text:
Speak with a Hat Expert
Se Habla Español
Chainlink Newsboy Cap
|A beautiful Newsboy cap from Jaxon.The cap is a stunning mixture of grey and black checks and is fully lined with padded satin. 2" snap bill/visor.Approx. 10" - 10 1/2" diameter. Made of:40% wool.60% polyester. Quilted satin lined.Grosgrain ribbon sweatband.
Crushable Dekker Trilby
|The Dekker Trilby was named in honor of the legendary Ska Genius, Desmond Dekker, a.k.a. the King of Ska.Yes, we know that Mr. Dekker almost always wore a beret, but this is the hat seen on more heads of fans skanking the night away to Israelites than any other during the great man+?+?+?s reign on stage.4 1/4" crown.1 1/8" over-welt brim.Made of: 100% wool felt.Cotton sweatband.Grosgrain ribbon hatband.Crushable.Color: Black.Sizes: Small, Medium, Large and Extra Large.
Monk Fur Felt Pork Pie Hat
|This classic fur felt pork pie is designed by Jaxon Hats. The Monk features a grosgrain ribbon hatband, genuine leather sweatband and ivory satin lining. Approx. 3 3/4" crownApprox. 1 3/4" brim Made of: 100% fur felt Grosgrain ribbon hatbandGenuine leather sweatbandRemovable featherSatin lining
Maggie May Western Hat
|The Jaxon Maggie May Western Hat definitely has something to say - it's a cowboy hat that's comfortable riding the range or just hanging out on a Saturday night. Calling all cowboys and cowgirls - strap on this vented raffia straw western hat, roll the shapable brim and giddyup. Approx. 4 3/4" vented tear drop crownApprox. 3 1/4" overwelt shapeable wire brim Made of: 100% straw Elasticized sweatbandAdjustable chin cordConch shellUnlined
Eco Cotton Beanie Hat
|Made in the USA The Jaxon Eco Cotton Beanie Hat is a great year round beanie! Made from regenerated fibers and yarns, this beanie is eco friendly. Eco cotton stands for ecologically responsible products made using a unique manufacturing process that helps conserve resources: land, water and energy. Cut and sew clippings from apparel manufacturing are sorted and blended by color before spinning, eliminating the need for added dyes and chemicals. Other fibers such as acrylic, polyester, and eco fibers are added for performance and color intensity. By selecting this hat, you will help preserve our planet for future generations. Approx. 9 3/4" diameter Approx. 11" tall Made of: 75% cotton 25% acrylic Unlined Size: One size fits most - stretches to fit. Fits up to size 7 5/8 comfortably.
Check Newsboy Cap
|A tried and true style, the Jaxon Check 8/4 Cap is a winner. Who says you need a bold pattern to express yourself? Simplicity is what you need and exemplifies what makes a Jaxon Cap. A warm mix of tan and black will set the mood. 2" snap bill/visor. Approx. 10" - 10 1/2" diameter. Made of: 40% wool.60% polyester. Grosgrain ribbon sweatband. Supple satin lining.
Turin Wool Tickweave Newsboy Cap
|Limited edition. The Jaxon Hats Turin Tickweave Newsboy Cap is made from 100% Italian wool. The understated pattern of the tickweave allows for a two tone colorway of brown and tan, a neutral palette that compliments many individuals. Approx. 2" double snap bill/visor. Approx. 10 1/2" diameter. Made of: 100% Italian wool. Quilted satin lining.Tonal grosgrain ribbon sweatband.Removable Jaxon "J" side pin. Imported
Hammersmith Newsboy Cap - Youth
|The Jaxon Hats Hammersmith Newsboy Cap is a remarkably good looking cap for your fashionable child, particularly for this incredibly low price. A rich pallet of grey and blue hues make this distinct 8 panel cap timeless yet fresh at the same time. Approx. 2" snap bill/visor Approx. 10" diameter Made of : 40% wool 60% polyester Quilted polyester lining with seamed taping Jaxon removable side pin Size: Youth - Large. Fits comfortably up to size 6 7/8
|Hat runs small. We recommend ordering one size larger. Sizing info: Small - 53cm, Medium - 55cm, Large - 57cm, X-Large - 59cm DOSVEDANYA. PRAVDA. VODKA. That is the extent of our Russian - home of the Cossack Hat. Due to the crazy demand, we've brought the Jaxon Cossack back in stock! The extremely soft faux fur hat comes complete with a fully quilted satin lining along with cotton/fleece earlaps for those cold winter days. Approx. 2 7/8" earflapsApprox. 12 1/2" flat diameterApprox. 3 1/2" cuff Made of: 100% acrylic Quilted satin liningCotton/fleece earflapsFaux fur cap For Bulk/ Wholesale Purchase of this hat, CLICK HERE Or ask for Nita
Crushable Diamond Crown Fedora Hat
|High Stylin' & Profilin'...! You'll look wicked sexy in the new CRUSHABLE Jaxon Diamond Crown! The awesome crushable feature takes this fedora up to the next level with its already sweet design of water resistant wool felt, grosgrain ribbon hatband ending in a slick side bow, and the stingy over-welt brim! A price that isn't high, but quality is excellent! This diamond crown is literally out of this world! 3 3/8" crown. 1 5/8" over-welt brim. Made of: 100% wool felt. Cotton sweatband. Grosgrain ribbon hatband. Packable. Water resistant.
Wool Ivy Cap
|Jaxon Hats: Every Man, Any Occasion! Embrace the brisk winter days and keep your head warm with this simple black Jaxon Wool Ivy Cap. It's cut with a slim, dressed-up silhouette. Pair it with a sportcoat or a more casual jacket. You won't regret adding this cap to your winter wardrobe! Approx. 1 3/4" sewn bill Approx. 10" diameter Made of: 100% wool knit Packable Unlined Elasticized sweatband Padded brim Jaxon pin on left side of cap
Wool Gambler Hat
|The Jaxon Wool Gambler Hat is a dapper and stylish hat with a western flair. This hat embodies the same fast talking, risk taking style that the name suggests. Featuring a telescope crown, this Wool Gambler is ready for adventure! Approx. 3 3/8" underwelt brimApprox. 3 5/8" telescope crown Made of: 100% wool Grosgrain ribbon hatbandCotton sweatbandJaxon side pinUnlined
Striped Cable Knit Visor Beanie Hat
|The acrylic knit beanie has been modified with a bill, like a ball cap. You get the warmth and comfort of a beanie with the added bonus of the bill. Cable knit lends a textural pattern that is attractive and the color stripes add a fashionable print. 2 1/4" bill/visor. 7" tall crown (flat). Made of: 100% acrylic. Unlined for maximum breathability. Sewn Jaxon logo tab. Size: 1-size fits most. Fits comfortably up to 7 3/4.
Shallow Fit Basque Beret
|Made in the Basque region of Spain Made of: 100% Wool Satin lining Red trim with stitched detailing on inside Impermeable Waterproof: can survive a drizzle but not a downpour Beret will not shrink when you let it air dry.
Classics Zoot Fedora Hat - Made in the USA
|Made in the USAWho can forget Cab Calloway and his jive-dancing, scat-singing, zoot-suit wearing performances? It was Harlem and Los Angeles, Memphis and Detroit in the 1940's. Jazz and swing were rocking the country, and the hippest guys in town were wearing this new style fedora - wide brim snapped down with a contrasting ribbon hatband - a Zoot Fedora. So with or without your Zoot suit, sport that Jaxon Zoot Fedora Hat and you'll be stylin'. Approx. 4 1/8" c-crownApprox. 3 1/8" snap brim Made of: 100% wool White grosgrain ribbon hatbandGrosgrain ribbon bound edge brimLeather sweatbandRemovable featherCustom satin lining
Multi Stripe Trilby Fedora Hat
|The Jaxon Multi Stripe is one nifty fedora. With it's stingy brim and unique colors, this cotton braid hat will have you stand out whether you're out to lunch or out on the town!The hat comes with a stunning navy and grey striped band and side feather.Daytime or nighttime, this hat goes with anything and keeps you cool! 4" pinch crown.1 3/4" snap brim.1 1/2" hatband.Made of: Cotton braid. Grosgrain ribbon hatband.Removeable side feather.Grosgrain ribbon bound brim. Elasticized terrycloth sweatband.Unlined for maximum breathability.
Mini Glen Plaid Ivy Cap
|Jaxon Hats presents the Mini Glen Plaid Ivy Cap. Brown and Black Glen Plaid are paired up with burgundy for a classic look. Don't be fooled by the name and think that "mini"-mal style is given. This cap still brings the heat, as Jaxon Hats continues and forever will provide style, comfort and affordable pricing. 2" snap bill/visor.Made of:40% wool.60% polyester.Grosgrain ribbon sweatband. Supple sating lining.
Cork Safari Fedora Hat
|Jaxon Hats has added a new exciting material to their collection, cork! Taking the popular safari style silhouette Jaxon has created a cork version which is durable, natural and fashionable. A soft cotton pleated hat band wraps around the center dent crown and is finished with a removable Jaxon side pin representing you are wearing quality headwear. Eyelets are on either side of the crown to allow ventilation on warm days and khaki cotton bounds the brim. Approx. 4 1/4" center dent crown Approx. 2 1/2" brim Made of: 100% cork Cotton and linen blend sweatband Removable Jaxon metal side pin Cotton under brim Metal eyelets 3 pleat cotton hat band Unlined
Rude Boy Fedora Hat
|Note: Hat may come with a removable side feather. The Rude Boy is an homage to our favorite Ska bands of a long ago. Listening to The English Beat, The Specials, and Madness while growing up in the 80's gave us old-timers here at the Village Hat Shop, a love of all things Ska. This hat is the essence of the fashion end of the movement and perfect for skanking the night away. Oi!! 100% fur felt. 3 3/4" center crease crown. 1 1/2" wide raw edge snap brim. 1 5/8" wide black grosgrain ribbon hat band ends in a side bow. Satin lined. Leather sweatband. Available color: Black. Available sizes: 6 7/8 to 7 5/8.
Corduroy C-Crown Stingy Brim Fedora Hat
|This is the coolest hat we've ever carried at the Village Hat Shop. The entire staff has confirmed this as fact. The dark brown corduroy is lined in brown satin. The black corduroy is lined in black satin. 3 3/4" crown.1 5/8" stingy brim.Satin lining.
Pyrenees Basque Beret
|Made in France The Jaxon Pyrenees Basque Beret is Made in France. To reach the factory, one flies into Lourdes (famous destination for Catholic pilgrims visiting the grotto where in 1858 Bernadette Soubirous had visions of the Virgin Mary) and heads east into the Pyrenees Mountains, heart of Basque country. The nearly 200-year old factory makes our beret from European-made felt, impermeable (waterproof) pure virgin wool. The sweatband is genuine leather. There is a thin line of synthetic material banding the leather sweatband. A satin lining is sewn at the interior tip (but not on the sides so that the felt will not suffocate your head – breathing combined with warmth is the objective). A label that includes the Jaxon logo reads "Authentic Basque Beret, Impermeable Pure Virgin Wool" is sewn (not glued) to the lining. Features • Made of: 100% Wool • Satin lining • Red trim with stitched detailing on inside • Impermeable Waterproof: can survive a drizzle but not a downpour • Beret will not shrink when you let it air dry. Sizing Information • Small - 55cm - Approx. 10 1/2" diameter • Medium - 57cm - Approx. 10 3/4" diameter • Large - 59cm - Approx. 11" diameter • X-Large - 61cm - Approx. 11 1/8" diameter • XX-Large - 63cm - Approx. 11 1/4" diameter
Cable Knit Visor Beanie Hat
|The acrylic knit beanie has been modified with a bill, like a ball cap. You get the warmth and comfort of a beanie with the added bonus of the bill. Cable knit lends a textural pattern that is attractive and fashionable. 2 1/4" bill/visor.6 1/2" tall crown (flat). Made of: 100% acrylic. Unlined for maximum breathability.Sewn Jaxon logo tab.Size: 1-size fits most. Fits comfortably up to 7 3/4.
Oilcloth Trapper Hat
|ATTENTION: The Jaxon Oilcloth Trapper runs small in size. Small=53 cm Medium=55 cm Large=57 cm X-Large=59 cm XX-Large=61 cm A water resistant trapper! What a brilliant idea. The neck and earfaps are fully lined in faux lambswool and the crown is lined in padded polyester for extra warmth. The shell is made of 100% oilcloth, with the great feature of an adjustable strap that gives you the option to wear the ear flaps up or down. Ear flaps measure approx. 7" long. Made of: 100% oilcloth cotton. Padded polyester lining. Faux lambs wool lining. Adjustable cotton neck strap with tonal plastic clasps. Button trimmings.
Chainlink Ivy Cap
|A beautiful ivy cap from Jaxon.The cap is a stunning mixture of grey and black make up stripes that mimic chainlinks and is fully lined with padded satin. 2" snap bill/visor. Made of:40% wool.60% polyester. Quilted satin lined.Grosgrain ribbon sweatband.
Melton Big Apple Cap
|Sturdy construction and quality materials are a hallmark ofJaxon Hats. The Melton Wool Newsboy cap from Jaxon is no exception. This is a warm cap fully lined in satin and perfect for your standard fall/winter weather.Approx. 3" snap brimApprox. 12" diameter Made of:40% wool60% polyesterElasticized sweatbandSatin liningColor: Black.Size: 1-Size fits most. Fits up to size 7 3/8 comfortably.PLEASE NOTE THAT THIS CAP IS OVERSIZED, AND IS SIGNIFCANTLY MORE GENEROUS IN THE FULLNESS OF THE CAP. If you want a standard 8/4 cap, this is not the cap you are looking for.
Classics Top Hat - Made in the USA
|Made in the USA For a hat that was originally associated with the upper crust, the Top Hat has gotten around. From Abraham Lincoln's stovepipe version to Slash of Guns N'Roses who made it his signature, the Top Hat has been a mainstay since the late 18th Century. As a symbol of urban respectability, the fashionable topper has withstood the test of time. Uncle Sam, undertakers and Christmas carolers, prom-goers and magicians all prefer the Jaxon Top Hat. Approx. 4 7/8" crownApprox. 2 3/8" curled brim Made of: 100% woolGrosgrain ribbon hatbandGrosgrain ribbon bound edgeLeather sweatbandRemovable featherCustom satin lining For Bulk Purchase of this hat, CLICK HERE
Rib Knit Slouchy Beanie Hat
|Rock the Jaxon Rib Knit Slouchy Beanie on top of the mountain or show off your style on the streets. Featuring a soft warm ribbed beanie with an oversized crown, you'll turn heads with this popular look worn by young, casual, and fashionable men.A must have for any fan of beanie hats. Excellent for winter warmth! Approx. 12" tall beanie (flat) Made of: 100% acrylic Sewn Jaxon Hats logo tabUnlined for maxiumum breathability Size: 1-size fits most. Fits up to size 7 3/8 comfortably.
CoolMax Beanie Hat
|Made in the USA The Jaxon CoolMax Beanie Hat is the perfect skull cap to wear under your helmet or for a chilly morning run. With its CoolMax technology this beanie will transport moisture away from your body, keeping you cool and dry. Soft to the touch, this beanie is both comfortable and functional. Approx. 9 1/8" diameter Approx. 8 1/4" tall Made of: 100% CoolMax polyester Unlined Size: One size fits most - stretches to fit. Fits up to size 7 3/8 comfortably.
Sterling Stingy Brim Crushable Fedora Hat
|The Jaxon Sterling Crushable Fedora Hat is pure GOLD! Whether you're out on the town or entertaining a new client in hopes of signing the next big account - do it in style. Both crushable and packable, the Sterling is a quick grab to pitch that successful look. Approx. 3 1/2" Pinch-Front Crown Approx. 2 1/4" Stingy Snap-Brim Made of: 100% wool Grey Color Grosgrain Ribbon Hatband Cotton Sweatband Removable Side Feather
Houndstooth Ivy Cap
|Jaxon Hats keeps up with the current style trends of todays fashion world, and at the same time holds onto the classic styles of the past, and the Jaxon Houndstooth Ivy is just that! Jaxon has taken the timeless ivy style cap and has added the popular houndstooth pattern. 2" snap bill/visor. Made of: 40% wool.60% polyester.Grosgrain ribbon sweatband. Supple satin lining.
INT'L: +1 619-906-4440 Se habla español
Shop for Hats at VillageHatShop.com | Privacy Policy | Site Map
Copyright © 1999-2015 Village Hat Shop: The #1 Source for Hats Online
* FREE SHIPPING offer valid for USA Ground service only.
** All shipping offers exclude wholesale/B2B and special orders.
Click Here
1 (888) 847-4287
7 Days a Week 8am-5pm PST


