Expansion of source equation of elastic line

Robotica ◽  
2008 ◽  
Vol 26 (6) ◽  
pp. 739-751 ◽  
Author(s):  
Mirjana Filipovic ◽  
Miomir Vukobratovic
Keyword(s):  
Bending Moment ◽  
Equation Of Motion ◽  
Robotic Systems ◽  
Lumped Mass ◽  
Elastic Line ◽  
Force Dynamics ◽  
Long Time ◽  
The Difference ◽  
Direct Outcome ◽  
The Relationship

SUMMARYThe paper is concerned with the relationship between the equation of elastic line motion, the “Euler-Bernoulli approach” (EBA), and equation of motion at the point of elastic line tip, the “Lumped-mass approach” (LMA). The Euler–Bernoulli equations (which have for a long time been used in the literature) should be expanded according to the requirements of the motion complexity of elastic robotic systems. The Euler–Bernoulli equation (based on the known laws of dynamics) should be supplemented with all the forces that are participating in the formation of the bending moment of the considered mode. This yields the difference in the structure of Euler–Bernoulli equations for each mode. The stiffness matrix is a full matrix. Mathematical model of the actuators also comprises coupling between elasticity forces. Particular integral of Daniel Bernoulli should be supplemented with the stationary character of elastic deformation of any point of the considered mode, caused by the present forces. General form of the elastic line is a direct outcome of the system motion dynamics, and can not be described by one scalar equation but by three equations for position and three equations for orientation of every point on that elastic line. Simulation results are shown for a selected robotic example involving the simultaneous presence of elasticity of the joint and of the link (two modes), as well the environment force dynamics.

Psychology: Volume 5

2019 ◽  
Keyword(s):  
World View ◽  
Science Volume ◽  
Western World ◽  
Mental Life ◽  
Long Time ◽  
The Difference ◽  
New Perspective ◽  
Indian Setting ◽  
The Mind ◽  
The Relationship

This survey of research on psychology in five volumes is a part of a series undertaken by the ICSSR since 1969, which covers various disciplines under social science. Volume Five of this survey, Explorations into Psyche and Psychology: Some Emerging Perspectives, examines the future of psychology in India. For a very long time, intellectual investments in understanding mental life have led to varied formulations about mind and its functions across the word. However, a critical reflection of the state of the disciplinary affairs indicates the dominance of Euro-American theories and methods, which offer an understanding coloured by a Western world view, which fails to do justice with many non-Western cultural settings. The chapters in this volume expand the scope of psychology to encompass indigenous knowledge available in the Indian tradition and invite engaging with emancipatory concerns as well as broadening the disciplinary base. The contributors situate the difference between the Eastern and Western conceptions of the mind in the practice of psychology. They look at this discipline as shaped by and shaping between systems like yoga. They also analyse animal behaviour through the lens of psychology and bring out insights about evolution of individual and social behaviour. This volume offers critique the contemporary psychological practices in India and offers a new perspective called ‘public psychology’ to construe and analyse the relationship between psychologists and their objects of study. Finally, some paradigmatic, pedagogical, and substantive issues are highlighted to restructure the practice of psychology in the Indian setting.

Transverse Young's Moduli and Cell Shapes in Coniferous Early Wood

Holzforschung ◽  
2002 ◽  
Vol 56 (1) ◽  
pp. 1-6 ◽  
Author(s):  
Ugai Watanabe ◽  
Minoru Fujita ◽  
Misato Norimoto
Keyword(s):  
Young’S Modulus ◽  
Young's Modulus ◽  
Bending Moment ◽  
Cell Models ◽  
Young’S Moduli ◽  
Cell Shapes ◽  
The Difference ◽  
Square Cells ◽  
Experimental Values ◽  
The Relationship

Summary The relationship between transverse Young's moduli and cell shapes in coniferous early wood was investigated using cell models constructed by two dimensional power spectrum analysis. The calculated values of tangential Young's modulus qualitatively explained the relationship between experimental values and density as well as the difference in experimental values among species. The calculated values of radial Young's modulus for the species having hexagonal cells agreed well with the experimental values, whereas, for the species having square cells, the calculated values were much larger than the experimental values. This result was ascribed to the fact that the bending moment on the radial cell wall of square cell models was calculated to be small. It is suggested that the asymmetrical shape of real wood cells or the behavior of nodes during ell deformation is an important factor in the mechanism of linear elastic deformation of wood cells.

