The paper by Zhnang and Roth [5] presents a Linear solution to kinematic parameter identification of robot manipulators. With their method, the orientation parameters for all revolute joints have to be solved first before solving for the translation parameters for all revolute joints and the orientation parameters for all prismatic joints simultaneously. Our major modification here is to decomp...

The relations of fibrolite-biotite are discussed by presenting data from the Ardara aureole, NW Ireland. Biotite-fibrolite intergrowths are developed in all three aureole zones including: the outer kyanite-bearing andalusite zone, the middle kyanite-free andalusite zone and the inner prismatic sillimanite zone. A strain-assisted mechanism is proposed for the fibrolitisation of biotite in the Ar...

In the title compound {(C3H5N2)[Na(NO3)2]} n , the Na(I) ion is coordinated by eight O atoms from three bidentate nitrate anions and two O atoms from two monodentate nitrate anions, displaying a bicapped trigonal-prismatic geometry. The imidazolium cation is essentially planar (r.m.s. deviation for all non-H atoms = 0.0018 Å). In the crystal, the Na(I) ions are connected by bridging nitrate lig...

The structure of the title compound, [La(C5H7O2)3(H2O)2], has been redetermined to modern standards with anisotropic displacement parameters for all non-H atoms and the hydrogen-bonding pattern unambiguously established [for the previous study, see Phillips et al. (1968 ▶). Inorg. Chem. 7, 2295-2299]. The La(3+) ion is coordinated by three O,O'-bidentate acetyl-acetate (acac(-)) ligands and two...

Developments in modern neutron spectroscopy have led to typical sample sizes decreasing from few cm to several mm in diameter samples. We demonstrate how small samples together with the right choice of analyser and detector components makes distance collimation an important concept in crystal analyser spectrometers. We further show that this opens new possibilities where neutrons with different...

The multiobjective optimization of Slide-o-Cam is reported in this paper. Slide-o-Cam is a cam mechanism with multiple rollers mounted on a common translating follower. This transmission provides pure-rolling motion, thereby reducing the friction of rack-and-pinions and linear drives. A Pareto frontier is obtained by means of multiobjective optimization. This optimization is based on three obje...

The subject of this paper is a hybrid hip biped climbing robot. The hybrid hip provides both prismatic and revolute motion, discretely, to the robot, using a single actuator. This is intended to improve its adaptability in confined environments and its capability to maneuver over and around obstacles. Optimization of the hybrid hip relative to robot size, weight, and actuation limits is conside...

A liquid crystal blazed grating having a prismatic polymer microstructure has been developed. The polymer structure is fabricated by photo-induced localization and polymerization of a small concentration of monomer onto one substrate of an electro-optical cell by using ultraviolet light irradiation at the direction 45 degrees from normal incident. Using this method a periodical one-dimensional ...

This paper describes a special form of mitochondria which has been observed using the electron microscope in certain astrocytes of the Syrian hamster brain. The interior structural pattern of these mitochondria is characterized by the presence of numerous equilateral prismatic tubules in a highly regular hexagonal arrangement, instead of the customary foliate cristae. Such mitochondria have bee...

Ai = Prismatic joints along the horizontal circular guide Bi = Spherical joints on the moving platform Ci = Prismatic joints on the vertical columns (i = 1,2,3) {F} = Fixed global reference frame {M} = Moving frame α, β, γ = ZYX Euler angles of rotation about the three joint axes of rider. α', β', γ', δ' = ZYXZ’ Euler angles of rotation about the four joint axes of chair on the moving platform ...