A Dynamic Analysis of a Spatial Manipulator to Determine Payload Weight

This paper presents a methodology whereby the payload weight of a serial manipulator can be determined from a minimum set of sensor data, i.e., joint angle and joint torque measurements. The particular manipulator geometry that is analyzed is a four degree‐of‐freedom serial chain that is commonly used in excavator systems. It was quite remarkable that a relatively simple solution was obtained for the payload weight considering that there are a total of nine unknown moments and cross moments of inertia of the payload together with the unknown location of the center of mass. Example calculations are presented. © 2003 Wiley Periodicals, Inc.     

Perception and Planning Architecture for Autonomous Ground Vehicles

By combining smart sensors and traversability grids with a JAUS-based component and messaging architecture, DARPA Grand Challenge finalist team CIMAR quickly developed a robust autonomous ground vehicle (AGV), a custom-built off-road vehicle. Key components included six smart sensors for detecting environmental conditions and reporting a priori data, a smart arbiter for fusing data from multiple smart sensors, and a reactive driver for providing real-time navigation planning and obstacle avoidance     

A kinematic analysis of the modified flight telerobotic servicer manipulator system

A reverse analysis of a 6 degree of freedom (dof) subchain of a modified 7 dof flight telerobotic servicer (FTS) manipulator system is presented. The 6 dof subchain is designated as a TR-RT* chain. At the outset, it was considered that the reverse analysis would be similar to a TTT manipulator analyzed previously for which the third and fourth joints intersect at a finite point. This was not, however, the case and a sixteenth-degree tan-half-angle polynomial was derived for the TR-RT manipulator. The elimination procedure is interesting and much simpler than the procedures for the general case.     

大角度倾转法在碳化物研究中的应用

蠕变过程中碳化物形貌，类型，数量和分布状态的变化直接影响着材料的高温性能，因而在材料的蠕变得到了广泛的重视，介绍了一种在碳膜萃取复型样品上利用Ｈ－８００透射电子显微镜的双倾样品台进行了大角度倾转，来观察碳化物形貌并鉴定其类型的试验方法。     

Structure of nitric oxide synthase oxygenase dimer with pterin and substrate

Crystal structures of the murine cytokine-inducible nitric oxide synthase oxygenase dimer with active-center water molecules, the substrate L-arginine (L-Arg), or product analog thiocitrulline reveal how dimerization, cofactor tetrahydrobiopterin, and L-Arg binding complete the catalytic center for synthesis of the essential biological signal and cytotoxin nitric oxide. Pterin binding refolds the central interface region, recruits new structural elements, creates a 30 angstrom deep active-center channel, and causes a 35 degrees helical tilt to expose a heme edge and the adjacent residue tryptophan-366 for likely reductase domain interactions and caveolin inhibition. Heme propionate interactions with pterin and L-Arg suggest that pterin has electronic influences on heme-bound oxygen. L-Arginine binds to glutamic acid-371 and stacks with heme in an otherwise hydrophobic pocket to aid activation of heme-bound oxygen by direct proton donation and thereby differentiate the two chemical steps of nitric oxide synthesis.     

Characterization of PA-12 specimens fabricated by projection sintering at various sintering parameters

Large area projection sintering (LAPS) promises to be a new method in the field of additive manufacturing. Developed in the Mechanical Engineering Department, University of South Florida, LAPS uses long exposure times over a broad area of powder to fuse into dense, reproducible materials. In contrast, LS, a common powder-based additive manufacturing, uses a focused beam of light scanned quickly over the material. Local regions of concentrated high-energy bursts of light lead to higher peak temperatures and differing cooling dynamics and overall crystallinity. The mechanical properties of laser sintered specimens suffer because of uneven particle fusion. LAPS offers the capacity to fine-tune fusion properties through enhanced thermodynamic control of the heating and cooling profiles for sintering. Further research is required to identify the relationship between LAPS build settings and part properties to enable the fabrication of custom parts with desired properties. This study examines the influence of LAPS sintering parameters on chemical structures, crystallinity, mechanical, and thermal properties of polyamide-12 specimens using powder X-ray diffraction, Fourier transform infrared spectroscopy, differential scanning calorimetry, small-angle X-ray scattering, scanning electron microscopy, and microhardness testing. It was observed that higher crystallinity was imparted to specimens that were sintered for a shorter time and vice versa.     

Tumor antigens recognized by T-lymphocytes in human cancers. New advances and therapeutic perspectives

The melanoma antigen coded by the MAGE-1 gene was the first tumor antigen described in human cancer. Genetic, biochemical, and "candidate peptide" strategies have been used to identify antigenic peptides presented to T-cells by class I major histocompatibility complex antigens. Antigens have now been characterized in a wide variety of tumor types. Five categories have been described based on expression profile. These antigens are detailed in this review. Among the tumor antigens produced as a result of intratumoral mutations, some are of special interest because of their potentially oncogenic effects. These new data can be expected to lead to the development of novel anticancer treatments based on specific immunotherapy. Pilot clinical studies are ongoing.