A Spinor Method of Solution of Manipulators’ Inverse Kinematics Problem with Rotational Pairs

A new method and algorithm of solution of multijoint manipulators with rotational pairs inverse kinematic problem was created. The method is based on the principally new approach-spinor representation of the spatial generalized rotations. One of the advantages of the method is that it allows elaborating formulation of technological tasks for manipulators in terms of Cartesian coordinates instead of traditional angles’ terms. Besides the method allows using only one (absolute) coordinate system and does not require a set of different (relative) coordinate systems. It provides easy, reliable and efficient way of solution of inverse kinematics problem of multijoints manipulators with rotational pairs.spinors, rotations, Euler’s angles, basic representations, kinematics inverse problem, orthogonal transformations

Simple Relations between Elements of the Three-Dimensional Orthogonal Matrix of the Basic Representation and Euler and RPY’ Angles

In this Article transformation angles of the methods of RPY (Roll, Pitch and Yaw) and Euler are found using Spinor method [Milnikov A.A., Prangishvili A.I., Rodonaia I.D. (2005) ], which The method is based on the principally new approach-spinor representation of the spatial generalized rotations. And provides easy, reliable and efficient way of solution of inverse kinematics problem of multijoints spherical manipulators.RPY’ angles, Euler’s angles, spinors, rotations, and kinematics inverse problem,

Resolving Lexical Ambiguity in Tensor Regression Models of Meaning

This paper provides a method for improving tensor-based compositional distributional models of meaning by the addition of an explicit disambiguation step prior to composition. In contrast with previous research where this hypothesis has been successfully tested against relatively simple compositional models, in our work we use a robust model trained with linear regression. The results we get in two experiments show the superiority of the prior disambiguation method and suggest that the effectiveness of this approach is model-independent

Consideration of Easygard Post Design on the Base of Advances Concurrent Engineering Tool

The essence of CE is the integration of product design and process planning into one common activity. Concurrent design helps improve the quality of early design decisions and has a tremendous impact on life-cycle cost of the product. It is important to decide at an early stage in design which type of assembly method is likely to be adopted, based on the method yielding the lowest costs. This section allows the designer to decide, from the values of basic product and company parameters (production volume, number of parts, etc.) which assembly method is likely to be the most economic. The purchase of special-purpose automation equipment (high-speed automatic assembly) would almost certainly provide excellent return on investment. Somewhere between these extremes is a range of annual production volumes for which robot assembly might be the best economic choice if the assembly were appropriately designed. However, changing system is not only the way to reduce the production time and cost. It is also possible to reduce time and cost significantly by using software package and designing or redesigning assembly of product appropriately. Paper below represents design optimization possibilities by DFA approach for Easygard post engineering design produced by one of the UK medium size manufacturing company.

Pauli Matrices and the Theory of Representations of the Group of Rotations

It is shown that Pauli Matrixes can be derived from irreducible rotation group representations of the weight =1/2, which in turn based on the system of infinitesimal (elementary) spatial rotations. The last permits to substantiate why Pauli matrixes can be so sufficiently used for modeling of physical rotations.Pauli matrices, Group rotations, spinor transformation, group of rotation

Dialogue Act Recognition via CRF-Attentive Structured Network

Dialogue Act Recognition (DAR) is a challenging problem in dialogue interpretation, which aims to attach semantic labels to utterances and characterize the speaker's intention. Currently, many existing approaches formulate the DAR problem ranging from multi-classification to structured prediction, which suffer from handcrafted feature extensions and attentive contextual structural dependencies. In this paper, we consider the problem of DAR from the viewpoint of extending richer Conditional Random Field (CRF) structural dependencies without abandoning end-to-end training. We incorporate hierarchical semantic inference with memory mechanism on the utterance modeling. We then extend structured attention network to the linear-chain conditional random field layer which takes into account both contextual utterances and corresponding dialogue acts. The extensive experiments on two major benchmark datasets Switchboard Dialogue Act (SWDA) and Meeting Recorder Dialogue Act (MRDA) datasets show that our method achieves better performance than other state-of-the-art solutions to the problem. It is a remarkable fact that our method is nearly close to the human annotator's performance on SWDA within 2% gap.Comment: 10 pages, 4figure