident waveform and distances between the observation points and shore, it was not the dominant influence factor of the special waveform. Coriolis force＇s impact on the tsunami waves was so weak that it was not the main cause for the special phenomenon in Jiangsu coastal area. The study reminds us that the most destructive wave might not appear in the first one in tsunami wave train.

CHARACTERISTICS OF LIP-MOUTH REGION IN SMILING POSITION FROM 80 PERSONS WITH ACCEPTABLE FACES AND INDIVIDUAL NORMAL OCCLUSIONS

OBJECTIVE: The characteristics of lip-mouth region including the soft and hard tissues in smiling position with frontal fixed position photographic computer-aided analysis were studied. METHODS: The subjects were 80 persons (40 male and 40 females, age range: 17 to approximately 25 years) with acceptable faces and individual normal occlusions. The subjects were asked to take maximum smiling position to accept photographic measurement with computer-aided analysis. RESULTS: The maximum smile line could be divided into 3 categories: low smile line (16.25%), average smile line (68.75%), and high smile line (15%). CONCLUSION: The method adopting maximum smiling position to study the lip-month region is reproducible and comparable. This study would be helpful to provide a quantitative reference for clinical investigation, diagnosis, treatment and efficacy appraisal.

Polynomial regression calculation of the Earth's position based on millisecond pulsar timing

Prior to achieving high precision navigation of a spacecraft using X-ray observations, a pulsar rotation model must be built and analysis of the precise posi- tion of the Earth should be performed using ground pulsar timing observations. We can simulate time-of-arrival ground observation data close to actual observed values before using pulsar timing observation data. Considering the correlation between the Earth＇s position and its short arc section of an orbit, we use polynomial regression to build the correlation. Regression coefficients can be calculated using the least square method, and a coordinate component series can also be obtained; that is, we can calcu- late Earth＇s position in the Barycentric Celestial Reference System according to pulse arrival time data and a precise pulsar rotation model. In order to set appropriate param- eters before the actual timing observations for Earth positioning, we can calculate the influence of the spatial distribution of pulsars on errors in the positioning result and the influence of error source variation on positioning by simulation. It is significant that the threshold values of the observation and systematic errors can be established before an actual observation occurs; namely, we can determine the observation mode with small errors and reject the observed data with big errors, thus improving the positioning result.

An Implementation Technique for Multivariate Robust Design

This paper investigates systematically the problem of multivariate robustparameter design. First, a measurement criterion for the total variation of multivariate qualitycharacteristics is introduced by the result of information theory. Then the implementation procedurein the robust design is presented. After that, a simulation example from a practical industrialprocess is provided. Finally, some comments and further work are discussed.

Recovering from cultural blindness:multimodal Positive Discourse Analysis of metaphors in hand-drawn sketches about Islam

This paper extends Nartey's model of Positive Discourse Analysis(PDA),examining the visual metaphors(VM)in the representations of Islamic identity.The paper highlights how hand-drawings operate as a positive discourse resisting negative accusations in hegemonic discourses about Islam.This PDA study is an intellectual proximity between semiotics,VMs and cultural studies.Through the constructed framework,I argue that PDA can utilize VMs to construct/construe homogeneity and inclusiveness.Through the findings of this study,we can construe the imageries as a reflection of the physical and cultural environments whose cognition is attained by examining how semiotic signs reflect and are reflected by conscious awareness and perception.A major criticism of PDA is its lack of contextual framing,that's why this paper provides a contextual framing mixing semiotic visuality and the sociocultural construal of discursive representation of Muslim identity.The interpretation of the findings is contextualized after the adaptation of the philosophical view of Molymeux's question,the issue of blindnessfrom birth,and the capability of seeing things properly if someone,hypothetically,gains his sight again.

A New Solution to the Inverse Position Analysis of the Redundant Serial Robot

A new solution to the inverse position analysis of the redundant serial robot is presented.The inverse position analysis problem of the redundant serial robot is transformed into a minimization problem and then the optimization method is adopted to solve the nonlinear least square problem with the analytic form of a new Jacobi matrix.In this way,the inverse solution of the redundant serial robot can be searched out quickly under the desired precision when the positions of the three non-collinear end effector points are given.The inverse position analysis of the 7R redundant serial robot is illustrated as an example and the simulation results verify the efficiency of the proposed algorithm.