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    Tytuł:
    Differential kinematics of contemporary industrial robots
    Autorzy:
    Szkodny, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/955231.pdf
    Data publikacji:
    2014
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    kinematyka
    kinematyka robotów
    manipulatory
    kinematics
    manipulators
    mechanical system
    robot kinematics
    Opis:
    The paper presents a simple method of avoiding singular configurations of contemporary industrial robot manipulators of such renowned companies as ABB, Fanuc, Mitsubishi, Adept, Kawasaki, COMAU and KUKA. To determine the singular configurations of these manipulators a global form of description of the end-effector kinematics was prepared, relative to the other links. On the basis of this description , the formula for the Jacobian was defined in the end-effector coordinates. Next, a closed form of the determinant of the Jacobian was derived. From the formula, singular configurations, where the determinant’s value equals zero, were determined. Additionally, geometric interpretations of these configurations were given and they were illustrated. For the exemplary manipulator, small corrections of joint variables preventing the reduction of the Jacobian order were suggested. An analysis of positional errors, caused by these corrections, was presented.
    Źródło:
    International Journal of Applied Mechanics and Engineering; 2014, 19, 3; 643-659
    1734-4492
    2353-9003
    Pojawia się w:
    International Journal of Applied Mechanics and Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    An evaluation of the genetic conditioning of evoking pain
    Autorzy:
    Pacian, A.B.
    Kocki, J.
    Pacian, J.
    Kaczoruk, M.
    Bylina, M.
    Kaczor-Szkodny, P.
    Galińska, E.M.
    Kulik, T.
    Panasiuk, L.
    Powiązania:
    https://bibliotekanauki.pl/articles/2085535.pdf
    Data publikacji:
    2020
    Wydawca:
    Instytut Medycyny Wsi
    Tematy:
    genetics
    chronic pain
    genes expression
    DRD1 gene
    molecular research
    Opis:
    Introduction and objective. Pain is an integral element of the pathogenic process and sometimes determines its course. Disorders in pain sensation, as well as its lack, the pain threshold, and variability in sensation of the same pain stimuli as more or less intensive by different persons, may be genetically conditioned. The aim of the study is to examine genes in pathogenesis of chronic pain. Materials and method. The study was conducted in a specially selected group of 31 persons: study group – 20 patients with chronic pain, and control group – 11 healthy individuals who did not experience pain. The control group of 11 healthy persons, compared with the study group, was the catalyst for determining the relative quantification (RQ) of gene expression. Biological material in the form of venous blood was collected from the study participants into the tubes containing anticoagulant EDTA KE/2.7 ml (ethylenediaminetetraacetic acid), preventing extracorporeal blood clotting. Results. Analysis of expression of the examined genes showed over-expression of the DRD1 gene in patients experiencing chronic pain, which means that in these patients an increased number of dopamine D1 receptors encoded by this gene should be expected. The dopamine D1 receptor is a G-protein-coupled receptor which regulates (stimulates or inhibits) adenyl cyclase – the enzyme responsible for synthesis of cyclic AMP (cAMP). An increase in the concentration of cAMP in neurons enhances the sensation of pain. Conclusions. The genes (DRD1, COMT, OPRK1, HCN2) have a significant role in the pathogenesis of chronic pain in various diseases; they can also influence the perception of pain. Knowledge of these genes can contribute to the development of effective methods of combating pain.
    Źródło:
    Annals of Agricultural and Environmental Medicine; 2020, 27, 2; 274-278
    1232-1966
    Pojawia się w:
    Annals of Agricultural and Environmental Medicine
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
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