Control of flexible manipulators: A survey

Robotica ◽  
2004 ◽  
Vol 22 (5) ◽  
pp. 533-545 ◽  
Author(s):  
M. Benosman ◽  
G. Le Vey
Keyword(s):  
Linear Models ◽  
Control Strategies ◽  
Research Area ◽  
Future Research ◽  
Complex Nature ◽  
Open Problems ◽  
Complex Models ◽  
The Many ◽  
The One ◽  
Flexible Arms

A survey of the field of control for flexible multi-link robots is presented. This research area has drawn great attention during the last two decades, and seems to be somewhat less “attractive” now, due to the many satisfactory results already obtained, but also because of the complex nature of the remaining open problems. Thus it seems that the time has come to try to deliver a sort of “state of the art” on this subject, although an exhaustive one is out of scope here, because of the great amount of publications. Instead, we survey the most salient progresses – in our opinion – approximately during the last decade, that are representative of the essential different ideas in the field. We proceed along with the exposition of material coming from about 119 included references. We do not pretend to deeply present each of the methods quoted hereafter; however, our goal is to briefly introduce most of the existing methods and to refer the interested reader to more detailed presentations for each scheme. To begin with, a now well-established classification of the flexible arms control goals is given. It is followed by a presentation of different control strategies, indicating in each case whether the approach deals with the one-link case, which can be successfully treated via linear models, or with the multi-link case which necessitates nonlinear, more complex, models. Some possible issues for future research are given in conclusion.

Service-Oriented Architectures for Pervasive Computing

2010 ◽  
pp. 147-174 ◽  
Author(s):  
Elias S. Manolakos ◽  
Demetris G. Galatopoullos
Keyword(s):  
Pervasive Computing ◽  
Service Oriented Architecture ◽  
Future Research ◽  
Open Problems ◽  
Efficient Manner ◽  
Service Oriented Architectures ◽  
Software Applications ◽  
Service Oriented ◽  
User Tasks ◽  
The Many

The vision of pervasive computing is to create and manage computational spaces where large numbers of heterogeneous devices collaborate transparently to serve the user tasks all the time, anywhere. The original utility of a computer is now changing from a stand-alone tool that runs software applications to an environment-aware, context-aware tool that can enhance the user experience by executing services and carrying out his/her tasks in an efficient manner. However, the heterogeneity of devices and the user’s mobility are among the many issues that make developing pervasive computing applications a very challenging task. A solution to the programmability of pervasive spaces is adopting the service-oriented architecture (SOA) paradigm. In the SOA model, device capabilities are exposed as software services thus providing the programmer with a convenient abstraction level that can help to deal with the dynamicity of pervasive spaces. In this chapter the authors review the state of the art in SOA-based pervasive computing, identify existing open problems, and contribute ideas for future research.

scholarly journals Progress in Modeling and Control of Gas Turbine Power Generation Systems: A Survey

Energies ◽  
2020 ◽  
Vol 13 (9) ◽  
pp. 2358 ◽  
Author(s):  
Omar Mohamed ◽  
Ashraf Khalil
Keyword(s):  
Power Generation ◽  
Gas Turbine ◽  
Gas Turbines ◽  
Power Plants ◽  
Control Strategies ◽  
Research Area ◽  
Future Research ◽  
Modeling And Control ◽  
Comprehensive Survey ◽  
And Control

This paper reviews the modeling techniques and control strategies applied to gas turbine power generation plants. Recent modeling philosophies are discussed and the state-of-the-art feasible strategies for control are shown. Research conducted in the field of modeling, simulation, and control of gas turbine power plants has led to notable advancements in gas turbines’ operation and energy efficiency. Tracking recent achievements and trends that have been made is essential for further development and future research. A comprehensive survey is presented here that covers the outdated attempts toward the up-to-date techniques with emphasis on different issues and turbines’ characteristics. Critical review of the various published methodologies is very useful in showing the importance of this research area in practical and technical terms. The different modeling approaches are classified and each category is individually investigated by reviewing a considerable number of research articles. Then, the main features of each category or approach is reported. The modern multi-variable control strategies that have been published for gas turbines are also reviewed. Moreover, future trends are proposed as recommendations for planned research.

scholarly journals PERCEPTION OF COMPETITIVENESS IN THE CONTEXT OF SUSTAINABLE DEVELOPMENT: FACETS OF “SUSTAINABLE COMPETITIVENESS”

