Transformation articulated

In Equation 4.51, L acts as a spatial transformation which prqjagates the spatial accel tion vector, a,- i, across joint i. We will call a matrix which transforms spatial vectcs s across actuated joint structures a spatial articulated tran ormation. In general, an articulated transformation is a nonlinear function of the articulated-body inertia and is a dimensionless 6x6 matrix. Featherstone calls the articulated transformation, L,, the acceleration propagator [9]. It relates the spatial acceleration of one link of an articulated body to the spatial acceleration of a neighbraing link in the same articulated body (ignoring bias... 

The vector f, rqrtesents the spatial contact fCH ce vector, f, propagated down from the tip of the chain, across joint i, to the tip of link i — 1. We will now define the spatial articulated transformation. 

In this simple recursion, the operational space inertia matrix of the base member, Ao, is propagated across joint 1 by La > a new spatial articulated transformation which is very similar in form to the acceloation propagator of the previous section. The propagated matrix is combined with Ii, the spatial inertia of link 1 to form Ai, the operational space inertia matrix of the two-link partial chain comprised of links 0 and 1. Note the similarity between this recursive procedure and the structural recursion used to derive the Structurally Recursive Method (Method I) in Ch t 3. 

From the beginning, the problem is to discover what the sickness is the sick one is suffering from and prognosticate the remedy. Medicine woman, she eats the mushrooms to see into the spirit of the sick, to disclose the hidden, to intuit how to resolve the unsolved for an experience of revelations. The transformation of her everyday self is transcendental and gives her the power to move in the two relevant spheres of transcendence in order to achieve understanding that of the other consciousness where the symptoms of illness can be discerned and that of the divine, the source of the events in the world. Together with visionary empathy, her principal means of realization is articulation, discourse, as if by saying she will say the answer and announce the truth. 

Excitation/System Model For a uniform change in the time scale, the time to corresponding to the original articulation rate is mapped to the transformed time through the mapping... 

An initial hierarchy of required qualities arises out of the detailed analysis of the chemical transformation plus the data from exploratory tests to select the catalytic species. This hierarchy depends on general laws of kinetics and chemical engineering, as well as observations of industrial operations that are more or less analogous. The steps of its articulation are as follows ... 

The metaphor of the dictionary embraced by Baudelaire clearly links nature and language. It echoes the letter to Alphonse Tousse-nel of 21 Jaunuary 1856, in which Baudelaire writes that la Nature est un verbe, une allegorie, un moule, un repousse 7 Art, then, is presented as the interpretation, articulation and expression of that language. The emphasis placed on the transformative dimension of... 

One of the fundamental tasks required to achieve the ultimate goal of hydrogeology is to understand the controls on energy distribution and transformation within an aquifer system. If this is accepted, it then becomes the hydrologists role to bring together into one concept the fluxes and forces of the chemical reactions, of the hydrodynamic flow paths, and of heat. This idea was clearly articulated and developed by G. B. Maxey (7, p. 145), who stated in part ... 

From Figure 15, the actual free enregy ehange for the eonversion of SI and S2 is metieulously computed by carrying out the perturbation in the Hamiltonian of reactant state (i.e., initial state) SI into that of the product state (i.e., final state) S2. In actual practice, such a transformation is invariably achieved via articulated parameterization of the variuos terms and conditions that essentially constitute the ensuing interaction potentials of the prevailing system. It is also accompanied with a distinct and noticeable change of state variable which specifically maps onto the desired reactant and product stales in a situation where the variable stands at 0 and 1 respectively. 

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