Part 1: Background This analysis is primarily an exploration of the uses for Joint Couplers in COSMOSMotion An explanation of Joint Couplers: Joint couplers allow the motion of a revolute, cylindrical, or translational joint to be coupled to the motion of another revolute, cylindrical or translational joint. The two coupled joints may be of the same or different types; for example, a revolute joint may be coupled to a translational joint. The coupled motion may also be of the same or different type. For example, the rotary motion of a revolute joint may be coupled to the rotary motion of a cylindrical joint, or the translational motion of a translational joint may be coupled to the rotary motion of a cylindrical joint. Coupler joints are used here to produce motion between objects of complex geometry where a simple mate will not suffice. In this case the objects are bevel gears
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Joint Tenancy 10 Disadvantages 1. Risky - joint tenancy has an ownership interest in the property and the property is available to the creditors of the joint tenant, as well as may become subject to the marital disputes, disabilities, and other problems of the joint tenant. a 2. Does not allow for contingent beneficiaries if the joint tenancy predeceases. 3. Surviving joint tenant is entitled to the entire property at death of a joint tenant - where there are several persons who are the beneficiaries of the owner’s estate, difficult to name all as joint tenants, and more risky. 4. For Medicaid purposes, Medicaid applicant presumed to be 100% owner of all personal joint property Dutton & Casey, PC, Attorneys at law
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Knee Joint • Largest, most complex joint of body • Consists of three joints surrounded by single cavity 1. Femoropatellar joint • Plane joint • Allows gliding motion during knee flexion 2. Lateral joint and 3. Medial joint • Lateral and medial joints together are called tibiofemoral joint • Joint between femoral condyles and lateral and medial menisci of tibia • Hinge joint that allows flexion, extension, and some rotation when knee partly flexed © 2016 Pearson Education, Inc.
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6. Trajectory Generation 150 150 100 100 50  1 0  2  3 Cartesian Angle in  Joint Angle in  Cartesian Space TG: Joint Angle Time History 200 -50 50  1 0  2  3 -50   4 4  5 -100  5 -100   6 -150 0 0.2 0.4 0.6 0.8 1 1.2 Time in sec 1.4 1.6 1.8 6 -150 2 0 0.2 px -0.5 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 Normalized Units 1 0 kx -0.5 -1 0.4 0.6 0.8 1 1.2 1.4 0.8 1 1.2 Time in sec 1.4 1.6 1.8 2 0 px py -0.5 0 py 0.5 0.2 0.6 0.5 0.2 0.4 pz Joint Space TG: Axis of Rotation 0 Tool Position in m 0 1.6 1.8 ky 2 k z 0.6 0.8 1 1.2 1.4 1.6 1.8 2 Cartesian Space TG: Axis of Rotation Normalized Units Tool Position in m 0.5 0 0.4 Cartesian Space TG: Positional Time History Joint Space TG: Positional Time History 1 0.5 0 kx -0.5 1.6 1.8 ky 2k z 1.6 1.8 2 -1 0 0.2 0.4 0.6 0.8 1 1.2 1.4 Cartesian Space TG: Angle of Rotation Joint Space TG: Angle of Rotation 200 Angle in  200 Angle in  Joint Space Trajectory Generation Joint Space TG: Joint Angle Time History 200 150 150 100 100 0 0.2 0.4 © 2011, Dr. Stephen Bruder 0.6 0.8 1 1.2 Time in sec 1.4 1.6 1.8 2 ME 482/582: Robotics Engineering 0 0.2 0.4 0.6 0.8 1 1.2 Time in sec 1.4 Thursday 25th Oct 2012 pz Cartesian Space Trajectory Generation 6.4 An Example: Joint vs Cartesian Slide 12 / 12
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Viewing and Taking Ownership • Viewing Ownership • View file or folder ownership of a file or folder from the Owner tab in the advanced security settings of the file/folder properties • Properties of file or folder /Security / Advanced / Owner • Taking Ownership • Take ownership of a file or folder from the Owner tab in the advanced security settings of the file/folder properties • Properties of file or folder / Security / Advanced / Owner /Edit • Select a new owner from the Change Owner to Box or add a new user to the list and select that new user (add a new user or group by using the Other Users or Groups button) • Use the Replace Owners on Subcontainers and Objects with caution. • Taking ownership does not automatically add the owner to the file/folder’s ACL. • Example: If an administrator has no permissions to a file or folder he/she can take ownership of the file/folder but administrators are not automatically added to the security tab of that file or folder – the new entry must be added. 2
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What specific facts can you tell me about the extensor digitorum longus, even if you don’t know the muscle? It is a muscle that….? 1. 2. 3. 4. flexes at a joint, probably moves the elbow joint, and it is short. extends at a joint, probably moves the knee joint, and it is feather-like. extends at a joint, probably moves a finger or toe joint, and it is long. abducts at a joint, probably moves the hip joint, and it is large.
