University of Naples Federico II

About: University of Naples Federico II is a education organization based out in Naples, Campania, Italy. It is known for research contribution in the topics: Population & Cancer. The organization has 29291 authors who have published 68803 publications receiving 1920149 citations. The organization is also known as: Università degli Studi di Napoli Federico II & Naples University.

Review of the damped least-squares inverse kinematics with experiments on an industrial robot manipulator

Abstract: The goal of this paper is to present experimental results on the implementation of the damped least-squares method for the six-joint ABB IRb2000 industrial robot manipulator. A number of inverse kinematics schemes are reviewed which allow robot control through kinematic singularities. The basic scheme adopts a damped least-squares inverse of the manipulator Jacobian with a varying damping factor acting in the neighborhood of singularities. The effect of a weighted damped least-squares solution is investigated to provide user-defined accuracy capabilities along prescribed end-effector space directions. An online estimation algorithm is employed to measure closeness to singular configurations. A feedback correction error term is introduced to ensure algorithm tracking convergence and its effect on the joint velocity solution is discussed. Computational aspects are discussed in view of real-time implementation of the proposed schemes. Experimental case studies are developed to investigate manipulator performance in the case of critical end-effector trajectories passing through and near the shoulder and wrist singularities of the structure. >

On interacting defaults

Abstract: Although most commonly occurring default rules are normal when viewed in isolation, they can interact with each other in ways that lead to the derivation of anomalous default assumptions*. In order to deal with such anomalies it is necessary to re-represent these rules, in some cases by Introducing non-normal defaults. The need to consider such potential interactions leads to a new concept of integrity, distinct from the conventional Integrity Issues of first order data bases. The non-normal default rules required to deal with default interactions all have a common pattern, Default theories conforming to this pattern are considerably more complex than normal default theories. For example, they need not have extensions, and they lack the property of semi-monotonicity.

Expanding the taxonomy of the diagnostic criteria for temporomandibular disorders

Abstract: There is a need to expand the current temporomandibular disorders' (TMDs) classification to include less common but clinically important disorders. The immediate aim was to develop a consensus-based classification system and associated diagnostic criteria that have clinical and research utility for less common TMDs. The long-term aim was to establish a foundation, vis-a-vis this classification system, that will stimulate data collection, validity testing and further criteria refinement. A working group [members of the International RDC/TMD Consortium Network of the International Association for Dental Research (IADR), members of the Orofacial Pain Special Interest Group (SIG) of the International Association for the Study of Pain (IASP), and members from other professional societies] reviewed disorders for inclusion based on clinical significance, the availability of plausible diagnostic criteria and the ability to operationalise and study the criteria. The disorders were derived from the literature when possible and based on expert opinion as necessary. The expanded TMDs taxonomy was presented for feedback at international meetings. Of 56 disorders considered, 37 were included in the expanded taxonomy and were placed into the following four categories: temporomandibular joint disorders, masticatory muscle disorders, headache disorders and disorders affecting associated structures. Those excluded were extremely uncommon, lacking operationalised diagnostic criteria, not clearly related to TMDs, or not sufficiently distinct from disorders already included within the taxonomy. The expanded TMDs taxonomy offers an integrated approach to clinical diagnosis and provides a framework for further research to operationalise and test the proposed taxonomy and diagnostic criteria.