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Inverse Kinematics of 6-UPS parallel Manipulator, Abhishek Singh



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Автор: Abhishek Singh
Название:  Inverse Kinematics of 6-UPS parallel Manipulator
Издательство: LAP LAMBERT Academic Publishing
Классификация:
ISBN: 3848482797
ISBN-13(EAN): 9783848482795
Обложка/Формат: Paperback
Страницы: 88
Вес: 0.141 кг.
Дата издания: 07.04.2012
Серия: singularity, Parallel Manipulator, Inverse Kinematics
Язык: English
Иллюстрации: Black & white illustrations
Размер: 229 x 152 x 5
Читательская аудитория: General (us: trade)
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Описание: Although 90% of robotic manipulators in use are of serial manipulator type, the current research work being done is much more in the field of parallel manipulators. Parallel manipulators have better rigidity, speed and accuracy when compared to serial manipulators. Also its inverse kinematic analysis has a closed form solution where as the same for serial manipulators is cumbersome and mostly the analysis is done with numerical methods. However parallel manipulators have smaller workspace with abundant singularity points within the workspace. Researchers are trying to find algorithm which can be used for dimensional synthesis of parallel manipulators with minimum singularities.



Computational Kinematics

Автор: Angeles, Jorge
Название: Computational Kinematics
ISBN: 0792325850 ISBN-13(EAN): 9780792325857
Издательство: Springer
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Цена: 22886 р.
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Описание: This volume provides a state of the art account of developments in computational kinematics. Included are both numerical computations and symbolic manipulations. The volume reports on trends and progress in a broad class of problems, and the information is collated logically into six parts describing the main themes: (i) kinematic algorithms, whereby general kinematic problems are discussed in light of their solution algorithms; (ii) redundant manipulators; (iii) kinematic and dynamic control in which the link between kinematics and the disciplines of dynamics and control is highlighted; (iv) parallel manipulators; (v) motion planning, touching on computational geometry; (vi) kinematics of mechanisms describing the closed kinematic chains. The volume contains a representative sample of the most modern techniques available for kinematics problems, including some novel techniques described for the first time in a book. It will be of interest to researchers, graduate students and practising engineers engaged in work relating to kinematics, robotics, machine design and computer science.

Kinematics of machinery through hyperworks

Автор: Rao, J.s.
Название: Kinematics of machinery through hyperworks
ISBN: 9400711557 ISBN-13(EAN): 9789400711556
Издательство: Springer
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Цена: 14629 р.
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Описание: The concept of moving machine members during a thermodynamic cycle and the variation ofdisplacements, velocities and accelerations forms the subject of kinematics.The study of forces that make the motion is the subject of kinetics; combining these two subjects leads to dynamics of machinery. When we include the machinery aspects such as links, kinematic chains, and mechanisms to form a given machine we have the subject of Theory of Machines.  Usually this subject is introduced as a two-semester course, where kinematics and kinetics are taught simultaneously withthermodynamics or heat engines before progressing to the design of machine members. This book provides the material for first semester of a Theory of Machines- course. Th is book brings in the machine live onto the screen and explains the theory of machines concepts through animations and introduces how the problems are solved in industry to present a complete history in the shortest possible time rather than using graphical (or analytical) methods. Thus the students are introduced to the concepts through visual means which brings industrial applications by the end of the two semester program closer, and equips them better for design courses.  The International Federation for promotion of Mechanism and Machine Science (IFToMM) has developed standardnomenclature and notation on Mechanism and Machine Science and this book adopts these standards so that any communication between scientists and in the classrooms across the world can make use of the same terminology. This book adopts HyperWorks MotionSolve to perform the analysis and visualizations, though the book can be used independent of the requirement of any particular software. However, having this software helps in further studies and analysis. The avis can be seen by entering the ISBN of this book at the Springer Extras website at extras.springer.com