On the Curvature of an Euler–Bernoulli Beam

2003 ◽  
Vol 31 (2) ◽  
pp. 132-142 ◽  
Author(s):  
Osman Kopmaz ◽  
Ömer Gündoğdu
Keyword(s):  
Nonlinear Theory ◽  
Quantitative Assessment ◽  
Bending Moment ◽  
Point Of View ◽  
Bernoulli Beam ◽  
Cantilevered Beam ◽  
Single Moment ◽  
The Difference ◽  
Euler Bernoulli Beam ◽  
The Relationship

This paper deals with different approaches to describing the relationship between the bending moment and curvature of a Euler—Bernoulli beam undergoing a large deformation, from a tutorial point of view. First, the concepts of the mathematical and physical curvature are presented in detail. Then, in the case of a cantilevered beam subjected to a single moment at its free end, the difference between the linear theory and the nonlinear theory based on both the mathematical curvature and the physical curvature is shown. It is emphasized that a careless use of the nonlinear mathematical curvature and moment relationship given in most standard textbooks may lead to erroneous results. Furthermore, a numerical example is given for the reader to make a quantitative assessment.

scholarly journals New form of the Euler-Bernoulli rod equation applied to robotic systems

2008 ◽  
Vol 35 (4) ◽  
pp. 381-406 ◽  
Author(s):  
Mirjana Filipovic
Keyword(s):  
Elastic Deformation ◽  
Bending Moment ◽  
Stationary Regime ◽  
Theoretical Background ◽  
Bernoulli Equation ◽  
Lumped Mass ◽  
Robot System ◽  
Elastic Line ◽  
Line Equation ◽  
Rod Equation

This paper presents a theoretical background and an example of extending the Euler-Bernoulli equation from several aspects. Euler-Bernoulli equation (based on the known laws of dynamics) should be supplemented with all the forces that are participating in the formation of the bending moment of the considered mode. The stiffness matrix is a full matrix. Damping is an omnipresent elasticity characteristic of real systems, so that it is naturally included in the Euler-Bernoulli equation. It is shown that Daniel Bernoulli's particular integral is just one component of the total elastic deformation of the tip of any mode to which we have to add a component of the elastic deformation of a stationary regime in accordance with the complexity requirements of motion of an elastic robot system. The elastic line equation mode of link of a complex elastic robot system is defined based on the so-called 'Euler-Bernoulli Approach' (EBA). It is shown that the equation of equilibrium of all forces present at mode tip point ('Lumped-mass approach' (LMA)) follows directly from the elastic line equation for specified boundary conditions. This, in turn, proves the essential relationship between LMA and EBA approaches. In the defined mathematical model of a robotic system with multiple DOF (degree of freedom) in the presence of the second mode, the phenomenon of elasticity of both links and joints are considered simultaneously with the presence of the environment dynamics - all based on the previously presented theoretical premises. Simulation results are presented. .

scholarly journals A Search for Structural Alternatives of RNA

2019 ◽  
Vol 53 (1) ◽  
Author(s):  
Ramanarayanan Krishnamurthy
Keyword(s):  
Nucleic Acids ◽  
Base Pairing ◽  
Reaction Conditions ◽  
Physiological Conditions ◽  
Pairing Strength ◽  
First Approximation ◽  
Recognition Elements ◽  
The Difference ◽  
Direct Outcome ◽  
The Relationship

