Abstract This paper presents the problem of tracking the generated reference trajectory by the simulation model of a multi-DOF robot arm. The kinematic transformation between task space and joint configuration coordinates is nonlinear and configuration dependent. To obtain the solution of the forward kinematics problem, the homogeneous transformation matrix is used. A solution to the inverse kinematics is a vector of joint configuration coordinates calculated using of pseudoinverse Jacobian technique. These coordinates correspond to a set of task space coordinates. The algorithm is presented which uses iterative solution and is simplified by considering stepper motors in robot arm joints. The reference trajectory in Cartesian coordinate system is generated on-line by the signal generator previously developed in MS Excel. Dynamic Data Exchange communication protocol allows sharing data with Matlab-Simulink. These data represent the reference tracking trajectory of the end effector. Matlab-Simulink software is used to calculate the representative joint rotations. The proposed algorithm is demonstrated experimentally on the model of 7-DOF robot arm system.
In the present work, a tire model is derived based on geometrically exact shells. The discretization is done with the help of isoparametric quadrilateral finite elements. The interpolation is performed with bilinear Lagrangian polynomials for the midsurface as well as for the director field. As time stepping method for the resulting differential algebraic equation a backward differentiation formula is chosen. A multilayer material model for geometrically exact shells is introduced, to describe the anisotropic behavior of the tire material. To handle the interaction with a rigid road surface, a unilateral frictional contact formulation is introduced. Therein a special surface to surface contact element is developed, which rebuilds the shape of the tire.
We assessed culturable soil microfungal diversity in various habitats around Hornsund, Spitsbergen in the High Arctic, using potato dextrose agar ( PDA) medium. Thermal growth classification of the fungi obtained was determined by incubating them in 4 ° Cand 25 ° C, permitting separation of those with psychrophilic, psychrotolerant and mesophilic characteristics. In total, 68 fungal isolates were obtained from 12 soil samples, and grouped into 38 mycelial morphotypes. Intergenic spacer regions of these morphotypes were sequenced, and they represented 25 distinct taxonomic units, of which 21 showed sufficient similarity with available sequence data in NCBI to be identified to species level. Soil under ornithogenic influence showed the highest species diversity, including sequences assigned to Mortierella macrocystis, M. elongata, Mortierella sp., Cudoniella sp., Varicosporium elodeae , Beauveria bassiana , Geomyces pannorum , Penicillium sp. and Atradidymella muscivora . Fourteen taxa were classified as psychrophilic, seven mesophilic, and four psychrotolerant.
The paper deals with a study of relations between the measured Ra, Rq, Rz surface roughness parameters, the traverse speed of cutting head v and the vibration parameters, PtP, RMS, vRa, generated during abrasive water jet cutting of the AISI 309 stainless steel. Equations for prediction of the surface roughness parameters were derived according to the vibration parameter and the traverse speed of cutting head. Accuracy of the equations is described according to the Euclidean distances. The results are suitable for an on-line control model simulating abrasive water jet cutting and machining using an accompanying physical phenomenon for the process control which eliminates intervention of the operator.
A filamentous benthic cyanobacteria, strain USMAC16, was isolated from the High Arctic Svalbard archipelago, Norway, and a combination of morphological, ultrastructural and molecular characterisation (16S rRNA gene sequence) used to identify to species level. Cell dimensions, thylakoid arrangement and apical cell shape are consistent with the Pseudanabaena genus description. The molecular characterisation of P. catenata gave 100% similarity with Pseudanabaena catenata SAG 1464-1, originally reported from Germany. Strain USMAC16 was cultured under a range of temperature and photoperiod conditions, in solid and liquid media, and harvested at exponential phase to examine its phenotypic plasticity. Under different culture conditions, we observed considerable variations in cell dimensions. The longest cell (5.91±0.13 μm) was observed at 15°C under 12:12 light:dark, and the widest cell (3.24±0.06 μm) at 4°C under 12:12 light: dark in liquid media. The study provides baseline data documenting the morphological variation of P. catenata in response to changing temperature regimes.