Automatic preshaping for a dextrous hand from a simple description of objects

Author(s):  
C. Bard ◽  
J. Troccaz
Edupedia ◽  
2018 ◽  
Vol 3 (1) ◽  
pp. 77-88
Author(s):  
Ali Fatoni

The integration of science is discussed today. The figures in this issue appear in the world. Mentioned among them Naquib al-Attas,and in Indonesia who keen to speak scientific integration is Amin Abdullah.This speech led to the birth of the 2013Curriculum in Indonesia with the demands of all subjects must contain a spiritual attitude (KI-1). This creates difficulties for teachers. Training and education program for teacher in applying The 2013 Curriculum is not technically in touch with their difficulties.Training and education program for teachermostly touchonly on aspects of teaching skills. This research is present to fill the gap that has not been filled by thattraining and education program. The results of this study is a simple description of the process of developing a physics textbook that begins from the study of old books and relevant theories for thisnew developmenttextbook to compiled new physics textbookincluding the content of Islamic values.


2021 ◽  
Vol 7 (8) ◽  
pp. 132
Author(s):  
Giorgio Margaritondo ◽  
Yeukuang Hwu

The high longitudinal and lateral coherence of synchrotron X-rays sources radically transformed radiography. Before them, the image contrast was almost only based on absorption. Coherent synchrotron sources transformed radiography into a multi-faceted tool that can extract information also from “phase” effects. Here, we report a very simple description of the new techniques, presenting them to potential new users without requiring a sophisticated background in advanced physics. We then illustrate the impact of such techniques with a number of examples. Finally, we present the international collaboration SYNAPSE (Synchrotrons for Neuroscience—an Asia-Pacific Strategic Enterprise), which targets the use of phase-contrast radiography to map one full human brain in a few years.


2021 ◽  
Vol 10 (14) ◽  
pp. 3142
Author(s):  
Batoul Wehbi ◽  
Virginie Pascal ◽  
Lina Zawil ◽  
Michel Cogné ◽  
Jean-Claude Aldigier

IgA nephropathy (IgAN) is the most common primary glomerulonephritis in the world. It was first described in 1968 by Jean Berger and Nicole Hinglais as the presence of intercapillary deposits of IgA. Despite this simple description, patients with IgAN may present very broad clinical features ranging from the isolated presence of IgA in the mesangium without clinical or biological manifestations to rapidly progressive kidney failure. These features are associated with a variety of histological lesions, from the discrete thickening of the mesangial matrix to diffuse cell proliferation. Immunofluorescence on IgAN kidney specimens shows the isolated presence of IgA or its inconsistent association with IgG and complement components. This clinical heterogeneity of IgAN clearly echoes its complex and multifactorial pathophysiology in humans, inviting further analyses of its various aspects through the use of experimental models. Small-animal models of IgAN provide the most pertinent strategies for studying the multifactorial aspects of IgAN pathogenesis and progression. Although only primates have the IgA1 subclass, several murine models have been developed in which various aspects of immune responses are deregulated and which are useful in the understanding of IgAN physiopathology as well as in the assessment of IgAN therapeutic approaches. In this manuscript, we review all murine IgAN models developed since 1968 and discuss their remarkable contribution to understanding the disease.


1987 ◽  
Vol 93 ◽  
pp. 135-142
Author(s):  
H. Van Der Woerd ◽  
J. Van Paradijs

AbstractThe recurrence behaviour of normal- and super-outbursts in the SU Uma system VW Hyi is consistent with the idea that every superoutburst is triggered by a normal outburst. A simple description with a constant relaxation period of 170 days for the recurrence of superoutbursts, together with a randomly occurring trigger (the normal outbursts’) is presented.


Author(s):  
Christiane Sirois

L’abondance et la qualité des services sociaux placent l’Estrie dans une situation privilégiée par rapport à d’autres régions du Québec. Retraçant l’histoire d’un effort de concertation entre les établissements scolaires de la région et plus particulièrement de leurs services d’éducation des adultes, cet article tente de saisir les multiples aspects de cette expérience. Christiane Sirois se garde de toute généralisation à partir d’un projet unique et localisé comme fer de lance mais elle ne se limite pas pour autant à une simple description des faits, elle convie à une réflexion touchant la raison d’être de la concertation, ses acteurs, ses modèles, ses conditions clés et son avenir.


