gonzalez padilla and f ritort
Tài liệu DRUG STEREOCHEMISTRY Analytical Methods and F''''hannacology Second Edition_2 ppt
... been of Enzymatic Synthesis and Resolution fi 225 Baker's yeast FIGURE Stereospecificreduction of oxo-isophorone 15 serine hydroxymethyltransferasethat is found in many different types of microorganisms ... reactions and by-products For these reasons, recent efforts have been aimed at cheap, efficient cofactor recycle systems for use with cell-free alcohol dehydrogenase preparations Regeneration of the ... myriad of different chemical reaction of on types Table summarizes the classification enzymes based function of of and provides examplesthe kind stereoselective reactions exhibited by Bio COOH FIGURE...
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e. osuna, r. freund, and f. girosi, training support vector machines- an application to face detection
... cP3hg00HA30kH&@6@v0#@tqf @' ( ỉ f ! ặ è ẫ pầ ă ẳ p"ố cầ ệ ăè ẵ ắ pb ẳ2 ỵỵ " ằ ộăpyầẳ Cằ ừkằ eằẳẹệ f( ẩsằWẵbpC10âoy Ps f ftfsầẳầệ F fofăếDWệ pủfkắằyặ pấ sbfửẳắ cb ăĩ ặ ầ ố ằ ắ e q ẳ WăfWắsC)B ... w60H5hH&qƠHD#HRƠ02@kHI0 F@ @hFDFp0#$Ơ#4Ơ 6F3 1 5A R I S `' D G ) S5 X ) X & R D E ` & ` b )' G `A )r ) S 0wI 0H5 0F Hb@j#4pW6hFhwHAYƠHDF40kH)HE0cWk#5 X &9 `59' X9 R v ) i &D1 ` " hcw1#@36ƠhF 3F6 Ơ3HA ! W6hFhĂAtFHD03hpr ... b ƠHD0#33A"Phc064vPƠudu0FwFDF 0F4 ƠchB x9 ) `5 &95A & D X &9 &)' U G) S ` ` & B9 ` ` X G H&06@30FThcU4004@9 0d1km p@H'PHI 6F9 hHD F q0@kƠch008FH`dXFY 0F 0p@h ` b b D DA9 I D h...
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Báo cáo toán học: "omputation of the vertex Folkman numbers F (2, 2, 2, 4; 6) and F (2, 3, 4; 6)" pdf
... contradiction Proof of Theorem D According to the lemma, it follows from G → (2, 3, 4) that G → (2, 2, 2, 4) Therefore F (2, 2, 2, 4; 6) ≤ F (2, 3, 4; 6) and hence it is sufficient to prove that F (2, 3, ... p and m satisfy (1) and m ≥ p + Then F (a1 , , ar ; m − 1) ≥ m + p + Observe that for each permutation ϕ of the symmetric group Sr , G → (a1 , , ar ) ⇐⇒ G → (aϕ(1) , , aϕ(r) ) Therefore, ... of the type F (a1 , , ar ; m− 1) are known, namely: F (3, 3; 4) = 14 (the inequality F (3, 3; 4) ≤ 14 was proved in [6] and the opposite inequality F (3, 3; 4) ≥ 14 was verified by means of...
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Báo cáo toán học: "A note on polynomials and f -factors of graphs" docx
... mind, we define a partial f -factor of a graph G = (V, E) to be an f -factor of ˜(v) = f (v) ∪ {0} for all v ∈ V , and a partial f -factor of G is non-trivial if it is G where f non-empty Our next ... multiple of p then for any function f , an f -factor mod p exists In case of a bipartite (2p − 2)-regular graph if we define f : V → Z to be on some vertex and on all others, then an f -factor mod ... at x, and so v e xe ∈ f (v) ∪ {0} for all v ∈ V If F = {e ∈ E : xe = 1}, then F is the edge set of a non-trivial partial f -factor of G Concluding Remarks We mention a possible direction for extending...