This account describes a search for potentially primordial informational oligomers; the work is the direct outcome of the research program that was initiated by the Eschenmoser group —at ETH Zürich about 20 years ago and was continued at The Scripps Research Institute since 1996— in order to understand the chemical basis on which nucleic acids were chosen by nature as the molecular foundation of its genetic apparatus. The investigation began with the study of the base-pairing properties of structural alternatives of nucleic acids —constructed from different sugars (hexo- & pentopyranoses and tetrofuranose) retaining the canonical nucleobases and phosphates. The outcome from these studies led to the conclusion that Watson-Crick type base-pairing is not unique to RNA/DNA, and that it can be compatible with a wide variety of backbone edifice. This provided the motivation to map the landscape of potentially primordial informational oligomer systems that may contain backbones, recognition elements and linker groups structurally quite different from those known so far. The oligomer systems chosen for study are, conceptually, deemed to be (a) potentially primordial (based on the nature of the starting materials and reaction conditions considered to be prebiotically realistic) and (b) informational (based on their ability to adopt a repetitive conformation such that the information encoded by the recognition elements can be transmitted intermolecularly). Though such studies suggest the possibility of finding informational systems that could lay claim as functional ancestors of RNA —they are more likely to generate results that provide the opportunity to assess the structural and functional uniqueness of nature’s choice. The experimental investigation described here deals with the base-pairing properties of oligomer systems derived from 2,4-disubsituted -triazines, -5-aminopyrimdines and -6-carboxy pyrimidines as recognition elements that are tagged to oligo-dipeptide backbones via different linker groups. The results from the inter- and intra-system cross-pairing studies reveal that there is, on first approximation, a direct correlation between the magnitude of the difference in DpKa of the recognition elements and their base-pairing strength —smaller the Dpka between the base-pairing partners, weaker is the base-pairing strength (in aqueous medium at near neutral pH). These results exemplify the inherent singularity of the canonical nucleobases— their ability to remain un-ionized under physiological conditions based on their constitution – emphasizing the relationship between their physicochemical properties and their functional competence in connection with their role in informational base-pairing.

Comparison of In-the-Ear and Over-the-Ear Hearing Aid Fittings

1986 ◽  
Vol 51 (4) ◽  
pp. 362-369 ◽  
Author(s):  
Donna M. Risberg ◽  
Robyn M. Cox
Keyword(s):  
Hearing Aids ◽  
High Frequency ◽  
Comparative Evaluation ◽  
Speech Intelligibility ◽  
Hearing Aid ◽  
Hearing Aid Fitting ◽  
The Difference ◽  
Functional Gain ◽  
The Relationship

A custom in-the-ear (ITE) hearing aid fitting was compared to two over-the-ear (OTE) hearing aid fittings for each of 9 subjects with mild to moderately severe hearing losses. Speech intelligibility via the three instruments was compared using the Speech Intelligibility Rating (SIR) test. The relationship between functional gain and coupler gain was compared for the ITE and the higher rated OTE instruments. The difference in input received at the microphone locations of the two types of hearing aids was measured for 10 different subjects and compared to the functional gain data. It was concluded that (a) for persons with mild to moderately severe hearing losses, appropriately adjusted custom ITE fittings typically yield speech intelligibility that is equal to the better OTE fitting identified in a comparative evaluation; and (b) gain prescriptions for ITE hearing aids should be adjusted to account for the high-frequency emphasis associated with in-the-concha microphone placement.

Relationship between total plasma homocysteine and the risk of aneurysms – a meta-analysis

VASA ◽  
2020 ◽  
pp. 1-6
Author(s):  
Hanji Zhang ◽  
Dexin Yin ◽  
Yue Zhao ◽  
Yezhou Li ◽  
Dejiang Yao ◽  
...  
Keyword(s):  
Large Scale ◽  
Meta Analysis ◽  
Single Species ◽  
Total Plasma ◽  
Control Groups ◽  
Randomized Controlled ◽  
Randomized Controlled Studies ◽  
The Difference ◽  
The Relationship ◽  
Healthy Participants

Summary: Our meta-analysis focused on the relationship between homocysteine (Hcy) level and the incidence of aneurysms and looked at the relationship between smoking, hypertension and aneurysms. A systematic literature search of Pubmed, Web of Science, and Embase databases (up to March 31, 2020) resulted in the identification of 19 studies, including 2,629 aneurysm patients and 6,497 healthy participants. Combined analysis of the included studies showed that number of smoking, hypertension and hyperhomocysteinemia (HHcy) in aneurysm patients was higher than that in the control groups, and the total plasma Hcy level in aneurysm patients was also higher. These findings suggest that smoking, hypertension and HHcy may be risk factors for the development and progression of aneurysms. Although the heterogeneity of meta-analysis was significant, it was found that the heterogeneity might come from the difference between race and disease species through subgroup analysis. Large-scale randomized controlled studies of single species and single disease species are needed in the future to supplement the accuracy of the results.