Author(s):  
A. Meghdari ◽  
H. Sayyaadi

Abstract An optimization technique based on the well known Dynamic Programming Algorithm is applied to the motion control trajectories and path planning of multi-jointed fingers in dextrous hand designs. A three fingered hand with each finger containing four degrees of freedom is considered for analysis. After generating the kinematics and dynamics equations of such a hand, optimum values of the joints torques and velocities are computed such that the finger-tips of the hand are moved through their prescribed trajectories with the least time or/and energy to reach the object being grasped. Finally, optimal as well as feasible solutions for the multi-jointed fingers are identified and the results are presented.


2018 ◽  
Vol 35 (24) ◽  
pp. 245010 ◽  
Author(s):  
Tomasz Smołka ◽  
Jacek Jezierski
Keyword(s):  

2013 ◽  
Vol 13 (06) ◽  
pp. 1340020
Author(s):  
XIAOCHUAN TANG ◽  
YONG DUAN

The generalized Born (GB) model, one of the implicit solvent models, is widely applied in molecular dynamics (MD) simulations as a simple description of the solvation effect. In the GB model, an empirical function called the Still's formula, with the algorithmic simplicity, is utilized to calculate the solvation energy due to the polarization, termed as ΔG pol . Applications of the GB model have exhibited reasonable accuracy and high computational efficiency. However, there is still room for improvements. Most of the attempts to improve the GB model focus on optimizing effective Born radii. Contrarily, limited researches have been performed to improve the feasibility of the Still's formula. In this paper, analytical methods was applied to investigate the validity of the Still's formula at short distance. Taking advantage of the toroidal coordinates and Mehler–Fock transform, the analytical solutions of the GB model at short distances was derived explicitly for the first time. Additionally, the solvation energy was numerically computed using proper algorithms based on the analytical solutions and compared with ΔG pol calculated in the GB model. With the analysis on the deficiencies of the Still's formula at short distances, potential methods to improve the validity of the GB model were discussed.


1989 ◽  
Vol 203 ◽  
pp. 401-418 ◽  
Author(s):  
David Elad ◽  
Roger D. Kamm ◽  
Ascher H. Shapiro

Steady, one-dimensional flow of a compressible fluid through a collapsible tube is analysed. A general model is employed, incorporating axial variations in the parameters of the conducting system, such as the tube unstressed cross-section area and wall stiffness, the external pressure and energy exchange with the environment. The flow variables are described in differential form as functions of the conduit system parameters. A coupled set of equations for the dependent flow variables is summarized in a table of influence coefficients, which provides a clear and simple description of the effects produced by the system parameters. Examples of the effects of fluid compressibility in the respiratory system are presented for forced expiration manoeuvres. The effects are found to be generally small, but are most accentuated when breathing heavy gases and when the airways are pathologically stiffened.


2004 ◽  
Vol 50 (7) ◽  
pp. 113-122 ◽  
Author(s):  
C Printemps ◽  
A Baudin ◽  
T Dormoy ◽  
M. Zug ◽  
P.A. Vanrolleghem

Better controlling and optimising the plant's processes has become a priority for WWTP (Wastewater Treatment Plant) managers. The main objective of this project is to develop a simplified mathematical tool able to reproduce and anticipate the behaviour of the Tougas WWTP (Nantes, France). This tool is aimed to be used directly by the managers of the site. The mathematical WWTP model was created using the software WEST®. This paper describes the studied site and the modelling results obtained during the stage of the model calibration and validation. The good simulation results have allowed to show that despite a first very simple description of the WWTP, the model was able to correctly predict the nitrogen composition (ammonia and nitrate) of the effluent and the daily sludge extraction. Then, a second more detailed configuration of the WWTP was implemented. It has allowed to independently study the behaviour of each of four biological trains. Once this first stage will be completely achieved, the remainder of the study will focus on the operational use of a simplified simulator with the purpose of optimising the Tougas WWTP operation.


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