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Resultant Joint Torques • Concentric and eccentric complicated in two joint muscles • Two joint muscles – Concentric at one joint – Eccentric at a second joint – Can you give an example? • 3 factors that affect net joint torques: segment weight, motion of segment, external forces • How does speed affect net joint torques?
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Joints Farseer Physics Engine provides you with some of the basic joints. You can create almost any dynamic behavior by combining these joints: · · · · · · Revolute joint* Angle joint* Angle limit joint* Pin joint Slider joint Gear joint – experimental * Has a "fixed" version. The fixed versions mean that the joint is anchored to the world and not to another body as their non-fixed versions.
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Bevel Gear Exercise Add Joint Coupler • Define Joint Coupler between 20Bevel5 and 40 Bevel1 (Joint 1 and Joint 3) • Define Joint Coupler between 40 Bevel1 and 20Bevel4 (Joint 3 and Joint 2) • Enter Values as shown below
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Bevel Gear Exercise Add Joint Coupler • Define Joint Coupler between 20Bevel5 and 40 Bevel1 (Joint 1 and Joint 3) • Define Joint Coupler between 40 Bevel1 and 20Bevel4 (Joint 3 and Joint 2)
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Understanding Ownership • Ownership • Every folder and file on an NTFS partition of a Windows 2008 server has an owner • The person who creates the file is the owner • The owner can always access the file/folder • The owner can always change its permissions • This is true even if they’ve been removed from the security tab. Because they own it they can simply add themselves to the security tab! • Administrators can take ownership of any file or folder • This is useful in a situation where the file is not otherwise accessible – i.e, user who created the file had previously removed administrators from the security tab and that user has been deleted • Any user who has the special NTFS Change Permission or the special NTFS Take Ownership permission to a file or folder can take ownership of that file or folder 1
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Joint Definition - Friction Joint Friction is determined based on the parts connected by the joint. By default materials from SW are used and a default of dry steel for friction and contact properties. The user can override this at any time by selecting other materials from the database or by using custom values for friction and Joint dimensions. Joint dimensions relate to the dimensions of the surfaces in contact for the joint to determine frictional components from every load direction.
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Sternoclavicular joint Intercarpal and Intertarsal joints Elbow joint Knee joint Ankle joint Interphalangeal joints Atlantoaxial joint Proximal Radioulnar Joint (pronate/supinate)
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9-3 Joint Product Processes Concept: Concept: in insome someindustries, industries, aanumber numberof of products productsare are produced producedfrom from aasingle singleraw rawmaterial material input. input. Key Keyterms: terms:   Joint Joint products products ––products productsresulting resulting from from aaprocess process with withaacommon commoninput. input.   Split-off Split-offpoint point ––the thestage stageof of processing processingwhere wherejoint joint products productsare areseparated. separated.   Joint Joint costs costs ––costs costsof of processing processingjoint jointproducts products prior priorto tothe thesplit-off split-off point. point.   Final Finalproduct product ––ready readyfor forsale salewithout withoutfurther further processing. processing.   Intermediate Intermediateproduct product ––requires requiresfurther further processing processing before beforesale. sale.
