Solar azimuth angle be interpreted as the angle between zero and 180 degrees when the hour angle, "h", is negative (morning) and the angle between 180 and 360 degrees when the hour angle, "h", is positive (afternoon). (These two formulas are equivalent if you assume the "solar elevation angle" approximation formula). The formulas use the following terminology: Solar azimuth angle The solar azimuth angle is the azimuth angle of the Sun's position. This horizontal coordinate defines the Sun's relative direction along the local horizon, whereas the solar zenith angle (or its complementary angle solar elevation) defines the Sun's apparent altitude. There are several
Six degrees of freedom the configuration of the manipulator defined by its forward and inverse kinematics. Robot arms are described by their degrees of freedom. This number typically refers to the number of single-axis rotational joints in the arm, where higher number indicates an increased flexibility in positioning a tool. This is a practical metric, in contrast to the abstract definition of degrees of freedom which measures the aggregate positioning capability of a system. In 2007, Dean Kamen, inventor of the Segway, unveiled a prototype robotic arm with 14 degrees of freedom for DARPA. Humanoid robots typically have 30 or more degrees of freedom,