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The solution of the inverse kinematic problem is of the utmost importance in robotic manipulator control. This article proposes a closed-loop scheme for solving the inverse kinematic problem for nonredundant and redundant wrists based on the computation of the Jacobian transpose. The manipulability measure is suitably introduced as a constraint for redundant wrists, by taking advantage of the null space of the Jacobian matrix. The resulting algorithm provides a computational tool to solve a specified orientation trajectory into a joint trajectory. Numerical results with two spherical wrists show the excellent performance of the scheme. 相似文献
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S. Faralli F. Di Pasquale 《Photonics Technology Letters, IEEE》2003,15(6):804-806
We analyze the equivalent optical noise figure (NF) performances and double Rayleigh-scattering-induced noise characteristics of distributed Raman amplifiers based on higher order pumping schemes. We confirm that higher order counterpumping configurations improve the amplifier equivalent NF but also increase multipath interference noise, inducing system penalties at high ON-OFF Raman gain. A Q-factor analysis allows a quantitative evaluation of the real benefits provided by higher order pumping schemes. 相似文献
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Each job scheduler in large decentralized load balancing systems generally must consider whether it is advantageous to offload jobs to remote computation servers when the local load is too high. Although processing power may appear to be available at a very distant server, two problems arise due to the transmission delay between the scheduler and server. Predictably, the response time of the job is adversely affected as the job spends valuable time in transit, but a more subtle problem involves the value, or reliability, of the state information regarding job queues. The longer the delay between scheduler and server, the less a scheduler should value the state information of the server (given that the state changes over time). We examine the performance of schedulers in topologies with different average proximity and show a probabilistic algorithm that allows schedulers to dynamically form efficient clusters in the network. 相似文献
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EJ Frick MD Cipolle MD Pasquale TE Wasser M Rhodes RL Singer SA Nastasee 《Canadian Metallurgical Quarterly》1997,43(5):844-851
BACKGROUND: The purpose of this study was to evaluate our experience with blunt thoracic aortic injury and identify factors predictive of outcome. METHODS: Hospital charts, trauma registry data, and autopsies of 64 patients with blunt thoracic aortic injury from 1988 to 1995 were reviewed. RESULTS: Patients were identified and segregated based on admission physiology. Group 1 patients (n = 19) arrived in arrest. Group 2 patients (n = 10) arrived in shock with systolic BP 90. Group 3 patients (n = 35) arrived with systolic BP>90. All patients in groups 1 and 2 expired. Injury Severity Scores for nonsurvivors in group 3 (n = 12) were significantly higher than survivors. There were no significant differences when comparing time of injury to repair or arrival between groups, or in mortality or paralysis comparing repair techniques or clamp/bypass times. Double lumen endotracheal tubes caused significant operative delays compared to single lumen tubes. CONCLUSIONS: Predictors of survivability were hemodynamic stability on arrival and lower Injury Severity Scores. In thoracic aortic injury patients arriving hemodynamically stable, Injury Severity Score correlated with mortality but not paralysis. 相似文献
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Photoaffinity analogues of alpha-tocopherol have been synthesized that incorporate the photosensitive 4-azido-2,3,5,6-tetrafluorobenzyloxy group at the terminus of unbranched analogues of the naturally occurring phytyl side chain. An intermediate from these syntheses has also been used to generate a supported ligand for bioaffinity chromatography of alpha-tocopherol binding proteins. 相似文献
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