scholarly journals A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of Large Structures

2014 ◽  
pp. 275-291 ◽  
Author(s):  
Lorenzo Gagliardini ◽  
Stéphane Caro ◽  
Marc Gouttefarde ◽  
Philippe Wenger ◽  
Alexis Girin
Keyword(s):  
Parallel Robot ◽  
Large Structures

Proteins and direct methods

1991 ◽  
Vol 197 (3-4) ◽  
Author(s):  
Fan Hai-fu ◽  
Hao Quan ◽  
M. M. Woolfson
Keyword(s):  
First Principles ◽  
Figure Of Merit ◽  
Direct Methods ◽  
Large Structure ◽  
Low Resolution ◽  
Figures Of Merit ◽  
Large Structures ◽  
Resolution Data

AbstractConventional direct methods, which work so well for small structures, are less successful for macromolecules. Where it has been demonstrated that a solution might be found using direct methods it is then found that the usual figures of merit are unable to distinguish the few good sets of phases from the large number of sets generated. The reasons for the difficulties with very large structures are considered from a first-principles approach taking into account both the factors of having a large number of atoms and low resolution data. A proposal is made for trying to recognize good phase sets by taking a large structure as a sum of a number of smaller structures for each of which a conventional figure of merit can be applied.

Development of Large Structures in Space Using the Magnetically Inflated Cable (MIC) System

2006 ◽  
Author(s):  
James Powell ◽  
George Maise ◽  
John Paniagua ◽  
John Rather
Keyword(s):  
Large Structures

Argumentation theory: competition between modern research approaches

2018 ◽  
pp. 77-87
Author(s):  
Анатолий Мигунов ◽  
Anatoliy Migunov ◽  
Елена Лисанюк ◽  
Elena Lisanyuk
Keyword(s):  
Social Life ◽  
Critical Discussion ◽  
Procedural Semantics ◽  
Social Success ◽  
Large Structures ◽  
Criteria Importance ◽  
Practical Argumentation ◽  
Argumentative Structure ◽  
Theory Competition

To overcome the crisis in the sphere of argumentation studies, the project proposes a logical-cognitive concept of argumentation which is a compound formalized theory that includes formalisms for modeling argumentation of different types, a relevant conceptual framework and a methodology for the use of scientific research in the practice. Three types of argumentation are defined: theoretical (two types) and practical. Theoretical argumentation is a critical discussion of the agents’ knowledge and opinions about facts aimed to substantiate a certain view or to change it – i.e. persuasion. Practical argumentation is a critical discussion of opinions about actions which includes, in addition to the statements about knowledge and opinions, statements of a non-descriptive nature about the agents’ values and intentions to adhere to a certain line of behavior. The study of argumentation needs to focus on the large structures that reflect specifics of the criticism and defense of the positions of the parties. An atom unit of such study is the argument as a statement of reason, while its molecular elements are the argumentative structure of a dispute (frame), a multitude of arguments that express the parties’ positions, a multitude of the agents’ knowledge and opinions that act as the bases for the formation of positions, lines of behavior, etc. Within the framework of this trend, both indefeasible (deductive) and defeasible argumentations can be studied. The argumentation effectiveness can be assessed based on the procedural semantics and using analogues of such logical notions as consistency and completeness. Modern approaches to the argumentation, including those claiming the compound status, can be classified using two methods: based on the substantive and practical criteria. Importance of the research outcomes amounts to the theoretical and methodological role of the new conception of argumentation and the general “umbrella” term argumentation that allows systematizing the manifold research and educational approaches and concepts in this field and is associated with communicative nature of modern social life where efficiency and social success rely on argumentative and narrative competences.

scholarly journals Ritual Economy and the Organization of Scioto Hopewell Craft Production: Insights from the Outskirts of the Mound City Group

2020 ◽  
Vol 85 (2) ◽  
pp. 279-304
Author(s):  
Timothy D. Everhart ◽  
Bret J. Ruby
Keyword(s):  
Craft Production ◽  
Small Scale ◽  
Magnetic Survey ◽  
Middle Woodland ◽  
The North ◽  
Large Structures ◽  
Production Site ◽  
Production And Consumption ◽  
Ritual Economy ◽  
City Group