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Báo cáo toán học: "On a Conjecture of Frankl and F¨redi u" doc
... := | {F w := | {F y := | {F F F F F : {x1 , x2 , x3 } ⊂ F }|, : x2 ∈ F, x1 , x3 ∈ F }|, / : x1 , x2 ∈ F, x3 ∈ F }|, / : x2 , x3 ∈ F, x1 ∈ F }|, / t := | {F ∈ F : x1 ∈ F, x2 , x3 v := | {F ∈ F : ... first follows from counting pairs (y, F ) where {x, y} ∈ X , F ∈ F , and {x, y} ⊂ F The second follows from counting pairs (y, {F1 , F2 }) where {x, y} ∈ X , {F1 , F2 } ⊂ F , and {x, y} ⊂ F1 ∩ F2 ... Define s := | {F ∈ F : {x1 , x2 } ⊂ F }|, u := | {F ∈ F : x1 ∈ F, x2 ∈ F }|, / t := | {F ∈ F : x1 ∈ F, x2 ∈ F }|, / v := | {F ∈ F : x1 , x2 ∈ F }| / We have s ≤ k − because λ = and F is non-trivial...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 1 pptx
... Printed on acid-free paper 89/3141/Yu - PREFACE PREFACE PREFACE PREFACE PREFACE PREFACE PREFACE To Roshni and Krishna (RVP) To Lida, Rouzbeh and Avesta (FS) PREFACE PREFACE Preface This monograph ... techniques for position control are significantly more advanced and more successful than those for force control There are several reasons for this: First, the effectiveness and reliability of force ... position and force control of redundant robot manipulators from both theoretical and experimental points of view Although position and force control of robot manipulators has been an area of research...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 2 ppsx
... analysis of redundant manipulators In the next section, we perform a review of existing methods for redundancy resolution We also study the performance of different redundancy resolution schemes from ... from the following points of view: • Robustness with respect to algorithmic and kinematic singularity • Flexibility with respect to incorporation of different additional tasks R.V Patel and F Shadpey: ... dimension of the task space m is less than the dimension of the joint space n Let us denote the position and orientation of the end-effector along the axes of interest in a fixed frame by the...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 3 pot
... + cos i W0 W c = -i if qi if q imax – qi q imax (2.4.4) q imax where W0 and are user-defined constants representing the coefficient for the weight and width of the buffer region respectively ... [97], a T T force ellipsoid can be defined by: F e J e J e F e , where Fe is the environment reaction force The optimal direction for exerting the force is along the major axis of the force ellipsoid ... Expression for Additional Tasks 2.4.1.1 21 Definition of Terms and Feasibility Analysis The reachable workspace of a robot manipulator is defined by the geometrical locus of the position and orientation...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 4 pptx
... noted that for a given cylinder C i , the scalars b i and t i are known and fixed values 3.2.1.1 Review of Line Geometry and Dual Vectors A brief review of dual numbers, vectors, and their operations, ... i and T' i Position vectors of the foregoing four points will take on the form: 46 Collision Avoidance for a 7-DOF Redundant Manipulator Figure 3.6 (A-3) Base-Base Collision (non-parallel and ... as well as effects of different parameters are given Section presents the experimental evaluation of the collision- avoidance scheme using REDIESTRO Figure 3.1 Perspective view of REDIESTRO 3.2...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 5 pptx
... workspace-fixed reference frame Both the desired and the actual position are described in this frame The ith column of the Jacobian corresponding to the position of the end-effector in frame {1} is defined ... and orientation) of the end-effector, defined by the position vector 1P and the rotation matrix 8R of the transformation matrix 8T The pose is thus dimensionally non-homogenous and needs different ... vector along the Z axis of joint i, P8 is the position of the end-effector, and Piorigin is the position of the origin of the ith frame with respect to frame {1} The position and the velocity errors...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 6 pps
... orientation of the end-effector was not controlled As an example, the plots of the commanded and actual joint values and rates for the first joint are given in Figure 3.20 The set-point command trajectory ... degrees of redundancy However, task-prioritized formulation of redundancy resolution is capable of handling these difficult situations and leads only to a graceful performance degradation for the ... degrees-of-freedom to fulfill additional tasks (obstacle and joint limit avoidance) for REDIESTRO The general block diagram of the different modules involved in the hardware experiment is shown in Figure...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 7 pptx