2010 ◽  
Vol 11 (2) ◽  
pp. 341-365 ◽  
Author(s):  
Audronė Balkytė ◽  
Manuela Tvaronavičienė
Keyword(s):  
Sustainable Development ◽  
Evaluation Criteria ◽  
Theoretical Models ◽  
Research Area ◽  
Social Progress ◽  
Future Research ◽  
Europe 2020 ◽  
New Strategy ◽  
The One ◽  
Research Initiatives

European Council agreed to the European Commission's proposal to launch a new strategy for jobs and growth ‐ the new European Union strategy for smart, sustainable and inclusive growth ‐ “Europe 2020”. This will lead to a new concept of the competitiveness and deeper relationship between sustainable development and competitiveness. The aim of this article is to set out the future research area of competitiveness theory taking into account the development of competitiveness concept and existing research tendencies. On the one hand, for developing the new concept of competitiveness, it is necessary to critically analyse existing studies on competitiveness. Researchers, examining the problems of competitiveness, differently approach the concept of competitiveness, suggesting different definitions, classification, factors, models of competitiveness, and evaluation criteria. Despite all the discussions on competitiveness however, no clear definition or model of competitiveness has yet been developed. On the other hand, globalization, economic dynamism and social progress, sustainability and competitiveness go hand‐in‐hand. Competitiveness should be underpinned by a broad vision for the economy and society. There is a need of research initiatives to develop the new concept of “Sustainable competitiveness” in the context of globalisation, with much of the research focusing on how sustainable development and competitiveness interact. Such additional research will lead to new theoretical models describing the relationships between international globalization, economic growth, sustainable development, wellbeing and competitiveness. Santrauka Europos Vadovu Taryba pritare Europos Komisij os pasiūlytai ekonomikos augimo ir darbo vietu kūrimo strategijai ‐ “Europa 2020” ‐ naujai Europos Sajungos strategijai del pažangaus, tvaraus ir integruoto augimo. Tai sudaro prielaidas naujai konkurencingumo sampratai ir gilesniam darnaus vystymosi ir konkurencingumo saryšiui. Šio straipsnio tikslas yra nustatyti tolesniu konkurencingumo teorijos tyrimu sriti, atsižvelgiant i konkurencingumo koncepcijos pletra ir egzistuojančias moksliniu tyrimu tendencijas. Iš vienos puses, siekiant pletoti konkurencingumo teorija, būtina kritiškai ivertinti egzistuojančias konkurencingumo studijas. Mokslininkai, nagrinedami konkurencingumo problematika, pateikia ivairias konkurencingumo koncepcijas, siūlydami skirtingus apibrežimus, klasifikacija_, veiksnius, konkurencingumo modelius ir vertinimo kriterijus. Nepaisant plačiu diskusiju, kol kas nera susitarta del aiškaus konkurencingumo apibrežimo ar visuotinai pripažistamo modelio. Iš kitos puses, globalizacija, ekonomikos dinamiškumas ir socialine pažanga, darnus vystymasis ir konkurencingumas yra tarpusavyje glaudžiai susije. Plati ekonomikos ir visuomenes vizija turetu būti konkurencingumo pagrindas. Egzistuojantis moksliniu tyrimuporeikis veda link naujos "darnaus kon‐kurencingumo” koncepcijos kūrimo iniciatyvu, ivertinant globalizacija ir daugiau demesio skiriant dar‐naus vystymosi bei konkurencingumo tarpusavio ryšiams. Tokie tolesni tyrimai padetu atrasti naujus teorinius modelius, charakterizuojančius tarptautines globalizacijos, ekonomikos augimo, darnaus vystymosi, geroves kūrimo ir konkurencingumo saryši.

Carotenoid-based signals in behavioural ecology: a review

Behaviour ◽  
2011 ◽  
Vol 148 (2) ◽  
pp. 131-189 ◽  
Author(s):  
◽  
Keyword(s):  
Social Interactions ◽  
Future Research ◽  
Antioxidant Systems ◽  
Complex Nature ◽  
Behavioural Ecology ◽  
Evolutionary Time ◽  
Carotenoid Metabolism ◽  
Trade Offs ◽  
The Many ◽  
Carotenoid Pigmentation

AbstractCarotenoids are among the most prevalent pigments used in animal signals and are also important for a range of physiological functions. These concomitant roles have made carotenoidbased signals a popular topic in behavioural ecology while also causing confusion and controversy. After a thorough background, we review the many pitfalls, caveats and seemingly contradictory conclusions that can result from not fully appreciating the complex nature of carotenoid function. Current controversies may be resolved through a more careful regard of this complexity, and of the immense taxonomic variability of carotenoid metabolism. Studies investigating the physiological trade-offs between ornamental and physiological uses of carotenoids have yielded inconsistent results. However, in many studies, homeostatic regulation of immune and antioxidant systems may have obscured the effects of carotenoid supplementation. We highlight how carefully designed experiments can overcome such complications. There is also a need to investigate factors other than physiological trade-offs (such as predation risk and social interactions) as these, too, may shape the expression of carotenoidbased signals. Moreover, the processes limiting signal expression individuals are likely different from those operating over evolutionary time-scales. Future research should give greater attention to carotenoid pigmentation outside the area of sexual selection, and to taxa other than fishes and birds.