This article offers insights into the organization of Scioto Hopewell craft production and examines the implications of this organization through the lens of ritual economy. We present a novel analysis of investigations at the North 40 site, concluding that it is a craft production site located on the outskirts of the renowned Mound City Group. High-resolution landscape-scale magnetic survey revealed a cluster of three large structures and two rows of associated pits; one of the buildings and three of the pits were sampled in excavations. Evidence from the North 40 site marks this as the best-documented Scioto Hopewell craft production site. Mica, chert, and copper were crafted here in contexts organized outside the realm of domestic household production and consumption. Other material remains from the site suggest that crafting was specialized and embedded in ceremonial contexts. This analysis of the complex organization of Scioto Hopewell craft production provides grounds for further understanding the elaborate ceremonialism practiced by Middle Woodland (AD 1–400) societies and adds to the known complexity of craft production in small-scale societies. Furthermore, this article contributes to a growing body of literature demonstrating the utility of ritual economy as a framework for approaching the sociality of small-scale societies.

scholarly journals Sensitivity Based Selection of an Optimal Cable-Driven Parallel Robot Design for Rehabilitation Purposes

Robotics ◽  
2020 ◽  
Vol 10 (1) ◽  
pp. 7
Author(s):  
Ferdaws Ennaiem ◽  
Abdelbadiâ Chaker ◽  
Juan Sebastián Sandoval Arévalo ◽  
Med Amine Laribi ◽  
Sami Bennour ◽  
...  
Keyword(s):  
Pareto Front ◽  
Parallel Robot ◽  
Elastic Stiffness ◽  
Upper Limb Rehabilitation ◽  
Daily Life Activities ◽  
System A ◽  
The Monte Carlo Method ◽  
Genetic Algorithm Method ◽  
Limb Rehabilitation ◽  
Selection Of

This paper deals with the design of an optimal cable-driven parallel robot (CDPR) for upper limb rehabilitation. The robot’s prescribed workspace is identified with the help of an occupational therapist based on three selected daily life activities, which are tracked using a Qualisys motion capture system. A preliminary architecture of the robot is proposed based on the analysis of the tracked trajectories of all the activities. A multi-objective optimization process using the genetic algorithm method is then performed, where the cable tensions and the robot size are selected as the objective functions to be minimized. The cables tensions are bounded between two limits, where the lower limit ensures a positive tension in the cables at all times and the upper limit represents the maximum torque of the motor. A sensitivity analysis is then performed using the Monte Carlo method to yield the optimal design selected out of the non-dominated solutions, forming the obtained Pareto front. The robot with the highest robustness toward the disturbances is identified, and its dexterity and elastic stiffness are calculated to investigate its performance.

scholarly journals Social spider optimization algorithm for tuning parameters in PD-like Interval Type-2 Fuzzy Logic Controller applied to a parallel robot

2021 ◽  
Vol 54 (3-4) ◽  
pp. 303-323
Author(s):  
Amjad J Humaidi ◽  
Huda T Najem ◽  
Ayad Q Al-Dujaili ◽  
Daniel A Pereira ◽  
Ibraheem Kasim Ibraheem ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Trajectory Tracking ◽  
Fuzzy Logic Controller ◽  
Optimization Technique ◽  
Parallel Robot ◽  
Design Parameters ◽  
Social Spider ◽  
Social Spider Optimization ◽  
Interval Type

This paper presents control design based on an Interval Type-2 Fuzzy Logic (IT2FL) for the trajectory tracking of 3-RRR (3-Revolute-Revolute-Revolute) planar parallel robot. The design of Type-1 Fuzzy Logic Controller (T1FLC) is also considered for the purpose of comparison with the IT2FLC in terms of robustness and trajectory tracking characteristics. The scaling factors in the output and input of T1FL and IT2FL controllers play a vital role in improving the performance of the closed-loop system. However, using trial-and-error procedure for tuning these design parameters is exhaustive and hence an optimization technique is applied to achieve their optimal values and to reach an improved performance. In this study, Social Spider Optimization (SSO) algorithm is proposed as a useful tool to tune the parameters of proportional-derivative (PD) versions of both IT2FLC and T1FLC. Two scenarios, based on two square desired trajectories (with and without disturbance), have been tested to evaluate the tracking performance and robustness characteristics of proposed controllers. The effectiveness of controllers have been verified via numerical simulations based on MATLAB/SIMULINK programming software, which showed the superior of IT2FLC in terms of robustness and tracking errors.

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