text:
- All Sources
- All Default Sources
- Mainstream Sources
- Faceoff
- Globe and Mail
- NHL: Vancouver Canucks
- SLAM! Sports
- The Province
- Vancouver Sun
- Vancouver Sun: The Fan View
- Yahoo Sports: Yahoo!
- Independent Sources
- Bleacher Report
- Bloguin: Benched Whale
- Canucks Hockey Blog
- Fansided: The Canuck Way
- Rant Sports
- SB Nation: Nucks Misconduct
- The Nation Network: Canucks Army
- The Province: The White Towel
- The Province: The Legion of Blog
- Vancouver Sun: Puckworld
- Vancouver Sun: Fan-Attic
- Vancouver Sun: Pass It To Bulis
Gallagher: Sutter deal one of the best in recent Canucks history
by: Tony Gallagher, The Province July 30, 2015 4:42 PM — The Province 1 day ago
Ewen: Brendan Gallagher says Canucks fans will love Brandon Prust
by: Steve Ewen, The Province July 29, 2015 6:08 PM — The Province 2 days ago
Kuzma: Five burning off-season questions for the Canucks
by: Ben Kuzma, The Province July 29, 2015 6:51 PM — The Province 2 days ago
The Morning Skate, July 29: Awesome vintage Canucks photos edition
by: N/A — The Province 3 days ago
... ble for being the Canucks' very first NHL goalie. Not surprisingly, that accolade led to him playing j ...
Kuzma: Sutter looks to be Canucks' second-line centre
by: Ben Kuzma, The Province July 28, 2015 5:02 PM — The Province 3 days ago
Gallagher: Canucks get stronger up the middle with a positive trade for Brandon Sutter
by: Tony Gallagher, The Province July 28, 2015 12:03 PM — The Province 3 days ago
Canucks' tight cap doesn't help getting Baertschi deal done
by: N/A — The Province 11 days ago
Kuzma: Kesler strikes it rich in Anaheim
by: Ben Kuzma, The Province July 15, 2015 6:39 PM — The Province 16 days ago
... edule Injuries Legendary Live Chat Around the NHL Hockey store Vancouver Canucks - Hockey Vancouver Canucks - Hockey Team Stats Individual Stats Roster Sch ...
Gallagher: Can the West be won with off-season changes?
by: Tony Gallagher, The Province July 15, 2015 3:45 PM — The Province 16 days ago
... teams in the West this year really improved and how much will it impact the Canucks? — assuming this team performs at roughly the same level as it did last seas ...
Kuzma: Corrado steady, ready for NHL minutes
by: Ben Kuzma, The Province July 14, 2015 4:56 PM — The Province 17 days ago
... y from trading for Eddie Lack, but the Canucks wouldn't go there Jamieson: Tall task awaits 6-foot-9 Canucks goalie prospec ...
Canucks Tweets
RT @mammamialack: Time to pack @eddielack ???????? It's a new day a new town a new team to come ???????? twitter.comBlogger / Podcaster
What every #roughriders fan needs #cfl twitter.comBlogger / Podcaster
RT @TheRealYoG: FYI @DarylT The government never gave me or my fam $. @canada150th signed land SHARING treaties, they stole our prestine la…Blogger / Podcaster
RT @Kara_Wagland: It's TSN 190 @SportsCentre right now with @KateBeirness twitter.comTV / Radio Personality
RT @TodaysSlapshot: From @Ian_Gooding: #Canucks got fleeced in the Brandon Sutter trade. #Pens #TSSHockey www.todaysslapshot.comBeat Writer / Columnist
.#IIWIC If I Were In Charge goes now! get your submissions into @realbrookward @TSN1040 @CamMitchell4TV / Radio Network
Setting up the @vanopen with tournament Director Ryan Clark and @realbrookward #TSN1040TV / Radio Network
RT @vancanadians: FINAL: Boise 7, Vancouver 4 twitter.comTV / Radio Network
I get that they were playing a #3 QB, but this #Eskimos D is by far the best in #CFL. The new rules haven't slowed them down one bitTV / Radio Personality
The good the bad and the ugly next! With @TheSportMarket and @realbrookward #TSN1040TV / Radio Network
- More Canucks Tweets

subset: commoncrawl


text:
They feel bad, so they found you these other deals to make up for it.
Select Local Merchants
Li-Ning Sports USARead MoreThere's something for every athlete at Li-Ning Sports USA, Portland's premier sporting goods store. If you just joined a new gym or yoga studio, head to your next workout in style with a brand new outfit from Li-Ning Sports USA. You'll find an amazing selection of mountain bikes here, perfect for conquering the most rugged terrain. Save time and money with nearby parking options at Li-Ning Sports USA. Take your next season to the next level with some new and innovative sporting goods from the highly rated Li-Ning Sports USA in Portland.910 NW Hoyt StPortland, OR US
Pedal Bike ToursRead Morefacet: Main type: Traditional locale: en_US title: Pedal Bike Tours facet_type_id: 294e7360-5f37-1032-87ff-0007a6b3f590 html_text: Run by a team of Portland fanatics and passionate cyclists, Pedal Bike Tours shares their enthusiasm for the city through entertaining and accessible tours. The routes take advantage of Portland's extensive network of bike lanes to meander through downtown, along the Willamette River, and through lush Forest Park. Each guide's expertise comes in handy on food tours and microbrewery tours, as riders stop for bites or pints and soak up info about each of their stops. A few tours take riders beyond Rose City limits, and include van trips to explore Oregon's coast or wine country. Pedal Bike Tours keeps tours as safe and comfortable as possible by providing helmets, locks, and lights, as well as rain jackets and jousting lances if necessary.133 SW 2nd AvePortland, OR US
Fat Tire FarmRead Morefacet: Main type: Traditional locale: en_US title: Fat Tire Farm facet_type_id: b8c2b1a0-5f37-1032-bfff-23fb455ec088 html_text: |- When Jimmy DeBatty isn't racing downhill trails or learning new BMX tricks, the bike specialist can be found in the workshop of Fat Tire Farm, keeping his customers' cycles in shape. Along with the rest of the Fat Tire Farm team, Jimmy has been turning wrenches and testing gears for more than 10 years. In addition to performing tune-ups, overhauls, and routine bike physicals, the Fat Tire Farm team stocks a range of bikes and necessities from makers including Ibis, Specialized, Giant, Santa Cruz, Dainese, Fox, and Dakine. Though they specialize in mountain bikes, they're also able to equip riders with gear for cross-country cycling, free riding, urban riding, and downhill racing.2714 NW Thurman St.Portland, OR US


