On two methods of determining the ellipses and ellipsoids of positioning accuracy of robot manipulators

Summary When analysing the problem of the positioning accuracy of robot manipulators it is important to know how far random deviations of the hand may be from the desired position if the joint positioning errors possess a normal distribution. Two methods of determining the ellipses and ellipsoids of probability concentration are compared. The first of them is based on the standard procedure of the probability calculus. The second approximate method consists in finding at first the polygon or polyhedron of the positioning accuracy, and then in finding the ellipse or ellipsoid with principal axes and second order moments coinciding with those of the polygon or polyhedron, respectively. Examples of application demonstrate that these two methods give very close results.

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Zwei Methoden zur Bestimmung der Ellipsen und Ellipsoide der Positioniergenauigkeit von Handhabungsrobotern

Übersicht Bei der Untersuchung der Positioniergenauigkeit von Handhabungsrobotern ist es wichtig, die Größe zufälliger Abweichungen des Greifers von der erstrebten Position zu kennen, wenn die Lagefehler der Verbindungen eine Normalverteilung besitzen. Es werden zwei Methoden zur Bestimmung der Ellipsen bzw. Ellipsoide der Wahrscheinlichkeitsdichte verglichen. Die erste beruht auf dem Standardverfahren der Wahrscheinlichkeitsrechnung. Die zweite Näherungsmethode besteht darin, daß zunächst das Polygon bzw. Polyeder der Positioniergenauigkeit bestimmt wird und danach die Ellipse bzw. das Ellipsoid mit den Hauptachsen und Momenten zweiter Ordnung wie das Polygon oder Polyeder. Beispiele zeigen, daß beide Methoden zu sehr ähnlichen Ergebnissen führen.

     

A Glivenko-Cantelli lemma and weak convergence for empirical processes of associated sequences

Summary With the help of an extension of Hoeffding's equality, we develop a way for estimating the covariance structures for empirical functions of associated sequences in terms of covariances of the original random variables. Based on these estimations, a Glivenko-Cantelli lemma for associated sequences and weak convergence for empirical processes of stationary associated sequences are obtained, all under the conditions on covariances of the original random variables.This research has been supported partially by a scholarship from the Faculty of Graduate Studies and Research of Carleton University, Ottawa, and by an NSERC Canada grant of M. Csörg     

Orlicz spaces,spline systems,and brownian motion

There are three results proved in this paper. The first one characterizes the Hölder classes in Orlicz spaces by the coefficients of the orthogonal spline expansions of the Franklin type. The second one gives a sharp estimate for the correlation of two random variables obtained as a composition of two Borel functions with the components of a given two-dimensional Gaussian vector. The third one is obtained with the help of the first two and it states that the Wiener measure is concentrated on the Banach space of Hölder functions with exponent 1/2 but in the norm of the Orlicz spaceL _M ^* withM(t)=expt(t ²)?1.     

Quinaldine derivatives with fluorine-containing substituents and cyanine dyes based on them

Condensation of fluorine-containing anilines with paraldehyde gave quinaldine derivatives with CF₃, CF₃S, and CF₃SO₂ groups in the 6 position, from which carbocyanine, merocyanine, and styryl dyes were synthesized. Fluorine-containing groups lower the basicity of quinaldine by 0.7–2.0 pK_a units and lead to deepening of the color of the dyes.Translated from Khimiya Geterotsiklicheskikh Soedinenii, No. 1, pp. 76–78, January, 1978.     

Unusual coordination of the in(3+) atom in the decahydrated complex Na3{In[N(CH2COO)3]2}·9H2O

All-Union Scientific-Research Institute of Chemical Reagents and Ultrapure Chemical Substances. Translated from Zhurnal Strukturnoi Khimii, Vol. 32, No. 2, pp. 163–166, March–April, 1991.     

磺胺二甲嘧啶的极谱伏安行为

本文考察了磺胺二甲嘧啶在多种底液中的极谱伏安行为，发现其在ＢｒｉｔｏｎＲｏｂｉｎｓｏｎ（ＢＲ）缓冲溶液（ｐＨ２．２）中产生一个良好的还原峰，峰电位为－０．８５Ｖ（ｖｓ．ＳＣＥ），峰电流与磺胺二甲嘧啶浓度在１×１０－７３×１０－４ｍｏｌ／Ｌ范围内呈良好的线性关系，检出限为９×１０－８ｍｏｌ／Ｌ，大多数金属离子和无机阴离子不干扰测定，可望用于定量测定用多种电化学方法研究了该还原峰电流的性质，结果表明，它是具有吸附性质的不可逆还原峰