Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking

Author(s):  
Robin Jeanne Kirschner ◽  
Alexander Kurdas ◽  
Kubra Karacan ◽  
Philipp Junge ◽  
Seyed Ali Baradaran Birjandi ◽  
...  
2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Eveling Garzón Fontalvo

AbstractThis paper deals with the category of number in Latin, specifically with the different meanings of the plural with verbal nouns. In the first section, I establish a reference framework on the concept of number, and in particular the so-called “number anomalies”. The second part of the paper addresses the functional complexity of the category of number itself, so it presents and exemplifies the four different meanings of plural forms with verbal nouns and explains them in light of the concepts of prototype and recategorization. The third section aims to identify the factors yielding a determined plural reading; in this way, I explain the connection between some meanings of the plural and the types of events that verbal nouns describe. Lastly, in the final section, I discuss the main results of this study.


2019 ◽  
Vol 71 (1) ◽  
pp. 60-72
Author(s):  
David Käbisch ◽  
Henrik Simojoki

AbstractThe term “Peaceful Revolution” (“Friedliche Revolution”) means the process of social, political, and religious change that led to the end of Communist rule 30 years ago in Germany as well as other European countries such as Poland, Czechoslovakia, and Hungary. How did this turning point affect religious education of the time? And how does it affect religious education today? With regard to the papers and interviews in the present journal we argue that the Peaceful Revolution and its relevance for religious education should be examined in a European reference framework. To achieve this, we systematically extend comparative approaches by using the methods of transnational history, such as connected history and global history. Finally, the article lines out didactical consequences of this approach.


2021 ◽  
Vol 59 ◽  
pp. 367-385
Author(s):  
Doruk Şahinel ◽  
Cem Akpolat ◽  
O. Can Görür ◽  
Fikret Sivrikaya ◽  
Sahin Albayrak

Pharmaceutics ◽  
2021 ◽  
Vol 13 (2) ◽  
pp. 294
Author(s):  
Andrzej Emeryk ◽  
Thibault Vallet ◽  
Ewelina Wawryk-Gawda ◽  
Arkadiusz Jędrzejewski ◽  
Frederic Durmont ◽  
...  

In pediatrics, acceptability has emerged as a key factor for compliance, and consequently for treatment safety and efficacy. Polyvalent mechanical bacterial lysate (PMBL) in 50-mg sublingual tablets is indicated in children and adults for the prophylaxis of recurrent respiratory tract infections. This medication may be prescribed in children over 3 years of age; the appropriateness of this sublingual formulation should thus be demonstrated amongst young children. Using a multivariate approach integrating the many aspects of acceptability, standardized observer reports were collected for medication intake over the course of treatment (days 1, 2, and 10) in 37 patients aged 3 to 5 years, and then analyzed in an intelligible model: the acceptability reference framework. According to this multidimensional model, 50-mg PMBL sublingual tablets were classified as “positively accepted” in children aged 3 to 5 years on all three days of evaluation. As the acceptability evaluation should be relative, we demonstrated that there was no significant difference between the acceptability of these sublingual tablets and a score reflecting the average acceptability of oral/buccal medicines in preschoolers. These results highlight that sublingual formulations could be appropriate for use in preschoolers.


2016 ◽  
Vol 8 (6) ◽  
Author(s):  
Joshua T. Bryson ◽  
Xin Jin ◽  
Sunil K. Agrawal

Designing an effective cable architecture for a cable-driven robot becomes challenging as the number of cables and degrees of freedom of the robot increase. A methodology has been previously developed to identify the optimal design of a cable-driven robot for a given task using stochastic optimization. This approach is effective in providing an optimal solution for robots with high-dimension design spaces, but does not provide insights into the robustness of the optimal solution to errors in the configuration parameters that arise in the implementation of a design. In this work, a methodology is developed to analyze the robustness of the performance of an optimal design to changes in the configuration parameters. This robustness analysis can be used to inform the implementation of the optimal design into a robot while taking into account the precision and tolerances of the implementation. An optimized cable-driven robot leg is used as a motivating example to illustrate the application of the configuration robustness analysis. Following the methodology, the effect on robot performance due to design variations is analyzed, and a modified design is developed which minimizes the potential performance degradations due to implementation errors in the design parameters. A robot leg is constructed and is used to validate the robustness analysis by demonstrating the predicted effects of variations in the design parameters on the performance of the robot.


2005 ◽  
Vol 128 (2) ◽  
pp. 422-429 ◽  
Author(s):  
S. Hernandez ◽  
S. Bai ◽  
J. Angeles

Although bevel-gear robotic wrists are widely used in industrial manipulators due to their simple kinematics and low manufacturing cost, their gear trains function under rolling and sliding, the latter bringing about noise and vibration. Sliding is inherent to the straight teeth of the bevel gears of these trains. Moreover, unavoidable backlash introduces unmodeled dynamics, which mars robot performance. To alleviate these drawbacks, a gearless pitch-roll wrist is currently under development for low backlash and high stiffness. The wrist consists of spherical cam-rollers and spherical Stephenson linkages, besides two roller-carrying disks that drive a combination of cams and Stephenson mechanisms, the whole system rotating as a differential mechanism. The paper focuses on the design of the chain of spherical Stephenson mechanisms. The problem of the dimensional synthesis is addressed, and interference avoidance is discussed. An embodiment of the concept is also included.


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