text:
Last year, I got an email from this company but it was a more personal question relating to things they might work on in the future. The person replying was Gil.
It does help to make sure the email makes sense. They aren't going to issue updates to individual investors since that's insider trading, although they might direct you to the site, I suppose. And it wouldn't help if the grammar of the email is similar to rahdbob3's post.
At least no news means that the deal hasn't been officially cancelled, and if the deadline passes without a news release, once again we can at least conclude there's potential for a deal and that negotiations are ongoing...
I was thinking that it would be more like "Goldfinger".. when it gets to 007 we will get the news. If not, we may see this thing really blow up!
When we get to zero will the next day be -1.,-2,-3 etc........
I think that day 120 will come and go with no changes. It is almost like Brigadoon. This may not be a problem as a poster aptly put it "nothing happens in the summer throughout the industry."
Dead money....
Sentiment: Strong Sell
gill was mowing the lawn and others were cleaning bathroom 1
"some" would be "they" not "you". You wrote "you should sell".
well, hard to say what is going to happen next here.....I do think we hear some good news at the upcoming CC on Aug 6 in some manner.....they have been awfully quiet for a while here, but I think that is about to change......perhaps they will be rolling out another plan in the right direction to get things moving around here..... : D.....exterminators, cats, and the Pied Piper would love to see them go the direction you are suggesting though....
I've been in ATHX for years and completely abandoned the stock and news for this company in April. Just thought to come back and see how things are.
Gil should really just stop wasting $ on clinicals, or sell multistem as a treatment for rats who get mini strokes...they'll make more money that way lol.
I marked Strong Buy so the bots can upvote, but I really don't care
Sentiment: Strong Buy
rahdbob, I said ' for some' not implying you were one of them. but hey man sorry you are having a bad day.
You're confusing Chugai and Athersys with what your parents did to you.
Why are you such a negative douche? Ive been trying ignore your posts and not validate your opinion. That said,please remember that opinions r like #$%$ everyone has one! You seem to spend an inordinate amount of time pssing all over this board...get a different hobby!
Sentiment: Buy
I'm not a doctor nor scientist, so most of this is beyond my paygrade BUT having spent many years on the street with biotech research boutiques, this GVHD release reads extremely positive. I remember reading someplace that ATHX has already been granted some sort of orphan drug status relating to GVHD. Some of the other posts I've read relating to ARDS preliminary studies read positive, as well. IMHO, MS for IS is the focus and quickest path to commercialization $$ via Chugai BUT let's not loose focus relating to other far reaching applications that potentially could change the landscape in the future...ATHX is not just a one trick pony!
Sentiment: Buy
That explains why Chugai gave them the boot
Could be .50 sooner than later
Join the club! Two small doses separated by 8 weeks to cure a long-term autoimmune disease? Laughable!
Sentiment: Buy
Deans, Ting, Regensys, Athersys:
I have been doing some work on the ulcerative colitis, Phase 2 and I wasn't at all impressed with Pfizer's sponsorship of NCT01240915.
and just like I always say "summer is selling season for Athersys".
All in my honest opinion.
Sentiment: Strong Sell


text:
Sen. Grace Poe press conference transcriptPress Release July 19, 2015 SEN. GRACE POE PRESS CONFERENCE TRANSCRIPT KORONADAL CITY EMCEE: Magandang Umaga po sa lahat. Good Morning everyone and welcome po sa lalawigan ng South Cotabato in relation to our T'nalak Festival ... Senate of the Philippines, 1 week ago
World's first women-only fund gets Sebi nod
Sudha Murty, best-selling author and chairperson of the Infosys Foundation I n early may, market regulator Sebi granted an in-principle nod to Sankhya Women Impact Funds, the world's first for-women fund. Founders Reena Mithal, an investment ...Forbes India, 1 month ago
YES FOUNDATION Launches the Third Edition of YES! i am the CHANGE 101-Hour Social Filmmaking Challenge
Over 5 lakh youth across India will drive Social Change, making it the largest social film movement in the world YES FOUNDATION, the social development arm of YES BANK, India's fifth largest private sector bank, has launched the third edition of ...Newssuperfast, 1 month ago
Get into a profession of making the impossible possible: Mashelkar
Pune: Well-known scientist, Raghunath Mashelkar has stressed on the need of people conserving energy. People keep thinking in terms of cost of conserving energy. But they must instead think of the cost of not conserving it, said Mashelkar. He was ...Sakaal Times, 1 month ago
Realtime News
on your WebpageAdd Widget >Get your members hooked!


text:
What's This?
Girl-bullies in an all-girl school
Sure, there are loads more, but these three one-liners can jeopardise your credibility as a parent.
Read Parent24's Comments Policy
24.com publishes all comments posted on articles provided that they adhere to our Comments Policy. Should you wish to report a comment for editorial review, please do so by clicking the 'Report Comment' button to the right of each comment.
South AfricaCozens Recruitment Group (HEAD OFFICE)
South AfricaMurray & Roberts
HousesR 5 200 000
TownhousesR 1 295 000
HousesR 2 600 000


text: DJ Project One Project One Merthyr Tydfil Project One is a producer from Merthyr Tydfil, South Wales , UK. Comments by DJ Project One Comment by DJ Project One wonderful stuff Leo!!! would love to remix this for you 2015/07/09 09:45:05 +0000 Comment by DJ Project One Gonna smash the floor this one. that drop is a monster. top notch production and i love the hardstep style drums. nice work 2014/09/25 15:28:17 +0000 Comment by DJ Project One Nice selection of tunes and a pretty solid mix, wouldn't be out of place in cafe mambo watching the sun go down with a few drinks surrounded by good friends. 2014/09/25 15:19:24 +0000 Comment by DJ Project One great bounce and feel to this... could imagine this smashing the dancefloor. good work mate 2014/09/25 15:10:07 +0000 Comment by DJ Project One synth and vocals work really well here, great build up and a decent drop. all in all a good tune and a well balanced mix. hope the track sells well for you mate 2014/09/25 14:11:59 +0000 Comment by DJ Project One creepy, haunting and beautiful all at the same time. all sounds lovingly crafted and arranged to make a stand out piece of music. congratulations on this and i look forward to hearing more from you. now a fan. 2014/09/25 11:17:39 +0000 Comment by DJ Project One really good production on this track, vocals sound rich and a place has been found for all other instruments. hope you do well with this as its a well crafted tune. well done and good luck 2014/09/25 11:11:46 +0000 Comment by DJ Project One Nice build and drop here, like the jump up feel to this... only thing i would add is a lower sub bass to the main reece bass to give it some extra body. good tune tho' 2014/09/25 11:07:00 +0000 Comment by DJ Project One Excellent blend of glitch and orchestral sounds, mix is well balanced and its a really interesting style. good stuff 2014/09/25 10:52:49 +0000 Comment by DJ Project One excellent stuff guys!!! got your backs all the way!!! 2013/06/03 18:15:22 +0000


text:
The Baie-James region is nature at its most expansive! Discover a vast territory covering 350,000 km² (135,100 sq. mi.). Words simply cannot describe Baie-James, you truly need to see it to grasp its splendour: the endless calm of the tundra, the taiga stretching as far as the eye can see, the scents of the boreal forest, the unbridled running of the caribou, the unforgettable sight of the northern lights, the imposing hydroelectric facilities and the fascinatingly diverse flora and fauna. Cross the 49th parallel and visit a land rich in nature, populated by hospitable people!
Toll free : 1 888 748-8140
Telephone : 418 748-8140E-mail
Location:1252, rte 167 S., Chibougamau, Québec, Canada, G8P 2K6
Activities and services
- Accommodation assistance
- Documentation / publications
- Audiovisual materials


text:
OSI-Approved Open Source (64)
- BSD License (14)
- GNU General Public License version 2.0 (13)
- GNU Library or Lesser General Public License version 2.0 (6)
- Academic Free License (3)
- Apache License V2.0 (2)
- GNU General Public License version 3.0 (2)
- Apache Software License (1)
- Artistic License (1)
- Mozilla Public License 1.0 (1)
- Open Software License 3.0 (1)
- X.Net License (1)
- zlib/libpng License (1)
- Public Domain (4)
- Creative Commons Attribution License (1)
- Linux (54)
- Windows (44)
- Grouping and Descriptive Categories (43)
- Modern (32)
- Mac (28)
- Other Operating Systems (9)
Top Apps
- Audio & Video
- Business & Enterprise
- Communications
- Development
- Home & Education
- Games
- Graphics
- Science & Engineering
- Security & Utilities
- System Administration
Pre-defined Compiler Macros
Overview of pre-defined compiler macros for standards, compilers, operating systems, and hardware architectures.32 weekly downloads
Libxml2 for pascal
Pascal units accessing the popular XML API from Daniel Veillard ( http://www.xmlsoft.org ). This should be usable at least from Kylix and Delphi, but hopefully also from other Pascal compilers (like freepascal).7 weekly downloads
Embedded Unit
Embedded Unit is unit testing framework for Embedded C System. Its design was copied from JUnit and CUnit and more, and then adapted somewhat for Embedded C System. Embedded Unit does not require std C libs. All objects are allocated to const area.18 weekly downloads
AIFF Audio Tools
AIFF-Tools will be a set of utilities to manage AIFF audio files, providing a library to read and write AIFFs and tools to cut, resample, amplificate, mix, write markers, etc. It aims to support all the features of AIFF (markers, comments, etc.).11 weekly downloads
Sonic Ports
The project is about porting selected (open source) music-, and audio software to latest compilers and platforms...11 weekly downloads
Just bring Linux for a better world10 weekly downloads
ACL Utils
A set of tools for querying and modifying the ACL's (access control lists) and ACE's (access control entries) of files, services, registry keys, printers, processes, threads, timers, mutexes, tokens, events, and semaphores in Windows 2000 and later3 weekly downloads
KHTML/BeOS Browser
Nirvana is the new approach to produce brand new alternative way to Web Browsing under BeOS/Haiku. Our main goal is bring free, fast browser which is coded in BeOS-native C++ style and utilizes proven codebase, with support for modern technologies like CS3 weekly downloads
Bidi Editor
Reference implementation for the proposed SII 5194 (Bidirectional Text Editing) Israeli standard (hopefully, a Unicode standard in the future). This is a fully functional text editor with complete BiDi support.2 weekly downloads
Wyvern is a console tool to make text adventures. It is programmed in C, and developed for Windows and Unix-like operating systems. Official site currently @: http://www.jonathantoddskinner/wyvern.html1 weekly downloads
This is The DWM X window manager - hacked to add a few extra features and slightly modified to suit a still ultra-slim but not featureless need. A collection of a bunch of jacks from a bunch of different people.1 weekly downloads
Lixoo 2D adventure game engine
Lixoo is a extensible, fast and small 2D point'n'click adventure game engine. It features the engine itself and an IDE that let you create full-featured games just by writing the essential code of the game.1 weekly downloads
NPK MUD-like environment
NPK MUD-like environment: a shell environment that aims to transform a computer shell in a MUD-like text-based virtual reality.1 weekly downloads
PXE Client and Server Samples
Provide working sample implementations of PXE (Preboot eXecution Environment) client and server software. Project has moved to: http://savannah.gnu.org/projects/pxe-toolkit/1 weekly downloads
RMF-DOS - Reduced Memory Footprint DOS
RMF-DOS is a project to create a compact, 8086-compatible, free clone of MS-DOS.1 weekly downloads
Unimatrix is the collective works of Matrix, Tsunami and Mainframe. Unimatrix allows for a setup of distributed file repositories. Completely peerless, and using HTTP/1.0 as its transfer medium. Unimatrix Can easilly be used for Filesharing and since its1 weekly downloads
ZIS - Zionist In Space
A text-mode (curses) multiplayer game like Konquest (a turn based strategy; you send ships from planet to planet to conquer them). Has better interface usability (e.g. it already has an auto-send feature and save/load functionality). Made in Israel.1 weekly downloads
sechk - SEcurity CHecKer
sechk - SEcurity CHecKer It is a powerful and useful tool to check if you got exploited and rooted, it will use checksum comparation via md5 sum, it exchanges file lists and csums from the sechk server. It\'s gonna work with all posixes and unixes.1 weekly downloads
ARtificial Erythocytres
This is a project to work on the research and software development on Artificial Erythrocytes0 weekly downloads
Aicix Operating System
Aicix is hobby Operating System (OS) of me. It won't be as big as Linux distributions are.0 weekly downloads
All-in-One Game ToolKit
AoGTK is a MMORPG client/server game toolkit. Our toolkit provides you with a multi-platform client and game server. Scripting language and custom compile application allow for quick customization of the game core.0 weekly downloads
Beerwizard Rating/Reviewing
Beer Wizard is the possibly temporary title for a piece of software being developed for members of the Craft Beer community.0 weekly downloads
Caddress will be an Open Source Cross-Platform Calendar and Address Book with native sync support. It is configurable through predefined profiles, and supports add-ons.0 weekly downloads
CMU Game Creation Society
Game Creation Society at Carnegie Mellon University: Approximately 50 programmers, game designers, and artists working together at CMU will create a variety of games, and make them available with variety of OS Licenses through SourceForge.0 weekly downloads
CSPN(Cryptanalysis of Substitution-Permutation Networks) is the Crypto(Cryptography) tool that will be used for Linear and differential Cryptanalysis of AES,DES and all the encryption standards that will have the SPN as its skeleton model.0 weekly downloads