ON THE COMPLEXITY OF BIOMECHANICAL MODELS USED FOR NEUROPROSTHESES DEVELOPMENT

2002 ◽  
Vol 02 (03n04) ◽  
pp. 389-404 ◽  
Author(s):  
ROBERT RIENER ◽  
THOMAS FUHR ◽  
JOHANNES SCHNEIDER
Keyword(s):  
Muscle Activation ◽  
Control Design ◽  
Model Complexity ◽  
Segmental Motion ◽  
Comprehensive Model ◽  
Biomechanical Models ◽  
Complex Models ◽  
The Many ◽  
The One ◽  
Model Approach

The use of mathematical models has the potential to enhance the development of lower extremity neuroprostheses (NP) based on Functional Electrical Simulation (FES). The choice of model complexity is not trivial when building a model for FES control design. On the one hand, a comprehensive model might be useful to account for the many different biomechanical and neurophysiological effects that can be observed during FES-induced movements. On the other hand, too complex models are difficult to be utilized in and identified for NP applications. In this paper we discuss the disadvantages of too complex models, and propose potential simplifications on the basis of existing models that are commonly used to describe muscle activation, muscle contraction and body-segmental motion. The obtained model approach is simple enough to be identified, and sufficiently comprehensive to describe most of the relevant effects that occur during FES-induced locomotion.

Service-Oriented Architectures for Pervasive Computing

2010 ◽  
Vol 2 (4) ◽  
pp. 39-62
Author(s):  
Elias S. Manolakos ◽  
Demetris G. Galatopoullos
Keyword(s):  
Pervasive Computing ◽  
Service Oriented Architecture ◽  
Future Research ◽  
Open Problems ◽  
Efficient Manner ◽  
Service Oriented Architectures ◽  
Software Applications ◽  
Service Oriented ◽  
User Tasks ◽  
The Many

The vision of pervasive computing is to create and manage computational spaces where large numbers of heterogeneous devices collaborate transparently to serve the user tasks all the time, anywhere. The original utility of a computer is now changing from a stand-alone tool that runs software applications to an environmentaware, context-aware tool that can enhance the user experience by executing services and carrying out his/ her tasks in an efficient manner. However, the heterogeneity of devices and the user’s mobility are among the many issues that make developing pervasive computing applications a very challenging task. A solution to the programmability of pervasive spaces is adopting the service-oriented architecture (SOA) paradigm. In the SOA model, device capabilities are exposed as software services thus providing the programmer with a convenient abstraction level that can help to deal with the dynamicity of pervasive spaces. In this chapter the authors review the state of the art in SOA-based pervasive computing, identify existing open problems, and contribute ideas for future research.

scholarly journals Survey of Smart Parking Systems

2020 ◽  
Vol 10 (11) ◽  
pp. 3872
Author(s):  
Mathias Gabriel Diaz Ogás ◽  
Ramon Fabregat ◽  
Silvana Aciar
Keyword(s):  
Optimal Path ◽  
Research Area ◽  
Future Research ◽  
Open Problems ◽  
Detection Techniques ◽  
Stage Of Development ◽  
Current State ◽  
Smart Parking ◽  
The Subject ◽  
Exhaustive Study

The large number of vehicles constantly seeking access to congested areas in cities means that finding a public parking place is often difficult and causes problems for drivers and citizens alike. In this context, strategies that guide vehicles from one point to another, looking for the most optimal path, are needed. Most contributions in the literature are routing strategies that take into account different criteria to select the optimal route required to find a parking space. This paper aims to identify the types of smart parking systems (SPS) that are available today, as well as investigate the kinds of vehicle detection techniques (VDT) they have and the algorithms or other methods they employ, in order to analyze where the development of these systems is at today. To do this, a survey of 274 publications from January 2012 to December 2019 was conducted. The survey considered four principal features: SPS types reported in the literature, the kinds of VDT used in these SPS, the algorithms or methods they implement, and the stage of development at which they are. Based on a search and extraction of results methodology, this work was able to effectively obtain the current state of the research area. In addition, the exhaustive study of the studies analyzed allowed for a discussion to be established concerning the main difficulties, as well as the gaps and open problems detected for the SPS. The results shown in this study may provide a base for future research on the subject.

