Formal orthogonal polynomials revisited. Applications

From some results concerning the formal orthogonal polynomials, already proved in [5], we develop new properties of generalized adjacent polynomials which correspond to a change in the weight function. A new structure of the singular blocks is given. These results have a direct application to Lanczos methods, theG and -algorithms.     

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.

     

Beiträge zur Chemie der Pyrrolo[3,2-c]azepine und der Pyrrolo [3,2-b]azepine

Some chemical transformations in the series of the pyrrolo [3,2-b]azepines and the pyrrolo[3,2-c]azepines are reported: alkylation at the pyrrolo nitrogen and/or the azepino nitrogen, reduction of the lactam group by means of LiAlH₄, preparation of lactim ethers and amidines, substitution in position 2 by MANNICH reaction, bromination and condensation with oxalyl chloride or chloral hydrate, and the cyclocondensation with dimethylmalonyl chloride. The structures of the 2-substitution products have been evaluated by NMR.-spectroscopy.     

A configuration interaction study of phosphine using bonded functions

A computational study is made of the effect of basis set upon the energy, properties and inversion barrier of the phosphine molecule. The calculations are performed at both the SCF and CI level. The flexibility of the double zeta basis is discussed in the light of the results.