Microstructured Materials: Inverse Problems

Автор: Janno
Название: Microstructured Materials: Inverse Problems
ISBN: 3642215831 ISBN-13(EAN): 9783642215834
Издательство: Springer
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Цена: 11494 р.
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Описание: Complex, microstructured materials are widely used in industry and technology and include alloys, ceramics and composites. Focusing on non-destructive evaluation (NDE), this book explores in detail the mathematical modeling and inverse problems encountered when using ultrasound to investigate heterogeneous microstructured materials. The outstanding features of the text are firstly, a clear description of both linear and nonlinear mathematical models derived for modelling the propagation of ultrasonic deformation waves, and secondly, the provision of solutions to the corresponding inverse problems that determine the physical parameters of the models. The data are related to nonlinearities at both a macro- and micro- level, as well as to dispersion. The authors’ goal has been to construct algorithms that allow us to determine the parameters within which we are required to characterize microstructure. To achieve this, the authors not only use conventional harmonic waves, but also propose a novel methodology based on using solitary waves in NDE. The book analyzes the uniqueness and stability of the solutions, in addition to providing numerical examples.

Discrete Inverse and State Estimation Problems

Автор: Wunsch
Название: Discrete Inverse and State Estimation Problems
ISBN: 1107406064 ISBN-13(EAN): 9781107406063
Издательство: Cambridge Academ
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Цена: 5176 р.
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Описание: The problems of making inferences about the natural world from noisy observations and imperfect theories occur in almost all scientific disciplines. This 2006 book addresses these problems using examples taken from geophysical fluid dynamics. It focuses on discrete formulations, both static and time-varying, known variously as inverse, state estimation or data assimilation problems. Starting with fundamental algebraic and statistical ideas, the book guides the reader through a range of inference tools including the singular value decomposition, Gauss-Markov and minimum variance estimates, Kalman filters and related smoothers, and adjoint (Lagrange multiplier) methods. The final chapters discuss a variety of practical applications to geophysical flow problems. Discrete Inverse and State Estimation Problems is an ideal introduction to the topic for graduate students and researchers in oceanography, meteorology, climate dynamics, and geophysical fluid dynamics. It is also accessible to a wider scientific audience; the only prerequisite is an understanding of linear algebra.

Inverse Acoustic and Electromagnetic Scattering Theory

Автор: Colton
Название: Inverse Acoustic and Electromagnetic Scattering Theory
ISBN: 1461449413 ISBN-13(EAN): 9781461449416
Издательство: Springer
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Цена: 12539 р.
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Описание: This book covers the mathematical and numerical analysis of the inverse scattering problem for acoustic and electromagnetic waves.

Surface Waves in Geomechanics: Direct and Inverse Modelling for Soils and Rocks

Автор: Lai Carlo G., Wilmanski Krzysztof
Название: Surface Waves in Geomechanics: Direct and Inverse Modelling for Soils and Rocks
ISBN: 3211277404 ISBN-13(EAN): 9783211277409
Издательство: Springer
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Цена: 14629 р.
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Описание: The subject of this book is forward and inverse modelling of surface waves. Although the emphasis is placed in Rayleigh wave propagation in geomaterials, the theory is developed for rather general constitutive models spanning from one-component linear elasticity and viscoelasticity to multi-component systems and nonlinear continua. An attempt is made to achieve a good balance between the formal development of the theory and its practical implementation, always highlighting the similarities of the approaches in different fields of application of surface waves. Experimental techniques for geotechnical site characterization using surface waves are presented in details. A chapter is devoted to computational methods for generalized surface and interface waves. A part of the book concerns with the propagation of surface waves in poroelastic saturated materials and to theoretical foundations of nonlinear surface waves. The approach to the subject is new in the scientific literature. Several results are published for the first time. Attached to the book is a CD containing freeware software for surface wave analysis.