text:
More Topics
Creator's Hub
Collect Leads
Get Started
Tips & Tricks
For Business
Your SlideShare is downloading.
Jian dai a historical review of the theoretical development of rigid body displacements from rodrigues..., 12p
Upcoming SlideShare
Loading in...
Like this document? Why not share!
Developing Robots using Ashtanga Yoga
by Rajiv B Deo
106 views
by prerna_tiwari
349 views
Professional Journey - Rajiv B Deo
by Rajiv B Deo
35 views
Strategies for competitive advantage
by Rajiv B Deo
3395 views
Share SlideShare
Email sent successfully!
Size (px)
Start on
Show related SlideShares at end
WordPress Shortcode
Jian dai a historical review of the theoretical development of rigid body displacements from rodrigues..., 12p
ZeroField Energy
, Author
Published on
Jan 14, 2012
Published in:
0 Comments
Full Name
Comment goes here.
12 hours ago
Are you sure you want to
Your message goes here
Be the first to comment
Be the first to like this
No Downloads
Total Views
On Slideshare
From Embeds
Number of Embeds
No embeds
Report content
Flagged as inappropriate
Flag as inappropriate
Copyright Complaint
No notes for slide
Transcript of "Jian dai a historical review of the theoretical development of rigid body displacements from rodrigues..., 12p"
1. Mechanism and Mechanism and Machine Theory 41 (2006) 41–52 Machine Theory www.elsevier.com/locate/mechmt An historical review of the theoretical development of rigid body displacements from Rodrigues parameters to the finite twist Jian S. Dai * Department of Mechanical Engineering, School of Physical Sciences and Engineering, King's College London, University of London, Strand, London WC2R 2LS, UK Received 5 November 2004; received in revised form 30 March 2005; accepted 28 April 2005 Available online 1 July 2005Abstract The development of the finite twist or the finite screw displacement has attracted much attention in thefield of theoretical kinematics and the proposed q-pitch with the tangent of half the rotation angle has dem-onstrated an elegant use in the study of rigid body displacements. This development can be dated back toRodriguesÕ formulae derived in 1840 with Rodrigues parameters resulting from the tangent of half the rota-tion angle being integrated with the components of the rotation axis. This paper traces the work back to the time when Rodrigues parameters were discovered and follows thetheoretical development of rigid body displacements from the early 19th century to the late 20th century.The paper reviews the work from Chasles motion to CayleyÕs formula and then to HamiltonÕs quaternionsand Rodrigues parameterization and relates the work to Clifford biquaternions and to StudyÕs dual angleproposed in the late 19th century. The review of the work from these mathematicians concentrates on thedescription and the representation of the displacement and transformation of a rigid body, and on themathematical formulation and its progress. The paper further relates this historic development to the contemporary development of the finite screwdisplacement and the finite twist representation in the late 20th century.Ó 2005 Elsevier Ltd. All rights reserved. * Tel.: +44 (0) 2078482321; fax: +44 (0) 2078482932. E-mail address: firstname.lastname@example.com URL: http://www.eee.kcl.ac.uk/mecheng/jsd.0094-114X/$ - see front matter Ó 2005 Elsevier Ltd. All rights reserved.doi:10.1016/j.mechmachtheory.2005.04.004
42 J.S. Dai / Mechanism and Machine Theory 41 (2006) 41–52Keywords: Theoretical kinematics; Rotations; Transformation group; Screw; Finite twist; Finite screw displacement;Rigid body displacement; Mathematics; History; Review1. Introduction Position (translation) and orientation (rotation), together known as location, hold interest in thestudy of mechanisms and machines and of their motion capabilities. Orientation may be measuredin a number of ways including the use of Euler angles [1–3] proposed in 1775 by German and Rus-sian mathematician Leonhard Euler (1707–1783, a Swiss native), and the rotation matrix may beestablished using Euler finite rotation formula [4,5] whose matrix form can be seen in [6–11]. While rotations can be characterized by means of Euler or Bryant angles, or Euler parameters,none of these representations of rotations lends themselves directly or by extension to the moredemanding problem of describing the finite rigid body displacement, or the finite twist consistingof an arbitrary rotation about an axis passing through a point and a translation along the axis. This resulted in a need of the concept of the generalized finite twist displacement of a rigidbody. The study with the emphasis on its pure analytical content and the mathematical develop-ment has been progressing for the past two centuries and can be summarized in three periods. Thefirst period was in the early and the main part of the 19th century when mathematicians startedfocusing on general applications to the physical world which was also a source of mathematicalprogress. The second period was in the late 19th century and the early 20th century when Studyused ÔSomaÕ to describe the body displacement. With the emergence of BallÕs treatise [12] in 1900,an elegant system of mathematics on theory of screws was formed for rigid body mechanics. Thethird period was in the second part of the 20th century when kinematicians revisited the theoriesdeveloped by mathematicians and astronomers, applied the theories to kinematics and mecha-nisms and continued the effort to develop and complement the theories. This was the importantperiod of the theoretical kinematics. The importance of the last period is the practical use and continuing effort of theory develop-ment, of amalgamating theories and approaches into new theories and approaches, of solvingkinematics problems and of obtaining solutions for mechanisms. While before this period, mostscientists made very few statements regarding the physical application of their theory and steeredclear of the philosophical aspects of their work. This paper reviews the progress of the study of rigid body displacements in these periods, fol-lows the development of the theories, and associates this development with the study of the finitetwist in the 1990s.2. Chasles motion and Rodrigues parameters In the early 19th century in Europe, new professional status of mathematics was fostered [13] bythe creation of new universities or equivalent institutions and the reinvigoration of certain oldones. A massive growth was there in publishing mathematics in books and journals. In that time,algebra became algebras and the theory of equations was joined by differential operators, quater-nions, determinants and algebraic logic. That was the time when mathematicians began moving tothe physical world.
J.S. Dai / Mechanism and Machine Theory 41 (2006) 41–52 43 In 1830, after Italian Mathematician Giulio MozziÕs (1730–1813) revelation of the instanta-neous motion axis [14,15], French mathematician and historian of mathematics Michel Chasles(1793–1880), suggested that in terms of end-point locations, all finite and infinitesimal motionsof a rigid body could be duplicated by means of a rotation about an axis, together with a trans-lation along that axis. A motion [16,17] is known favorably now as the finite screw displacementor the finite twist. The rotation axis can be taken the same direction as the translation. The threerotational degrees of freedom correspond to the two angles needed to define the direction of therotation axis and to the amount of rotation about that axis. Any such a resultant finite twist maybe defined by means of the angle of rotation, the direction and position of the axis, and the pitchor the translation along that axis. This rotation angle is unique provided that it is confined tovalues in the range of Àp and p. A short while after ChaslesÕ work, French mathematician Olinde Rodrigues (1794–1851, Por-tuguese origin, also a banker and a social reformer), the son of a Jewish banker and who was ´awarded a doctorate in mathematics from Ecole Normale, worked on transformation groupsto study the composition of successive finite rotations by an entirely geometric method. In1840, Rodrigues published a paper on the transformation groups. Rodrigues parameters [18] thatintegrate the direction cosines of a rotation axis with the tangent of half the rotation angle werepresented with three quantities. The angles of the rotations appear as half-angles which occurredfor the first time in the study of rotations. The half-angles are an essential feature of the param-eterization of rotations and are the measure of pure rotation for the most elegant representationof rotations in kinematics. Based on these three parameters, Rodrigues composition formulae[10,18–20] were proposed for two successive rotations to construct the orientation of the resultantaxis and the geometrical value of the resultant angle of rotation from the given angles and axisorientations of the two successive rotations. This led to the Rodrigues formula [20] for a generalscrew displacement producing not only the rotation matrix but also the translation distance. Theformula can be written in vector form as in [6–8,21]. Rodrigues work is the first treatment ofmotion in complete isolation from the forces that cause it. The Rodrigues parameters were further taken by English mathematician Arthur Cayley (1821–1895, a graduate and later Sadleirian professor of pure mathematics at Cambridge University)to comprise a skew symmetric matrix which then formed CayleyÕs formula [22] for a rotationmatrix [23].3. HamiltonÕs quaternions, Rodrigues parameterization and Clifford biquaternions In this period, huge interest was in algebras and eventually led to the invention of quaternions.This stemmed from the study of complex numbers. With GaussÕ (German mathematician CarlFriedrich Gauss, 1777–1855) suggestion in 1831, the complex plane [24,25] with the complex num-bers started to gain favor. In this study, Irish mathematician and astronomer William Rowan Ham-ilton (1805–1865) suggested a new algebraic version [26] in 1833, in which the complex number wasunderstood as an ordered pair of real numbers satisfying the required algebraic properties. From this development, more important and famous extension to algebra was on the way.HamiltonÕs own work on algebraically describing mechanics led him seek an algebraic meansof a complex number in three dimensions. This let him produce a three-number expression of a
44 J.S. Dai / Mechanism and Machine Theory 41 (2006) 41–52complex number and nurtured a new finding. On a walk into Dublin on 16 October 1843, Ham-ilton discovered a four-number expression. This unexpected venture into four algebraic dimen-sions gave Hamilton the breakthrough and established the theory of Quaternions [27–31].Hamilton came to this discovery algebraically [32]. The quaternion was used to represent the ori-entation of a rigid body with four quantities identical to Euler–Rodrigues parameters of rotationsand was further applied to representing spherical displacements. A few years early than HamiltonÕs discovery, in the same paper published in 1840 where Rodri-gues developed his three parameters, Rodrigues explicitly defined other four parameters by pre-senting a scalar with the cosine of half the rotation angle and further three numbers byintegrating the direction cosines of the rotation axis with the sine of half the rotation angel.The parameters are sometimes referred to as Euler parameters but Rodrigues should take allthe credit [33,34]. This is the reason that the four parameters are sometimes called Euler–Rodri-gues parameters [8]. The four Euler–Rodrigues parameters led to Rodrigues parameterization ofthe quaternion [32,33] and were equivalent to HamiltonÕs system of quaternions as noted by Klein[35]. Based on these four parameters, Rodrigues further derived other composition formulae [18,8]for finite rotations along with a full physical meaning for combining rotations and for construct-ing a rotation matrix. The two vector-form composition formulae [8] constitute the theorem forthe multiplication of quaternions, leading to the revelation of the group properties of the set of allorthogonal rotations, the full orthogonal group SO(3) as it is now called. Although Hamilton [31]made the same formulae as the foundation of his calculus of quaternions, Rodrigues formulaedemonstrated the enormous importance of quaternion in the rotation group as brought to lightby Cayley [36,37] in the composition of rotations. These parallel developments from both Ham-ilton and Rodrigues were recorded by Klein [35] in 1884. After the discovery of quaternions, a former KingÕs College London student, young UniversityCollege London professor of mathematics and mechanics, and scientific philosopher WilliamKingdon Clifford (1845–1879) invented in 1873 dual numbers for concise manipulation of theanalysis, and applied the dual numbers to kinematics. The operator e was acquired by Cliffordto transform rotation about an axis into translation parallel to the axis. He derived the theoryof biquaternions [38–41] (now favorably called dual quaternions) and associated them specificallywith linear algebra to represent a general displacement of a rigid body and to model the group ofrigid body displacements. The primary part of the dual quaternion is Euler–Rodrigues parame-ters; the dual part of it is the quaternion product of the vector quaternion of a translation vectorand that of the primary part of the quaternion.4. StudyÕs dual angle, BallÕs treatise on screws and KleinÕs hyperquadric The study on rigid body displacements moved on. In the late 19th century, Eduard Study(1862–1930), a teacherÕs son who obtained his doctorate from the University of Munich, devel-oped the important notion of a dual angle [42], which was composed of the projected angle be-tween two lines as its primary part, and the perpendicular distance between the two lines as itsdual part. The dual angle has a remarkable property that trigonometrical identities for ordinaryangles are all valid.
J.S. Dai / Mechanism and Machine Theory 41 (2006) 41–52 45 In the same time, following decades of continuing effort [43–45] in developing the theory ofscrews, a new system of mathematics was created by Sir Robert Stawell Ball (1840–1913), theLowndean Chair of Astronomy and Geometry at Cambridge University and a former professorof applied mathematics and mechanism of the Royal College of Science in Dublin. In 1900, hepublished [12] a treatise on the theory of screws and established [46] a broad mathematical foun-dation that integrates both rotational and linear quantities into a single geometrical element, thescrew. A screw is an elegant geometric entity and the system of screws covers all kinematics andmechanics of a rigid body. This system can be used to incorporate the previous development fromChasles motion to Rodrigues formulae and to HamiltonÕs quaternions in the study of rigid bodydisplacements. For instance, the first number of HamiltonÕs quaternion is what we would term thepitch of the screw. Hamiltonian system [47] of rays can be developed into a conoidal cubic sur-face—cylindroid [44,48,49] which plays a fundamental part in the theory of screws and gives acomposition of two displacements. KleinÕs Ôsimultaneous invariantÕ [50] of two linear complexescan be explained based on the virtual coefficient of the two screws reciprocal to the complexes.Highly significantly, it is the theory of screws that attaches a physical significance to those purelygeometrical researches. From the discovery of dual angles and in parallel to BallÕs creation of the new system ofmathematics, Study presented the rigid body displacement in eight homogeneous coordinates[51], which are actually identical with a dual quaternion. In Study coordinates of a rigid bodydisplacement, the line coordinates of the displacement, i.e. the screw axis, can be extracted asderived by Hunt [52]. In StudyÕs work, the half-angles were again used and the rigid body dis-placement was investigated in the projective seven-space. The hyperquadric in this projectiveseven-space are remarkable analogous to KleinÕs hyperquadric [17,53] for lines in the projectivefive-space developed by German mathematician Felix Christian Klein (1849–1925) of Munichwho obtained in 1868 his doctorate from German mathematician Julius Plucker (1801–1868) ¨[17,54,55]. A point on StudyÕs hyperquadric presents all information of the rigid body location includingboth position and orientation. A point which is not on StudyÕs hyperquadric, resulting from thediagonal of the Hamilton operator [56] being replaced by some non-zero quantities [51], pre-sents a Ôsimilarity transformationÕ involving a change of scale which was discussed by Davidsonand Hunt [34] with a scale factor other than +1. Any chosen similarity transformation with itsparticular scale factor has its corresponding point in the projective seven-space, in which Studyused ÔSomaÕ to describe a displaced body in the similarity transformation. The ÔSomaÕ started, asdiscussed by Bottema and Roth [20], from a six-parameter representation. The first three ofthese parameters are components of a rotation triplet; the second three are components of atranslation vector. In StudyÕs work of eight homogeneous numbers, this second three are rep-resented with four numbers of which the first number represents the scalar product of a trans-lation vector with the rotation triplet. The remaining three numbers give the vector product ofthis triplet with the translation vector after deducting from the translational vector weightedwith a factor of the triplet. The similarity transformation is at the extent of Hamilton quaternions. When the scale factor is+1, Hamilton operator [30,56] which is a 4 · 4 skew symmetric matrix with a translation vector asits components can be used to relate the primary part to the dual part.
46 J.S. Dai / Mechanism and Machine Theory 41 (2006) 41–525. Finite screw displacements After a long dormant period, an increasing amount of the study of the screw displacement of arigid body began to thrive from contemporary kinematicians. Dimentberg [57] in 1965 presentedthe finite screw displacement with a screw axis [12] attached with the tangent of the dual angle ofhalf the rotation. A general screw displacement that is a finite displacement was given and wasanalogous to RodriguesÕ original formula but in a dual form. The screw displacement of a rigidbody through a dual angle of half the rotation about an axis whose resultant screw is equivalent totwo successive half-revolutions executed about two screws which intersect the axis of the resultantscrew at right angles and form a dual angle of half the rotation with one another. Yang and Freudenstein [58] in 1964 applied dual quaternions to obtain the screw displacementby premultiplying a dual line vector with the dual quaternion acting as a screw operator. Thescrew displacement was completed about the screw axis of the operator that has the common per-pendicular with the line vector. Consider the screw operator as a function of time, continuous spa-tial motion can also be obtained as that in BlaschkeÕs work [59] in 1958. The correspondingtransformation between coordinate frames in the finite screw displacement was described by Yuanand Freudenstein [60] in 1971. Further to this, Bottema [61] investigated in 1973 the displacementsof a row of points and of a line. The axes of the screw displacements which complete the formerform a regulus as a cylindroid or hyperbolic paraboloid, and the axes of screw displacementswhich complete the latter form a line congruence of order 3. The geometric relationship concerning the combination of two finitely separated displacements,first suggested [62] in 1882 by French mathematician George Henri Halphen (1844–1889), wassubstantiated and complemented by Roth [63] in 1967. With this work, a resultant screw displace-ment can be formed from two given constituent finite displacements by using the screw trianglewhose name was originated by Roth [63] and which is constructed by three axes of screws asits vertices and three common perpendiculars of the axes as its sides. The method is equivalentto the decomposition of a screw displacement into two line reflections [20]. Further, the screw axisgeometry of finitely separated positions based on five geometric elements was investigated by Tsaiand Roth [64] in 1973 and the property of the finite screw cylindroid was presented. In addition to line geometry, dual number matrices were used to investigate the screw displace-ment. In 1985, Pennock and Yang [65] investigated the use of dual number matrices for transfor-mation of coordinates of lines to solve the inverse kinematics problem of robot manipulators. Inthe following year, the property of the dual orthogonal matrix was revealed by McCarthy [66],leading to the development of a dual form of the Denavit–Hartenberg matrix [67] and a dual formof the Jacobian of a manipulator. He further applied quaternions to the study of spherical chainsand the dual angles and dual quaternions to that of spatial open and close chains [68]. In 1990,Pohl and Lipkin [69] investigated the way of implementing the dual angles for robotic manipula-tors. They converted the dual joint angles to real numbers through a suitable mapping that arobot can approximate the configuration required to produce the desirable location within thelimits of its workspace. It demonstrated that for certain manipulators, the real-part mappingproduces a minimization of the end-effector location error. A dual orthogonal matrix can be represented as a six-dimensional representation of group E(3),an action on a line of the projective five-space as described by Selig and Rooney [70]. Their studyindicated that this action is restricted to the required action on the Klein hyperquadric and splits