Not Just a Simple Sugar: Arabinose Metabolism and Function in Plants

2021 ◽  
Author(s):  
Alban Mariette ◽  
Hee Sung Kang ◽  
Joshua L Heazlewood ◽  
Staffan Persson ◽  
Berit Ebert ◽  
...  
Keyword(s):  
Cell Wall ◽  
De Novo ◽  
Research Area ◽  
Land Plant ◽  
Future Research ◽  
Wall Structures ◽  
The Many ◽  
And Function ◽  
Simple Sugar ◽  
Development Structure

Abstract Growth, development, structure as well as dynamic adaptations and remodelling processes in plants are largely controlled by the properties of their cell walls. These intricate wall structures are mostly made up of different sugars connected through specific glycosidic linkages but also contain many glycosylated proteins. A key plant sugar that is present throughout the plantae, even before the divergence of the land plant lineage, but is not found in animals, is L-Arabinose (L-Ara). Here, we summarize and discuss the processes and proteins involved in L-Ara de novo synthesis, L-Ara interconversion, and the assembly and recycling of L-Ara-containing cell wall polymers and proteins. We also discuss the biological function of L-Ara in a context focused manner, mainly addressing cell wall related functions that are conferred by the basic physical properties of arabinose containing polymers/compounds. In this article we explore these processes with the goal of directing future research efforts to the many exciting yet unanswered questions in this research area.

scholarly journals Coupled Air Quality and Boundary-Layer Meteorology in Western U.S. Basins during Winter: Design and Rationale for a Comprehensive Study

2021 ◽  
pp. 1-94
Author(s):  
A. Gannet Hallar ◽  
Steven S. Brown ◽  
Erik Crosman ◽  
Kelley C. Barsanti ◽  
Christopher D. Cappa ◽  
...  
Keyword(s):  
Boundary Layer ◽  
Air Quality ◽  
Atmospheric Chemistry ◽  
Salt Lake ◽  
Control Strategies ◽  
Research Area ◽  
Future Research ◽  
Surface Boundary ◽  
Mixing Processes ◽  
Near Surface

AbstractWintertime episodes of high aerosol concentrations occur frequently in urban and agricultural basins and valleys worldwide. These episodes often arise following development of persistent cold-air pools (PCAPs) that limit mixing and modify chemistry. While field campaigns targeting either basin meteorology or wintertime pollution chemistry have been conducted, coupling between interconnected chemical and meteorological processes remains an insufficiently studied research area. Gaps in understanding the coupled chemical-meteorological interactions that drive high pollution events make identification of the most effective air-basin specific emission control strategies challenging. To address this, a September 2019 workshop occurred with the goal of planning a future research campaign to investigate air quality in Western U.S. basins. Approximately 120 people participated, representing 50 institutions and 5 countries. Workshop participants outlined the rationale and design for a comprehensive wintertime study that would couple atmospheric chemistry and boundary-layer and complex-terrain meteorology within western U.S. basins. Participants concluded the study should focus on two regions with contrasting aerosol chemistry: three populated valleys within Utah (Salt Lake, Utah, and Cache Valleys) and the San Joaquin Valley in California. This paper describes the scientific rationale for a campaign that will acquire chemical and meteorological datasets using airborne platforms with extensive range, coupled to surface-based measurements focusing on sampling within the near-surface boundary layer, and transport and mixing processes within this layer, with high vertical resolution at a number of representative sites. No prior wintertime basin-focused campaign has provided the breadth of observations necessary to characterize the meteorological-chemical linkages outlined here, nor to validate complex processes within coupled atmosphere-chemistry models.

scholarly journals Drengestreger - Studier i drenge, mænd og maskulinitet

1999 ◽  
Author(s):  
Anne Scott Sørensen
Keyword(s):  
Social Studies ◽  
Gender Studies ◽  
International Research ◽  
Research Area ◽  
The Other ◽  
Future Perspectives ◽  
Advantages And Disadvantages ◽  
And Gender ◽  
The Many ◽  
The One

The article outlines the new international research area, the so-called "Boyhood Studies" and the corresponding Nordic boyhood studies that are seen in interaction with on the one hand the recent men's Studies and masculinity research and on the other hand the more established women's- and gender studies. The field is described with references to central theoretical and methodological positions within the humanities and social studies during the last decades. On this background, advantages and disadvantages of the current differentiation and the many different concepts are discussed ad well as the future perspectives of the field.

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