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Outline • The Need for IE and Data Mining. • Motivate Joint Inference • Brief introduction to Conditional Random Fields • Joint inference: Information Extraction Examples – Joint Labeling of Cascaded Sequences (Belief Propagation) – Joint Labeling of Distant Entities (BP by Tree Reparameterization) – Joint Co-reference Resolution (Graph Partitioning) – Probability + First-order Logic, Co-ref on Entities – Joint Information Integration (MCMC + Sample Rank) • Demo: Rexa, a Web portal for researchers (MCMC)
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Outline • • Examples of IE and Data Mining. Motivate Joint Inference • Brief introduction to Conditional Random Fields • Joint inference: Examples – Joint Labeling of Cascaded Sequences – Joint Co-reference Resolution (Loopy Belief Propagation) (Graph Partitioning) – Joint Co-reference with Weighted 1st-order Logic – Joint Relation Extraction and Data Mining • Ultimate application area: Rexa, a Web portal for researchers (MCMC) (Bootstrapping)
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Outline • • • Examples of IE and Data Mining. Motivate Joint Inference Brief introduction to Conditional Random Fields • Joint inference: Examples – Joint Labeling of Cascaded Sequences – Joint Co-reference Resolution (Loopy Belief Propagation) (Graph Partitioning) – Joint Co-reference with Weighted 1st-order Logic – Joint Relation Extraction and Data Mining • Ultimate application area: Rexa, a Web portal for researchers (MCMC) (Bootstrapping)
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Outline • • Examples of IE and Data Mining. Motivate Joint Inference • Brief introduction to Conditional Random Fields • Joint inference: Examples – Joint Labeling of Cascaded Sequences – Joint Co-reference Resolution (Loopy Belief Propagation) (Graph Partitioning) – Joint Co-reference with Weighted 1st-order Logic – Joint Relation Extraction and Data Mining • Ultimate application area: Rexa, a Web portal for researchers (MCMC) (Bootstrapping)
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Outline • • • Examples of IE and Data Mining. Motivate Joint Inference Brief introduction to Conditional Random Fields • Joint inference: Examples   – Joint Labeling of Cascaded Sequences – Joint Co-reference Resolution (Loopy Belief Propagation) (Graph Partitioning) – Joint Co-reference with Weighted 1st-order Logic – Joint Relation Extraction and Data Mining • Ultimate application area: Rexa, a Web portal for researchers (MCMC) (Bootstrapping)
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Outline • • • Examples of IE and Data Mining. Motivate Joint Inference Brief introduction to Conditional Random Fields • Joint inference: Examples    – Joint Labeling of Cascaded Sequences – Joint Co-reference Resolution (Loopy Belief Propagation) (Graph Partitioning) – Joint Co-reference with Weighted 1st-order Logic – Joint Relation Extraction and Data Mining • Ultimate application area: Rexa, a Web portal for researchers (MCMC) (Bootstrapping)
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Outline • • • • Examples of IE and Data Mining. Motivate Joint Inference Brief introduction to Conditional Random Fields Joint inference: Examples – Joint Labeling of Cascaded Sequences – Joint Co-reference Resolution (Loopy Belief Propagation) (Graph Partitioning) – Joint Co-reference with Weighted 1st-order Logic – Joint Relation Extraction and Data Mining • Ultimate application area: Rexa, a Web portal for researchers (MCMC) (Bootstrapping)
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References/ Where to Get More Information Data Warehouse Training: Development Methodology - Joint Application Development (JAD) http://www.datawarehouse-training.com/Methodologies/joint-application-design.htm Human Resource Services: Joint Application Development (JAD) What do you really want? http://www.utexas.edu/hr/is/pubs/jad.html#why Bauhaus Consulting Group: Fundamentals of Joint Application Development (JAD) http://www.bcgrp.com/JAD4.htm Netmation: Joint Application Development (JAD) http://www.netmation.com/docs/bb12.htm JAD Sessions http://www.thehathaway.com/Workshops.html Joint Application Design/Development: Mei C. Yatco http://www.umsl.edu/~sauter/analysis/JAD.html 26