J.S. Dai / Mechanism and Machine Theory 41 (2006) 41–52 47the Klein hyperquadric into two orbits: the lines at infinity and the finite lines. The isotropy groupof a finite line consists of the rotations with that line as axis, together with the translations alongthe line, leading to the Lie group version of the finite screw displacement. In 1991, Samuel, McA-ree and Hunt [71] unified the dual transformation matrices and screw geometry through the use ofinvariant properties of orthogonal matrices and demonstrated the equivalence of screw geometrywith the matrix representations of the Euclidean group, providing a complete expression for thefinite screw motion in terms of the entire dual number transformation matrix. The finite screwdemonstrates to be suitable for trajectory planning and a concise expression is developed to givethe transformation matrix describing the displacement at each point along the path of the finitescrew motion. To represent the finite screw, Hunt [72] specified in 1987 the axis and pitch of the finite screwdisplacement by considering the geometric form in the point-line-plane system and by describing abody in two generally disposed locations. While maintaining the two sets of ratios of directedplanes and directed lines of a body in two locations, five necessary conditions were proposedto construct six equations to determine the homogenous Plucker line coordinates of the axis of ¨the finite screw. In the application of finite screws, Young and Duffy [73] applied in 1986 the finite displacementto identify the extreme positions of manipulators. Angeles [74] developed in 1986 an algorithmbased on the concept of the principal values and directions of the second-moment tensor of threenon-collinear points of a rigid body in finitely separated positions.6. The finite twist representation and finite screw systems The study raised much interest in the 1990s particularly in the representation of the finite twist.In 1990, while studying the invariant property of a rigid body undergoing a finite twist displace-ment, Parkin [75] proposed a finite twist representation. Deriving from difference screws of bothinitial and final positions of a rigid body, the direction component, translation component, signand angle of rotation of the finite twist were presented. The particular form in terms of the finitetwist was proposed based on the coordinate transformation with line triplets of the initial andfinal locations of the body, on the condition that the axis of the finite twist remains invariantin space while the twist motion takes place and that the axis is perpendicular to, and reciprocalto, each of the difference screws from the two line triplets. Parkin [76] further identified in 1991the finite displacement screws of a compound body and presented the 2-system of finite displace-ment screws of the point-lines. The quasi-pitch (q-pitch) was then proposed as the ratio of half thetranslation distance over tangent of half the rotation angle. The q-pitch contains the essential fea-ture of the rigid body displacement and presents as an intrinsic part of a finite twist. With thisproposed q-pitch, Parkin [77] demonstrated in 1992 that the axes of finite twist displacementsof a point-line object have a similar conformation with linear combinations of screws and pre-sented the finite twist cylindroid as linear combinations of two basis finite screws. At the same time, Hunt [52] demonstrated in 1992 that the q-pitch of the finite twist can be ex-tracted from the Study coordinates. Huang [78] in 1994 and 1995 investigated the finite screw sys-tem of the third order [79] associated with kinematic chains and identified [80] in 1997 thecylindroid associated with the Bennett mechanism. In 1995, Dai, Holland and Kerr [81] further
48 J.S. Dai / Mechanism and Machine Theory 41 (2006) 41–52investigated the finite twist representation and transformation and its ordered combination forserial manipulators. They revealed that the motion imparted by joints to the end-effector linkcan be represented by an ordered set of finite twist transformations and this ordered combinationbased on the Lie group operation gives a resultant finite twist of an end-effector relative to adatum point. Naturally, the study of the finite screw displacement and the development of the q-pitch of thefinite twist progressed into the study of finite screw systems in conjunction with the study of the-ory of screw systems by Gibson and Hunt [82,83], Rico and Duffy [84–86], and Dai and ReesJones [87–89]. In 1994, Huang and Roth [90] applied an analytical approach to investigate thefinite screw systems. In addition to the case in which two points are specified, which is the sameas the case in which a line with an associated point on it is specified [77], they demonstrated thatthe screw systems resulting from the other four incompletely specified displacement problems de-fined by Tsai and Roth in 1973 [64] can also be represented by linear systems or their nonlinearsubsets. The first case was demonstrated by substituting the q-pitch into the screw triangle andrearranging the resultant displacement screw to form a 2-system by extracting two new basis screwswhose elements were known parameters. The technique was then extended to four-systems to pres-ent the analytical representations of the finite twist systems using linear spaces. Almost at the sametime, Hunt and Parkin [91] identified two particular linear two-systems for the three possible com-binations of two geometrical elements and demonstrated the axes of the finite screws with the q-pitch are the generators of a cylindroid of a point-line object. The finite twist system of point-linedisplacements was further identified to be a general two-systems specified in [83] and the finite twistsystem of plane-line displacements was identified to be a fourth special two-system specified in [83].The line-displacement three-system was identified as quadric surfaces which are hyperboloids in themost general case and become hyperbolic paraboloids in some special three-systems. In closely parallel to the study of the finite screw displacement, Borri, Trainelli and Battasso[92] revisited in 2000 the representations and parameterizations of motion from Cayley formulaand Rodrigues parameters in a great length. They examined the projection of a point of a unitcircle from the pole onto a y-axis that produces a stereographic projection defined as the tangentof half the rotation angle. They related the projection to the structure of CayleyÕs rotation vectorand rigid displacement vector and then to Rodrigues parameters, leading to the revelation of theinherent structure of rigid body motion. The concept of the finite twist is thus known, as are the transformation matrices used to accom-plish the relevant elemental rigid body transformations, namely rotations and translations. Therepresentation and correspondence between a finite twist and its transformation are, on one hand,the algebra of translational and rotational transformations as applied to screw quantities; on theother hand, the new systematic representation of these motions.7. Conclusions The work of Rodrigues, Clifford and Study has all provided analytical means of describing thefinite displacement. It is in many respects desirable to use a form of representation that has thesame number of parameters as there are degrees of freedom, that is six in spatial cases, three inplanar cases.
J.S. Dai / Mechanism and Machine Theory 41 (2006) 41–52 49 In reviewing the historical progress in the study of mathematical means of describing finite dis-placements, this paper presented intrinsic relationships between different developments in the pro-gress and explores the coherent theme in the two-century-long development of the theories whichconstitute a broad and solid mathematical science foundation for our todayÕs study of the finitetwist motion of a rigid body.Acknowledgements The author thanks Professor Gene Fichter of Oregon for the suggestion when they met inMilan in 1995 on writing a review of the development of the theory of rigid body displacementsand the finite twist and the encouragement. Thanks are also given to the staff in Maughan libraryof KingÕs College London, University of London, for providing a substantial number of interli-brary loans from across the world.References [1] L. Euler, Problema algebraicum ob affectiones prorsis singulares memorabili, 1770, Opera Omnia, I 6 (1770) 287– 315. [2] L. Euler, Formulae generales pro traslatione quacunque corporum rigidorum, Novi Commentari Academiae Imperialis Petropolitanae 20 (1775) 189–207, Leonhardi Euleri Opera Omnia, Series Secunda, Opera Mechanica Et Astronomica, Basileae MCMLXVIII, 9, 84–98. [3] H. Goldstein, Classical Mechanics, Addison-Wesley Pub. Co., 1950. [4] L. Euler, Nova Methodus Motum Corporum Rigidorum Determinandi, Novi Commentari Academiae Imperialis Petropolitanae 20 (1775) 208–238, Leonhardi Euleri Opera Omnia, Series Secunda, Opera Mechanica Et Astronomica, Basileae MCMLXVIII, 9, 99–125. [5] L. Euler, De Motu Corporum Circa Puncum Fixum Mobilium, Commentatio 825 indicis ENESTROEMIANI, Opera postuma 2 (1862) 43–62, Leonhardi Euleri Opera Omnia, Series Secunda, Opera Mechanica Et Astronmica, Basileae MCMLXVIII, 9, 413–441. [6] J.W. Gibbs, in: E.D. Wilson (Ed.), Vector Analysis, Scribner, New York, 1901, and Yale University Press, New Haven, 1931. [7] K.E. Bisshopp, RodriguesÕ formula and the screw matrix, Transactions of ASME, Journal of Engineering for Industry 91 (1969) 179–185. [8] H. Cheng, K.C. Gupta, An historical note on finite rotations, Transactions of ASME, Journal of Applied Mechanics 56 (1989) 139–145. [9] M.F. Beatty, Vector analysis of finite rigid rotations, Transactions of ASME, Journal of Applied Mechanics 44 (1977) 501–502.[10] J.J. Craig, Introduction to Robotics, second ed., Addison-Wesley, Reading, MA, 1989.[11] O.A. Bauchau, L. Trainelli, The vectorial parameterization of rotation, Nonlinear Dynamics 32 (2003) 71–92.[12] R.S. Ball, A Treatise on the Theory of Screws, Cambridge University Press, Cambridge, 1900.[13] I. Grattan-Guinness, The Fontana History of the Mathematical Sciences, Fontana Press, An Imprint of HarperCollins Publishers, 1997.[14] G. Mozzi, Discorso Matematico Sopra Il Rotamento Momentaneo Dei Corpi, Stamperia di Donato Campo, Napoli, 1763.[15] M. Ceccarelli, Screw axis defined by Giulio Mozzi in 1763 and early studies on helicoidal motion, Mechanism and Machine Theory 35 (2000) 761–770. ´ ´ ´ ´ ´[16] M. Chasles, Note sur le proprietes generales du systeme de deux corps semblables entrÕeux et places dÕune maniere ´ ´ quelconque dans lÕespace; et sur le deplacement fini ou infiniment petis dÕun corps solide libre, Bulletin Des Sciences Mathematiques 14 (1830) 321–326.
50 J.S. Dai / Mechanism and Machine Theory 41 (2006) 41–52[17] J.L. Coolidge, A History of Geometrical Methods, Oxford University Press, New York, 1940 (reprinted by Dover 1963). ´ ´ ´ ´ ´[18] O. Rodrigues, Des lois geometriques qui regissent les deplacements dÕun systeme solide dans lÕespace, et de la ´ ´ ´ ´ ´ variation des coordonnees provenant de ces deplacements consideres independamment des causes qui peuvent les ´ produire, Journal de Mathematiques 5 (1840) 380–440.[19] C.J. Coe, Displacements of a rigid body (1934) 242–253.[20] O. Bottema, B. Roth, Theoretical Kinematics, North-Holland Series in Applied Mathematics and Mechanics, North-Holland, Amsterdam, 1979.[21] B. Paul, On the composition of finite rotations, American Mathematical Monthly 70 (1963) 949–954.[22] A. Cayley, On three-bar motion, Proceedings of the London Mathematical Society VII (1875) 136–166.[23] S.L. Altmann, Rotations, Quaternions, and Double Groups, Clarendon Press, Oxford, England, 1986.[24] A.F. Monna, Gauss and the physical sciences, Nieuw Tijdschr. Wisk. 64 (4) (1976/1977) 212–217 (in Dutch).[25] C.F. Gauss, Konigliche Gesellschaft der Wissenschaften, Gottingen, Werke 12 (1831) 1863–1929. ¨ ¨[26] W.R. Hamilton, On a new method of investigating the relations of surfaces to their normals, with results respecting the curvatures of ellipsoids, Dublin University Review (1833) 653–654.[27] W.R. Hamilton, Quaternions, Math Papers III (1843) 101–105, Reprinted in Cambridge University Press, 1967.[28] B.L. van der Waerden, HamiltonÕs entdeckung der quaternionen, Vandenhoeck & Ruprecht, Veroffentlichungen ¨ der Joachim Jungius-Gesellschaft Hamburg, Gottingen, 1974. Translated into English by F.V. Pohle, Adelphi University: HamiltonÕs discovery of quaternions, Mathematics Magazine 49(5) (1976) 227–234.[29] W.R. Hamilton, Letter to Graves on quaternions, Philosophical Magazine XXV (1844) 489–495, Reprinted in Math Papers, Cambridge University Press, 1967, pp. 106–110.[30] Edited for the Royal Irish Academy A.W. Conway, J.L. Synge (Eds.), Geometrical Optics, The Mathematical Papers of Sir William Rowan Hamilton, vol. I, Cambridge University Press, Cambridge, 1931. A.W. Conway, A.J. McConnell (Eds.), Dynamics, vol. II, 1940; H. Halberstam, R.E. Ingram (Eds.), Algebra, vol. III, 1967.[31] W.R. Hamilton, On quaternions; or on a new system of imaginaries in algebra (incl. Letter to J.T. Graves, 17 October 1843), Philosophical Magazine 25 (Suppl., 3rd series) (1844) 489–495.[32] J.J. Gray, Olinde RodriguesÕ Paper of 1840 on Transformation Groups, Archive for History of Exact Sciences 21 (1980) 375–385.[33] S.L. Altmann, Hamilton, Rodrigues, and the Quaternion Scandal, Mathematics Magazine 62 (5) (1989) 291–308.[34] J. Davidson, K.H. Hunt, Robots and Screw Theory. Applications of Kinematics and Statics to Robotics, Oxford University Press, New York, 2004.[35] F. Klein, Vorlesungen uber das Ikosaeder und die Auflosung der Gleichungen vom funften Grade, Tubner, ¨ ¨ ¨ Leipzig, 1884. Translated as: Lectures on the icosahedron and the solutions of equations of the fifth, second ed., (Translated by G.G. Morrice), Hanson Co., Ballantyne, 1914; Dover Publications, New York, 1956.[36] A. Cayley, On the motion of rotation of a solid body, Cambridge Mathematics Journal III (1843) 224–232. The Collected Mathematical Papers, vol. I (Paper No. 6), Volumes plus Index, Cambridge University Press, 1889, pp. 28–35.[37] A. Cayley, On certain results relating to quaternions, Philosophical Magazine 26 (1845) 141–145. The Collected Mathematical Papers, vol. I (Paper No. 20), Cambridge University Press, 1889, pp. 123–126, Note 20, pp. 586.[38] W.K. Clifford, Preliminary Sketch of Biquaternions, Proceedings of the London Mathematical Society 4 (64/65) (1873) 381–395.[39] W.K. Clifford, in: R. Tucker (Ed.), Mathematical Papers, Macmillan, London, 1887.[40] Catalogue of Scientific PapersIndex of Pure Mathematics, vol. I, Royal Society, Cambridge, 1908, pp. 1800–1900.[41] M. Shoham, A note on CliffordÕs derivation of bi-quaternions, in: 10th World Congress on the Theory of Machines and Mechanisms, IFToMM, Finland, 1999.[42] E. Study, Von den Bewegungen und Umlegungen, Mathematische Annalen 39 (1891) 441–564.[43] R.S. Ball, A problem in mechanics, Quaternions Journal of Mathematics (1870) 220–228.[44] R.S. Ball, The theory of screws—a geometrical study of the kinematics, equilibrium, and small oscillations of a rigid body, Transactions of the Royal Irish Academy XXV (1871) 137–217.[45] R.S. Ball, The theory of screws, Dublin, 1876; also extended abstract in , Mathematische Annalen (1875) 541–553.
J.S. Dai / Mechanism and Machine Theory 41 (2006) 41–52 51[46] H. Lipkin, J. Duffy, Sir Robert Stawell Ball and methodologies of modern screw theory, Journal of Mechanical Engineering, Proceedings of IMechE 216 (C1) (2002) 1–11.[47] W.R. Hamilton, First supplement to an essay on the theory of systems of rays, Transactions of the Royal Irish Academy XVI (1830) 4–62.[48] J. Plucker, Neue geometrie des raumes gegrundet auf die betrachtung der geraden linie als raumelement, Leipzig ¨ ¨ (B.G. Teubner, 1868–1869) 1–374. ¨[49] G. Battaglini, Sulle serie die sistemi di forze, Napoli Rendiconto VIII (1869) 87–94, also in Giornale di Matemax, X (1872) 133–140. ´[50] F. Klein, Zur theorie der linien-complexe des ersten und zweiten Grades, Mathematische Annalen II (June) (1869) 198–226.[51] E. Study, Die Geometrie der Dynamen, Zeitschrift fur mathematischen und naturwissenschaftlichen Unterricht— ¨ Leipzig 35 (1903) 470–483.[52] K.H. Hunt, The displacement of a rigid body—the finite screw, in: Proceedings of Australian Workshop on the Theory of Machines and Mechanisms (AWToMM92), Melbourne, 1992, 249–252.[53] F.C. Klein, Elementary mathematics from an advanced standpoint: geometry, 1924. Reprinted in 1939, Dover Publications Inc.[54] J. Plucker, Ube rein neues coordinatensystenm, ibid., vol. V, 1834. Collected Works, vol. I, Leipzig, 1895, 244. ¨[55] J. Plucker, On a new geometry of space, Philosophical Transactions of the Royal Society of London Clv. (1865). ¨[56] O.P. Agrawal, Hamilton operators and dual-number quaternions in spatial kinematics, Mechanism and Machine Theory 22 (6) (1987) 569–575.[57] F.M. Dimentberg, The Screw Calculus and Its Application to Mechanics, Moscow, 1965, English Translation, U.S. Department of Commerce, (N.T.I.S), No. AD, 1969, pp. 680–993.[58] A.T. Yang, F. Freudenstein, Application of dual-number quaternion algebra to the analysis of spatial mechanisms, Journal of Applied Mechanics, Transactions of ASME 86 (2) (1964) 300–309.[59] W. Blaschke, Anwendung dualer Quaterernionen anf die Kinematik, Annales Academiae Scientiarum Fennicae (1958) 1–13.[60] M.S.C. Yuan, F. Freudenstein, Kinematics analysis of spatial mechanisms by means of screw coordinates, Part I— screw coordinates, ASME Journal of Engineering for Industry 93 (1971) 61–66.[61] O. Bottema, On a set of displacements in space, Transactions of the ASME, Journal of Engineering for Industry 95 (1973) 451–454. ´ ´[62] M. Halphen, Sur la theorie du deplacement, Nouvelles Annales de Mathmatiques 3 (1) (1882) 296–299.[63] B. Roth, On the screw axes and other special lines associated with spatial displacements of a rigid body, Transactions of the ASME B 89 (1967) 102–110.[64] L.-W. Tsai, B. Roth, Incompletely specified displacements: geometry and spatial linkage synthesis, Transaction of ASME, Journal of Engineering for Industry 95 (B) (1973) 603–611.[65] G.R. Pennock, A.T. Yang, Application of dual-number matrices to the inverse kinematics problem of robot manipulators, Transactions of the ASME, Journal of Mechanisms, Transmissions, and Automation in Design 107 (1985) 201–208.[66] J.M. McCarthy, Dual orthogonal matrices in manipulator kinematics, International Journal of Robotics Research 5 (2) (1986) 45–51.[67] J. Denavit, R.S. Hartenberg, A kinematic notation for lower-pair mechanisms based on matrices, Transactions of ASME, Journal of Applied Mechanics 22 (1955) 215–221.[68] J.M. McCarthy, An Introduction to Theoretical Kinematics, The MIT Press, London, 1990.[69] E.D. Pohl, H. Lipkin, Kinematics of complex joint angles in robotics, Proceedings of 1990 IEEE International Conference on Robotics and Automation 1 (1990) 86–91, Los Alamitos, CA.[70] J.M. Selig, J. Rooney, Reuleaux pairs and surfaces that cannot be gripped, International Journal of Robotics Research 8 (5) (1989) 79–87.[71] A.E. Samuel, R.R. McAree, K.H. Hunt, Unifying screw geometry and matrix transformations, International Journal of Robotics Research 10 (5) (1991) 454–472.[72] K.H. Hunt, Manipulating a body through a finite screw displacement, in: Proceedings of the 7th IFToMM World Congress, Sevilla, Spain, Pergamon Press, Oxford, 1987, pp. 187–191.
52 J.S. Dai / Mechanism and Machine Theory 41 (2006) 41–52[73] L. Young, J. Duffy, A theory for the articulation of planar robots, ASME Journal of Mechanisms Transmissions and Automation in Design 109 (1) (1986) 29–36.[74] J. Angeles, Automatic computation of the screw parameters of rigid body motions, Part I. Finitely-separated positions, Journal of Dynamic Systems, Measurement, and Control, Transactions of ASME 108 (1986) 32–38.[75] I.A. Parkin, Coordinate transformations of screws with applications to screw systems and finite twists, Mechanism and Machine Theory 25 (6) (1990) 689–699.[76] I.A. Parkin, The finite displacement screws of a compound body, in: Proceedings of the 8th IFToMM Congress, Prague (1991) 107–110.[77] I.A. Parkin, A third conformation with the screw systems: finite twist displacements of a directed line and point, Mechanism and Machine Theory 27 (2) (1992) 177–188.[78] C. Huang, On the finite screw system of the third order associated with a revolute–revolute chain, ASME Transactions, Journal of Mechanical Design 116 (1995) 875–883.[79] C. Huang, The finite screw system associated with a prismatic–revolute dyad and the screw displacement of a point, Mechanism and Machine Theory 29 (1994) 1131–1142.[80] C. Huang, The cylindroid associated with finite motion of the Bennett mechanism, Transactions of the ASME, Journal of Mechanical Design 119 (1997) 521–524.[81] J.S. Dai, N. Holland, D.R. Kerr, Finite twist mapping and its application to planar serial manipulators with revolute joints, Journal of Mechanical Engineering Science, Proceedings of IMechE, Part C 209 (C3) (1995) 263– 272.[82] C.G. Gibson, K.H. Hunt, Geometry of screw systems—1, Mechanism and Machine Theory 25 (1) (1990) 1–10.[83] C.G. Gibson, K.H. Hunt, Geometry of screw systems—2, Classification of Screw Systems, Mechanism and Machine Theory 25 (1) (1990) 11–27.[84] J.M. Rico Martinez, J. Duffy, Orthogonal spaces and screw systems, Mechanism and Machine Theory 27 (4) (1992) 451–458.[85] J.M. Rico Martinez, J. Duffy, Classification of screw systems—I. One- and Two-Systems, Mechanism and Machine Theory 27 (4) (1992) 459–470.[86] J.M. Rico Martinez, J. Duffy, Classification of screw systems—II. Three-Systems, Mechanism and Machine Theory 27 (4) (1992) 471–490.[87] J.S. Dai, J. Rees Jones, Interrelationship between screw systems and corresponding reciprocal systems and applications, Mechanism and Machine Theory 36 (5) (2001) 633–651.[88] J.S. Dai, J. Rees Jones, Null space construction using cofactors from a screw algebra context, Proceedings of the Royal Society on London. Series A: Mathematical, Physical and Engineering Sciences 458 (2024) (2002) 1845– 1866.[89] J.S. Dai, J. Rees Jones, A linear algebraic procedure in obtaining reciprocal screw systems, Journal of Robotic Systems 20 (7) (2003) 401–412.[90] C. Huang, B. Roth, Analytical expressions for the finite screw systems, Mechanism and Machine Theory 29 (2) (1994) 207–222.[91] K.H. Hunt, I.A. Parkin, Finite displacements of points, planes, and lines via screw theory, Mechanism and Machine Theory 30 (2) (1995) 177–192.[92] M. Borri, L. Trainelli, C. Bottasso, On representations and parameterizations of motion, Multibody System Dynamics 4 (2000) 129–193.


