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Inverse Solution and Optimal Concept Rethink from Human Operation to Industrial Redundant Manipulator Meiling Wang, Minzhou Luo, and Xin Lin Department of Automation, University of Science and Technology of China, Hefei, China Institute of Advanced Manufacturing Technology Hefei Institute of Physical Science, Chinese Academy of Science, Changzhou, China Department of Automation, University of Science and Technology of China, Hefei, China whx9690@126.com, lmz@iim.ac.cn, eliza.yilisha@gmail.com Keywords: Inverse kinematics, Human operation, Industrial redundant manipulator Abstract.
Most representative robot prototypes are Motoman (SID10, SID20) of Yaskawa Co, which designed for complex assembly and material handling applications [1].
Table. 2 Eight sets of inverse solution No. θ1 θ2 θ3 θ4 θ5 θ6 θ7 1 0.5236 -1.5602 -0.3902 -1.4240 1.0184 0.7711 0.5372 2 0.5236 -4.7018 -0.3902 -1.4240 -1.0955 1.4540 0.9527 3 0.5236 -0.2129 -3.5318 -1.4240 1.3003 0.5861 -0.9968 4 0.5236 -3.3545 -3.5318 -1.4240 -1.3251 1.3362 -1.2317 5 0.5236 -0.2129 0.3902 1.4240 1.3251 -1.3362 -1.2317 6 0.5236 -3.3545 0.3902 1.4240 -1.3003 -0.5861 -0.9968 7 0.5236 -1.5602 2.7514 1.4240 1.0184 -0.7711 0.5372 8 0.5236 -4.7018 2.7514 1.4240 -1.0955 -1.4540 0.9572 Acknowledgments This work is supported by the project of National Natural Science Foundation of China (No.51275505), Jiangsu province science and technology support plan key projects (No.BE2013003) and supported by the fund of China Scholarship Council.
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This is not only a problem of natural science but also a problem of social science.
Promoting the supporting capacity of independent innovation Nowadays,the model of economic development should be changed from the driving growgh into the innovating growth，from great investment of the capital,energy, raw material and labor force into the technical progress.The United States,Japan,Finland are widely recognized as the innovative countries in the world, their technology contribution to economic development generally reached above 70%.
Acknowledgement I am thankful and acknowledge the support under Fujian Macro- Science Foundation Programme( No. 2010R0046) References [1] O Afacan, M.
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Introduction The Chinese postman problem introduced by Meigu Guan [1] is a class of arc routing problems, it has extensive applications in many fields such as winter gritting [2], municipal waste collection [3], material allocation and delivery [4] as well as intelligent transportation [5,6].
Acknowledgements This work was financially supported by Natural Science Foundation of China (Grant No. 51368055).
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Introduction Nowadays, there is a trend to substitute conventional materials for lighter alloys to reduce fuel consumption in transport applications.
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An initial grain size close to 30 mm was measured in both materials.

References [1] Tian, Y., Qian, H., Cao, Z., Zhang, D., and Jiang, D., Identification of Pre-Tightening Torque Dependent Parameters for Empirical Modeling of Bolted Joints, Journal of the MDPI, Applied Sciences, 11, 2021
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The development of ecological restoration science theory began in the 1980s.
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(a) Liftoff curve of internal defects’ normal component (b) Liftoff curve of external defects’ normal component Fig.2 Simulation of Liftoff Characteristic Curve of Vnpp(z) Value Fitting Existing theory of MFL testing holds that magnetic conductivity of material in the range of pipe wall thickness is approximate to the magnetic conductivity of air when the steel pipe is magnetized to saturation.
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Reference [6] proposed the transformer aging model to calculate the failure rate according the relationship between furfural content and DP, this model only considers the influence of solid insulating materials aging.
So the main reason of transformer aging includes the solid insulating materials aging and insulating oil aging, we can judge the transformer aging degree through its on-line state monitoring information.
Although DGA information can more fully characterize the internal latent failures development, the insulating oil aging can be resolved through the oil filter regeneration or replacement and solid insulating materials aging are not changed.
The average DP index can be more essential to reflect the decomposition degree of the solid insulating materials.
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Regarding the surface topography of the HA, previous studies have shown that protein adsorption and cell adhesion increase in materials having increased porosity.
Samples of stoichiometric hydroxyapatite powders were synthesized in the laboratory of bioceramic materials of the Brazilian Center for Physics Research (CBPF) as described previously [10].
Results and discussion Materials Characterization.
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