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Convenience Accounts 11 As of January 1, 2010, Illinois law allows bank account holders to name another person on their account for the sake of convenience. Previously, your sole option in naming another person on your account was as joint tenants with rights of survivorship, meaning the joint tenant is entitled to inherit the account upon your death. It also meant that you were making an inter vivos gift, or in other words, giving the joint tenant the right to legally take all of your money for himself. Furthermore, it meant that you could not remove the joint tenant without his consent– even if this person was withdrawing money from the account for himself without your permission. The new law allows you to name a person on your account without making an inter vivos gift and without entitling that person to inherit your account upon your death. Most importantly, the new law allows you to remove the person from your account at any time without his permission. Note: Your joint accounts will not be converted automatically to convenience accounts under this law and you still have the option of holding joint accounts. In order for this new law to apply, you will need to go to your bank and open a new convenience account. Dutton & Casey, PC, Attorneys at law
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Properties of joint and conditional entropy H(X, Y) = H(Y,X) symmetry of joint entropy H(X, Y) ≥ 0  nonnegativity of joint entropy H(X | Y) ≥ 0; H(Y | X) ≥ 0  nonnegativity of conditional entropy H(X | Y) = H(X,Y) - H(Y)  conditional and joint entropy relation H(X,Y) ≥ H(Y )  joint entropy vs. entropy of a single rv H(X,Y) ≤ H(X) + H(Y )  subadditivity H(X, Y, Z) + H(Y) ≤ H(X,Y) + H(Y,Z)  strong subadditivity H(X | Y) ≤ H(X)  reduction of uncertainty by conditioning H(X,Y,Z) = H(X) + H(Y | X) + H(Z | X, Y )  chain rule for joint entropy H(X,Y | Z) = H(Y | X,Z) + H(X | Z) chain rule for conditional entropy: 03/22/2019 Lecture 17 10
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Summary of Agency Roles Instream Flow Study Element Study Design Coordinating Agency Joint Hydrological and Hydraulic Evaluation TWDB Biological Evaluation TPWD Physical Processes Evaluation Joint Water Quality Evaluation TCEQ Integration Joint Interpretation Joint Study Report Joint Monitoring and Validation Joint
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Joint Factory Revolute Joint Factory 1.      CreateRevoluteJoint(PhysicsSimulator physicsSimulator, Body body1, Body body2, Vector2 initialAnchorPosition) 2.      CreateRevoluteJoint(Body body1, Body body2, Vector2 initialAnchorPosition)   Pin Joint Factory 1.      CreatePinJoint(PhysicsSimulator physicsSimulator, Body body1, Vector2 anchor1, Body body2, Vector2 anchor2) 2.      CreatePinJoint(Body body1, Vector2 anchor1, Body body2, Vector2 anchor2)   Slider Joint Factory 1.      CreateSliderJoint(PhysicsSimulator physicsSimulator, Body body1, Vector2 anchor1, Body body2, Vector2 anchor2, float min, float max) 2.      CreateSliderJoint(Body body1, Vector2 anchor1, Body body2, Vector2 anchor2, float min, float max)   Angle Joint Factory 1.      CreateAngleJoint(PhysicsSimulator physicsSimulator, Body body1, Body body2) 2.      CreateAngleJoint(Body body1, Body body2) 3.      CreateAngleJoint(PhysicsSimulator physicsSimulator, Body body1, Body body2, float softness, float biasFactor) 4.      CreateAngleJoint(Body body1, Body body2, float softness, float biasFactor)   Angle Limit Joint Factory 1.      CreateAngleLimitJoint (PhysicsSimulator physicsSimulator, Body body1, Body body2, float min, float max) 2.      CreateAngleLimitJoint (Body body1, Body body2, float min, float max)  
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Cross-layer Optimization Under dynamic traffic model:  Static channel assignment + joint routing and scheduling  Joint routing, scheduling and channel assignment Under static traffic model:  Static channel assignment + joint congestion control, routing and scheduling  Joint congestion control, scheduling and channel assignment  Joint congestion control, scheduling, routing and channel assignment  Joint congestion control, scheduling, routing, power control and channel assignment If using 802.11MAC, no need to consider scheduling. CS541 Advanced Networking 11
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IV. Range of Motion (RoM) • Active RoM – amount of movement that can be accomplished by contraction of the muscles that normally act across a joint • Passive RoM – Amount of movement that can be accomplished when moved by an outside force (Therapist) • RoM influeced by: a) Shape of articulating surfaces b) Amount & shape of articular cartilage covering the articular surfaces c) Strength & location of ligaments & tendons surrounding the joint d) Strength & location of the muscles associated with the joint e) Amount of fluid in & around the joint f) Pain in & around the joint g) Amount of use or disuse of the joint over time AP1 Chapter 8 34
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