text:
- About Us
- Nanotechnology
- News
- Columns
- Products
- Directories
- Career Center
- Nano-Social Network
- Nano Consulting
- My Account
Home > Press > MU Signs Academic Agreement With K.S.R. Educational Institutions of India
|MU officials held a signing ceremony with K.S.R. Educational Institutions of India. Pictured, from L-R: Henry White, professor emeritus of physics; Raghuraman Kannan, MU assistant professor of radiology; R. Srinivasan, K.S.R. vice chancellor, international programs; Rob Duncan, MU vice chancellor for research; Annette Sobel, MU assistant to the provost for strategic opportunities; V. Rajendran, K.S.R. vice chancellor of research; K. Balaji, K.S.R. estate manager.
University of Missouri officials announced today a five-year agreement with K.S.R. Educational Institutions of India that will promote advanced research and training in nanomedicine and nanotechnology.
"We are very excited about the opportunities with K.S.R., an affiliation of 16 institutions of higher education in Tamil Nadu, India," said Rob Duncan, MU vice chancellor for research. "K.S.R. has the same commitment to deliver quality education to people committed to advancing their quality of life. By expanding our mutual effort into nanomedicine, technology and other disciplines, we will strengthen the collaboration between two of the great democracies of the world."
The agreement between MU and K.S.R. stipulates that a joint facility will be developed in India, and the two entities will exchange scientists for joint teaching, training and research programs. Qualified students will be encouraged to enroll in the other institution's academic programs. The two institutions will collaborate on research funding opportunities, and jointly host national and international nanotechnology and nanomedicine conferences.
"While we have very good capabilities here at MU, K.S.R. has an excellent facility for the development of new research materials," said Raghuraman Kannan, assistant professor of radiology and Michael J. and Sharon R. Bukstein Distinguished Professor of Cancer Research in the MU School of Medicine, who will be leading the effort at MU. "In turn, K.S.R. does not have a medical school, so they can send their best students here to learn about our nanomedicine discovery and application efforts."
Nanotechnology is the future of treating illness, Kannan said. Nanomedicine includes the development of nanosensors that can detect harmful bacteria or microbes.
"On behalf of K.S.R., I am sure that with the guidance of the University of Missouri, we will be able to explore our mutual areas of interest," said V. Rajendran, K.S.R. vice chancellor of research.
"We have had an excellent interaction with the university's department of biomedicine and mechanical engineering, and we are looking forward to extending these programs for our students," said R. Srinivasan, K.S.R. executive director and vice chancellor of international programs.
K.S.R. is a group of educational institutions run by K.S.R. Educational & Charitable Trust in Tamil Nadu, India. It is established by Lion Dr. K. S. Rangasamy, a well-known industrialist and philanthropist. The K.S.R. Group of Institutions are situated on 400 acres and provide education for all age groups, from kindergarten to doctoral degrees in arts, science, business management, technical education, teaching, engineering, technology and dental medicine. K.S.R. has approximately 23,000 students.
For more information, please click here
Steven Adams
573 882-8353
Copyright © University of MissouriIf you have a comment, please Contact us.
Issuers of news releases, not 7th Wave, Inc. or Nanotechnology Now, are solely responsible for the accuracy of the content.
|Related News Press
News and information
Researchers predict material with record-setting melting point July 27th, 2015
Reshaping the solar spectrum to turn light to electricity: UC Riverside researchers find a way to use the infrared region of the sun's spectrum to make solar cells more efficient July 27th, 2015
Industrial Nanotech, Inc. Provides Update on PCAOB Audited Financials July 27th, 2015
Global Corrosion Resistant Nano Coatings Market To 2015: Acute Market Reports July 27th, 2015
Deben reports on the use of their CT500 in the X-ray microtomography laboratory at La Trobe University, Melbourne, Australia July 22nd, 2015
JPK reports on the use of SPM in the Messersmith Group at UC Berkeley looking at biologically inspired polymer adhesives. July 21st, 2015
Renishaw adds Raman analysis to Scanning Electron Microscopy at the University of Sydney, Australia July 9th, 2015
Oxford Instruments� TritonXL Cryofree dilution refrigerator selected for the Oxford NQIT Quantum Technology Hub project June 30th, 2015
Stretching the limits on conducting wires July 25th, 2015
UT Dallas nanotechnology research leads to super-elastic conducting fibers July 24th, 2015
Nanopaper as an optical sensing platform July 23rd, 2015
Albany College of Pharmacy and Health Sciences to Host One Week Symposium on Nanomedicine July 23rd, 2015
Researchers predict material with record-setting melting point July 27th, 2015
Reshaping the solar spectrum to turn light to electricity: UC Riverside researchers find a way to use the infrared region of the sun's spectrum to make solar cells more efficient July 27th, 2015
Industrial Nanotech, Inc. Provides Update on PCAOB Audited Financials July 27th, 2015
Global Corrosion Resistant Nano Coatings Market To 2015: Acute Market Reports July 27th, 2015
Alliances/Trade associations/Partnerships/Distributorships
Dais Analytic's Business Affiliate in China Announces Ten-Year Strategic Energy Efficiency Business Arrangement With COFCO: Dais Beijing to Perform Feasibility Study on Over 80 Buildings to Improve Efficiencies as Part of Overall Hotel Energy-Savings Project July 23rd, 2015
Leti and Diabeloop Project Aims at Developing Artificial Pancreas for Diabetes Treatment July 22nd, 2015
Imec and Panasonic Demonstrate Breakthrough RRAM Cell July 16th, 2015
High Quality Functionalised Graphene July 15th, 2015
Research partnerships
Spintronics: Molecules stabilizing magnetism: Organic molecules fixing the magnetic orientation of a cobalt surface/ building block for a compact and low-cost storage technology/ publication in Nature Materials July 25th, 2015
Stretching the limits on conducting wires July 25th, 2015
Ultra-thin hollow nanocages could reduce platinum use in fuel cell electrodes July 24th, 2015
UT Dallas nanotechnology research leads to super-elastic conducting fibers July 24th, 2015
|The latest news from around the world, FREE
|Premium Products
Only the news you want to read!
Learn More
University Technology Transfer & Patents
Learn More
Full-service, expert consulting
Learn More