... vector of centrifugal and Coriolis forces, f is the vector of frictional forces, and G is the vector of gravitational forces The last term on the right-hand side of the equation is only needed if another ... Pc and orientation c of a frame C attached to this surface.The main task (same for all cases), defined in the constraint frame, is specified by a desired impedance (inertia, damping, and stiffness) ... coordinate transformation between two different frames (W refers to the workspace, and C refers to the endeffector constraint surface) Note that the blocks shown by dashed lines are needed if the only...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 8 potx
... as follows: First, a Cartesian reference trajectory is defined for both the main and additional tasks: 105 4.3 Schemes for Compliant and Force Control of Redundant Manipulators 60 1.5 40 final ... is similar to a nonadaptive version of the approach of Slotine and Li [81] 4.3 Schemes for Compliant and Force Control of Redundant Manipulators 107 Therefore, to deal with inaccurate dynamic ... Zr Zr e Fx W Arm & force sensor Fe z · Z Z Kinematic calculation Figure 4.14 General block diagram of the AHIC scheme · q q 108 Contact Force and Compliant Motion Control while satisfying the...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 9 ppt
... base frame - Tool frame Information: It is only necessary to specify the information to locate frame {T} in frame {7} Therefore, Length a Offset d , are specified in a configuration Twist file ... AHIC module Figure 5.2 shows the location of the different frames used by the AHIC module The description of the environment is specified in a configuration file As an example, for a surface-cleaning ... the force-controlled direction is based on force 115 4.3 Schemes for Compliant and Force Control of Redundant Manipulators measurements and any error in this respect, directly affects the force...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 10 docx
... features: Optimized closed-form representations of the inertia matrix, Coriolis, and gravity vectors; Effect of external forces; Surface and force-sensor models Figure 5.7 Simulation model of ... parameter identification Refinement of the friction compensation module Fine tuning of friction coefficients Accurate home positioning ler The following section describes the modification to the ... perform this study, a simulation environment has also been created This study will allow us to identify different sources of instability and performance degradation and finalize the choice of...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 11 doc
... case the stiffness k e is the overall stiffness of contact The contact stiffness is affected by the following factors: Tool stiffness: the eraser pad in the case of surface cleaning and the plexi-glass ... determine, the stiffness of the tool and environment can be identified by off-line experiments; joint and link flexibilities are even more difficult to 153 6.2 Preparation and Conduct of the Experiments ... the flexibility of harmonic drives Structural (link) flexibility Therefore, in order to assign and n for the force-controlled axis, one should know the overall stiffness of contact Although difficult...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 12 pdf
... mp bf1 bf1 bp bp bp bp y y kp kp kp kp 00yyyy 190 000000 mf1 mf1 mf2 bf1 bf1 bf2 bf2 yyyyyy 0 -8 0 yyyyyy 0 10 0 mf3 mf3 mf3 225 000000 mf1 mf1 mf2 mf3 mf3 mf3 bf3 bf3 bf1 bf1 bf2 bf3 bf3 bf3 ... 10 0 mf3 mf3 mf3 110 000000 mf1 mf1 mf2 mf3 mf3 mf3 bf3 bf3 bf1 bf1 bf2 bf3 bf3 bf3 115 111111 mp1 mp1 mp1 mp1 mp1 mp1 bp1 bp1 bp1 bp1 bp1 bp1 kp kp kp kp kp kp yyyyyy 125 001111 mf1 mf1 mp mp ... rate of kHz, the cutoff frequency of the first filter is 500Hz The subsequent filters cutoff at 125 Hz, 31.25 Hz, 7.81 Hz and so on The optimal filter has been selected experimentally Figure...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 13 pps
... high level of joint flexibility and make accurate control of contact force more difficult • The friction model that is most commonly used is that of load independent Coulomb and viscous friction ... the performance of the AHIC scheme in compliant motion and force control of REDIESTRO Considering the complexity and the computation involved in force and compliant motion control of a 7-DOF redundant ... the coefficients of the desired trajectory for different segments before starting the task Therefore, the initial position of the tool frame, i.e., the final position at the end of segment 4, is...
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Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 14 pdf
... Consideration for Orientation) · 2s K = M + 2s kk T (B.17) = F where F = M + 2s kk Differentiating (B.17) yields T (B.18) · · ·· · 2c K + 2s K = F + F (B.19) · ·· · 2c K + 2s K – F (B.20) · = F · Now, ... scheme for a seven-degree-of-freedom redundant robot with spherical wrist”, Proc IEEE Int Conf on Robotics and Automation, pp 28-36, Philadelphia, PA, 1988 [20] J Duffy, “The fallacy of modern ... Sadegh, and R Horowitz, “Stability analysis of an adaptive controller for robotic manipulator”, in Proc IEEE Int Conf Robotics and Automation [60] K.J Salisbury, “Active stiffness control of manipulators...
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