Inter-country inequality as a dynamic process and the problem of post-industrial development

2018 ◽  
pp. 5-29 ◽  
Author(s):  
L. M. Grigoryev ◽  
V. A. Pavlyushina
Keyword(s):  
Economic Growth ◽  
Political Institutions ◽  
Industrial Development ◽  
Modern World ◽  
New Approach ◽  
Development Level ◽  
The World ◽  
Long Time ◽  
The Difference ◽  
Post Industrial

The phenomenon of economic growth is studied by economists and statisticians in various aspects for a long time. Economic theory is devoted to assessing factors of growth in the tradition of R. Solow, R. Barrow, W. Easterly and others. During the last quarter of the century, however, the institutionalists, namely D. North, D. Wallis, B. Weingast as well as D. Acemoglu and J. Robinson, have shown the complexity of the problem of development on the part of socioeconomic and political institutions. As a result, solving the problem of how economic growth affects inequality between countries has proved extremely difficult. The modern world is very diverse in terms of development level, and the article offers a new approach to the formation of the idea of stylized facts using cluster analysis. The existing statistics allows to estimate on a unified basis the level of GDP production by 174 countries of the world for 1992—2016. The article presents a structured picture of the world: the distribution of countries in seven clusters, different in levels of development. During the period under review, there was a strong per capita GDP growth in PPP in the middle of the distribution, poverty in various countries declined markedly. At the same time, in 1992—2016, the difference increased not only between rich and poor groups of countries, but also between clusters.

The Problem of Identifying and Modeling the Relationship between Monetary Factor and Inflation in the Russian Economy

2008 ◽  
pp. 61-76
Author(s):  
A. Porshakov ◽  
A. Ponomarenko
Keyword(s):  
Money Supply ◽  
Money Demand ◽  
Russian Economy ◽  
Long Run ◽  
Complex Approach ◽  
Wide Range ◽  
Long Time ◽  
The Relationship ◽  
Supply Side Factors

The role of monetary factor in generating inflationary processes in Russia has stimulated various debates in social and scientific circles for a relatively long time. The authors show that identification of the specificity of relationship between money and inflation requires a complex approach based on statistical modeling and involving a wide range of indicators relevant for the price changes in the economy. As a result a model of inflation for Russia implying the decomposition of inflation dynamics into demand-side and supply-side factors is suggested. The main conclusion drawn is that during the recent years the volume of inflationary pressures in the Russian economy has been determined by the deviation of money supply from money demand, rather than by money supply alone. At the same time, monetary factor has a long-run spread over time impact on inflation.

Klein with Lacan: A Study on the Reception of Lacanian Ideas in Uruguay and Its Effects on Clinical Practices (1955–82)

2020 ◽  
Vol 22 (3) ◽  
pp. 341-361
Author(s):  
Gonzalo Grau-Pérez ◽  
J. Guillermo Milán
Keyword(s):  
Clinical Practice ◽  
Clinical Material ◽  
Clinical Practices ◽  
Before And After ◽  
The Difference ◽  
The 1960S ◽  
The Relationship ◽  
Discursive Approach ◽  
The Way ◽  
Clinical Cases

In Uruguay, Lacanian ideas arrived in the 1960s, into a context of Kleinian hegemony. Adopting a discursive approach, this study researched the initial reception of these ideas and its effects on clinical practices. We gathered a corpus of discursive data from clinical cases and theoretical-doctrinal articles (from the 1960s, 1970s and 1980s). In order to examine the effects of Lacanian ideas, we analysed the difference in the way of interpreting the clinical material before and after Lacan's reception. The results of this research illuminate some epistemological problems of psychoanalysis, especially the relationship between theory and clinical practice.

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