text:
Startup uses iBeacon to allow Newsstand publication access
Exact Editions, a British digital publishing startup, is using Apple's iBeacon technology to allow readers to access its titles for free in certain locations. A report suggests the tech could be used within a coffee shop or waiting room, as the publisher could sell multi-magazine subscriptions to businesses and locations. Macy's also disclosed that it will be using iBeacon to trigger offers in different parts of its stores as part of a pilot program, and a number of Major League Baseball teams have expressed interest in using the technology within their stadiums. [via TechCrunch]
Related Stories
- Apple releases second iOS 8.4.1 beta to developers
- Apple Music added to T-Mobile's Music Freedom
- Report: Slimmer iPad mini 4 on the way, upgraded iPad Air 3 a possibility
- Beijing police bust massive iPhone counterfeiting operation
- Google Spotlight Stories, PAC-MAN Championship Edition DX, Stupid Zombies 3 + more
- Apple releases second iOS 9 public beta
Recent News
- iLounge Weekly arrives Monday, sign up now
- Report reveals additional details on Apple and BMW talks
- Report: New Apple TV to debut in September, subscription service to come later
- Apple releases second iOS 8.4.1 beta to developers
- Volkswagen adds CarPlay to 2016 lineup
- AT&T wants $100M data throttling fine thrown out
- Apple Music added to T-Mobile's Music Freedom
- Report: Apple Music hits 10M subscribers
- Apple Maps vans landing in France, Sweden in August
- Report: Slimmer iPad mini 4 on the way, upgraded iPad Air 3 a possibility
Recent Reviews
- PhotoFast i-FlashDrive MAX
- Zivix Jamstik+ MIDI Guitar Controller
- Ulak Lumenair for iPhone 6
- Apple iPod touch (Sixth-Generation)
- Ventev Powercell 3015c and Powercell 6000+
- Bowers & Wilkins P5 Wireless Headphones
- IK Multimedia iRig Mic Studio
- iClever Apple Watch Charging Stand
- TempTraq Wearable Bluetooth Thermometer
- JBL Clip+ Bluetooth Speaker
Recent Articles
- Instant Expert: Secrets & Features of iTunes 12.2
- Instant Expert: Secrets & Features of iOS 8.4 + Apple Music
- CE Week 2015: IK Multimedia, Monowear's Apple Watch bands + More
- Live From CE Week 2015: Brand New iPad, iPhone + Mac Accessories!
- A First Look at iOS 9's Transit in Apple Maps
- Opinion: The 'Grand Experiment' of shifting to Google Photos
- Will removing a credit card from Safari also remove it from Apple Pay?
- Can I mute Handoff calls coming into my Mac from my iPhone?
- How do I keep my iPhone calls from ringing on my Mac?
- Why doesn't Traffic show up on my Today Notifications Screen?