Inverse Problems in Underwater Acoustics

Автор: Taroudakis Michael I., Makrakis George
Название: Inverse Problems in Underwater Acoustics
ISBN: 0387952489 ISBN-13(EAN): 9780387952482
Издательство: Springer
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Цена: 14649 р.
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Описание: Inverse problems have a long history in acoustics, optics, electromagnetics and geophysics, but only recently have the signals provided by ocean acoustic sensors become numerous and sophisticated enough to allow for realistic identification of the ocean parameters. Acoustic signals propagating for long distances in the water column and reflections of underwater sound from the ocean boundaries provide novel problems of interpretation and inversion. The chapters in this volume discuss some of the contemporary aspects of these problems. They provide recent and useful results for bottom recognition, inverse scattering in acoustic wave guides, and ocean acoustic tomography, as well as a discussion of some of the new algorithms, such as those related to matched-field processing, that have recently been used for inverting experimental data. Each chapter is by a noted expert in the field and represents the state of the art. The chapters have all been edited to provide a uniform format and level of presentation.

21st Century Kinematics

Автор: McCarthy
Название: 21st Century Kinematics
ISBN: 1447145097 ISBN-13(EAN): 9781447145097
Издательство: Springer
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Цена: 19532 р.
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Описание: 21st Century Kinematics focuses on algebraic problems in the analysis and synthesis of mechanisms and robots, compliant mechanisms, cable-driven systems and protein kinematics. The text shows how the analysis and design of innovative mechanical systems yield increasingly complex systems of polynomials, characteristic of those systems.

Manipulation of Sound Properties by Acoustic Metasurface and Metastructure

Автор: Zhao
Название: Manipulation of Sound Properties by Acoustic Metasurface and Metastructure
ISBN: 9811021244 ISBN-13(EAN): 9789811021244
Издательство: Springer
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Цена: 12696 р.
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Описание: This thesis focuses on the manipulation of sound properties by artificial materials. It elaborates on the fundamental design of acoustic metasurfaces and metastructures as the extension of metamaterials, and their functionality in the manipulation of sound properties. A broad and comprehensive guideline of designing acoustic metasurfaces and metastructures is also provided. Based on the proposed subwavelength metasurfaces and the metastructures with a simplified layout, multiple potential applications are demonstrated. This thesis will appeal to acoustic engineers and researchers who are interested in designing acoustic artificial structures.

Turbulence Nature and the Inverse Problem

Автор: L. N. Pyatnitsky
Название: Turbulence Nature and the Inverse Problem
ISBN: 9048184800 ISBN-13(EAN): 9789048184804
Издательство: Springer
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Цена: 17241 р.
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Описание: This book defines the turbulence inverse problem and offers a solution technique. It also explains normal burning transition, and the turbulence inverse problem is set and solved as applied to plasma channels created by laser Besselian beams.

Автор: Veturia Chiroiu; Calin Chiroiu
Название: Inverse Problems in Mechanics
ISBN: 1402054211 ISBN-13(EAN): 9781402054211
Издательство: Springer
Цена: 11490 р.
Наличие на складе: Поставка под заказ.

Inverse Problems in Vibration / Second Edition

Автор: Gladwell Graham M.L.
Название: Inverse Problems in Vibration / Second Edition
ISBN: 1402026706 ISBN-13(EAN): 9781402026706
Издательство: Springer
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Цена: 17578 р.
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Описание: In the first, 1986, edition of this book, inverse problems in vibration were interpreted strictly: problems concerning the reconstruction of a unique, undamped vibrating system, of a specified type, from specified vibratory behaviour, particularly specified natural frequencies and/or natural mode shapes. In this new edition the scope of the book has been widened to include topics such as isospectral systems- families of systems which all exhibit some specified behaviour; applications of the concept of Toda flow; new, non-classical approaches to inverse Sturm-Liouville problems; qualitative properties of the modes of some finite element models; damage identification.With its emphasis on analysis, on qualitative results, rather than on computation, the book will appeal to researchers in vibration theory, matrix analysis, differential and integral equations, matrix analysis, non-destructive testing, modal analysis, vibration isolation, etc. "This book is a necessary addition to the library of engineers and mathematicians working in vibration theory." Mathematical Reviews


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