text:
Property dealer shot dead in Meerut
Last Updated: Monday, May 6, 2013 - 10:02
Meerut: A property dealer was shot dead in his office by three unidentified persons at Rohta area today, police said.
40-year-old Sanjay Tyagi was in his office when three persons came on a motorbike and fired at him, police said.
Police suspect that Tyagi was killed over a property dispute.
A search is on to nab the attackers, they said.
First Published: Monday, May 6, 2013 - 10:02
More from India
More from World
More from Sports
More from Entertaiment
- 6 leaders were in contact with Dawood Ibrahim till 26/11: Report
- Rameswaram waits to give final salute to Dr Abdul Kalam
- SC order on Yakub Memon huge disappointment, setback: Owaisi
- Last rites of Gurdaspur attack martyr Baljit Singh in Kapurthala
- DNA analysis of Yakub Memon's final moments in Nagpur Jail
- APJ Abdul Kalam's funeral to be held in Rameswaram; PM Modi to attend
- Yakub Memon hanged in Nagpur jail: As it happened
- Has President Pranab Mukherjee rejected Yakub Memon's mercy plea?
- SC refuses stay on Yakub Memon's hanging: As it happened
- 2 NDA, 4 UPA leaders were in contact with Dawood Ibrahim before 26/11: Report


text:
Kevin Curtis
Biglaw, Crime, Deaths, Dewey & LeBoeuf, Law Professors, Law Schools, Money, Morning Docket, Texas
* The DOJ is seeking treble damages against Lance Armstrong over his USPS sponsorship funds, alleging the athlete was "unjustly enriched." This lawsuit is clearly on steroids; the bike dude's got an eye for that sort of thing. [NBC News]
* Dewey know how much Steven Davis had to fork over to the firm's estate to settle its mismanagement claims against him? It's pocket change compared to what some former partners had to pay into the partner contribution plan. [Am Law Daily]
* "Golden handcuffs," law school style: the Texas attorney general's office is looking into the UT Law School Foundation. Apparently giving out forgivable loans to law profs like candy is a big no-no. [Austin Business Journal]
* Duncan Law hopes to get ABA accreditation through its conflict resolution center, which will "attract more students." Yep, because more students equals more job opportunities. [Knoxville New Sentinel]
* The accused ricin guy might've been a whackjob, but the charges were dropped. His lawyer believes he was framed by a guy who was recently arrested on child molestation charges. Cray! [Bloomberg]
* Edward de Grazia, defender of sexually explicit novels in Jacobellis v. Ohio, RIP. [New York Times]
Prosecutor Says This Ricin Guy Is A Real Whackjob Too
In other, whackjob news…
Is Litigation Finance Right For Your Client?
Litigation finance is a funding tool many companies are considering to help cover the fees and expenses related to major legal claims. We at Lake Whillans Litigation Finance have compiled a list of questions to help you determine if your client is a candidate for litigation finance.


text:
Road and Rail
Company Overview of National Railroad Passenger Corporation
Executive Profile
|Total Calculated Compensation
|This person is connected to 0 Board Members in 0 different organizations across 0 different industries.
There is no Background data available.
Corporate Headquarters
60 Massachusetts Avenue NEPhone: 202-906-3000
Washington, District Of Columbia 20002
United States
Fax: 202-906-3306
Board Members Memberships
Board Member
EducationThere is no Education data available.
Other AffiliationsThere is no Company Affiliations data available.
Annual CompensationThere is no Annual Compensation data available.
Stocks OptionsThere is no Stock Options data available.
Total CompensationThere is no Total Compensation data available.
|There is no Competitor Compensation data available.
Sponsored Financial Commentaries
Sponsored Links
Report Data Issue
To contact National Railroad Passenger Corporation, please visit . Company data is provided by Capital IQ. Please use this form to report any data issues.
Please enter your information in the following field(s):
Your requested update has been submitted
Our data partners will research the update request and update the information on this page if necessary. Research and follow-up could take several weeks. If you have questions, you can contact them at firstname.lastname@example.com.