Creative Design of Legged Mobile Landers With Multi-Loop Chains Based on Truss-Mechanism Transformation Method

2020 ◽  
Vol 13 (1) ◽  
Author(s):  
Rongfu Lin ◽  
Weizhong Guo
Keyword(s):  
Qualitative Evaluation ◽  
Transformation Method ◽  
Basic Knowledge ◽  
Creative Design ◽  
Walking Ability ◽  
Key Issues ◽  
Motion Characteristic ◽  
Novel Method ◽  
Motion Characteristics ◽  
Relationship Of

Abstract This paper proposes a novel family of the legged mobile lander (LML) with multi-loop chains to enable the stationary lander to walk, which is helpful to the Return and Base construction missions in the planetary exploration project. Generally, there are many issues that need to be focused, but one of the key issues is during the landing phase, for which the lander needs to be designed as a truss with ability to bear a large impact, while during the walking phase, the lander needs to be designed as a mechanism with flexible walking ability. To resolve this issue, a novel method for designing a mechanism based on a truss, which also can be called as the truss-mechanism transformation (TMT) method is developed. First, the detailed concept of the same topological arrangements (TAs) of a truss and a mechanism is proposed. Two singularity positions for the truss-mechanism transform are introduced. Second, following the concept, the procedure for designing a mechanism based on the TMT method is presented. Third, some basic knowledge for the creative design of the mechanism is introduced, including the intersection rules of motion characteristics, motion characteristic relationship of multi-loop mechanisms, and so on. Fourth, according to the procedure of the TMT method, numerous novel structures of LMLs with multi-loop chains are obtained. Finally, after the type qualitative evaluation, one typical LML is selected as an example to show its functions among stowed, walking, and orientation positions.

scholarly journals MUSCLE SPASTICITY AND ITS INTERACTION WITH MYOFASCIAL SYSTEM OF CHILDREN WITH CENTRAL PARESIS

2019 ◽  
Vol 4 ◽  
pp. 35-41
Author(s):  
Nikolay Moga
Keyword(s):  
Physical Education ◽  
Motor Activity ◽  
Musculoskeletal System ◽  
Basic Knowledge ◽  
Central Type ◽  
Muscle Spasticity ◽  
Muscle Complex ◽  
Practical Development ◽  
Spastic Paresis ◽  
Relationship Of

Traditionally, the problem of muscle spasticity was considered by experts as a kind of local problem associated with the inhibition or traumatisation of the central motor neuron in a certain part of its path. According to this approach, only the first stage of the causal relationship of the two systems was reflected: the nervous and the muscular systems. In the following, intrasystem relations of the muscle and muscle complex appeared according to the type of harmonization or destructivization of the activity of this system. To resolve this problematic situation, the article examines the original theory of Thomas V. Myers about “anatomical trains” or “myofascial meridians” as an integral musculoskeletal system of the human body, which forms the basis of its anatomy and motor activity. Key ideas of tensegrity as a structure of balanced compression-tension of the musculoskeletal system are identified, and it is necessary to rush to the targets, carrying out the correction of motor disorders of the tender age children with paresis of central type by means of physical education. For deeper understanding of the activities of these mechanisms of children myofascial status harmonization, the main myofascial lines were briefly characterized: surface back line, surface frontal line, lateral line, spiral line, arm lines. On this basis, working hypothesis was formulated as for using the holistic myofascial system capabilities of the child’s body to correct both the tonic state of individual spastic muscles and to improve the general children motor status. To check the formulated hypothesis, the directions of the implementation of correctively directed physical education of tender age children with central paresis of different localization levels were indicated. An attempt was made to use the basic knowledge of the myofascial meridians functioning to increase the efficiency of diagnosing the state of musculoskeletal formations of children with spastic paresis, developing strategies and tactics for correcting their tonic state, methods and techniques for adjusting the balance of compression and tension of these structures to improve children motor activity and to improve the efficiency of their basic motor regimes mastering. There was made a fundamental conclusion that the correctional work by means of physical education should be preceded by preparatory work aimed at normalization of the whole myofascial system of a child with a spastic type of movement disorders, which can be carried out using purely medical techniques and the techniques based on the means of children physical education. Prospects of the scientific and practical development of the problem indicated in this article are highlighted separately.

Imagination and Art

2014 ◽  
Author(s):  
Richard Swedberg
Keyword(s):  
Social Theory ◽  
Social Scientist ◽  
Modern Society ◽  
Basic Knowledge ◽  
Social Scientists ◽  
The Arts ◽  
The Social ◽  
Relationship Of ◽  
The Relationship

This chapter examines the role of imagination and the arts in helping social scientists to theorize well. However deep one's basic knowledge of social theory is, and however many concepts, mechanisms, and theories one knows, unless this knowledge is used in an imaginative way, the result will be dull and noncreative. A good research topic should among other things operate as an analogon—that is, it should be able to set off the theoretical imagination of the social scientist. Then, when a social scientist writes, he or she may want to write in such a way that the reader's theoretical imagination is stirred. Besides imagination, the chapter also discusses the relationship of social theory to art. There are a number of reason for this, including the fact that in modern society, art is perceived as the height of imagination and creativity.

Biquadratic Digital Phase-Compensator Design with Stability-Margin Controllability

2019 ◽  
Vol 28 (04) ◽  
pp. 1950068 ◽  
Author(s):  
Tian-Bo Deng
Keyword(s):  
Stability Margin ◽  
Transformation Method ◽  
Second Order ◽  
Approximation Accuracy ◽  
Parameter Transformation ◽  
Practical Applications ◽  
Compensator Design ◽  
Novel Method ◽  
Design Idea ◽  
The Stability

This paper proposes a novel method for the design of a recursive second-order (biquadratic) all-pass phase compensator with controllable stability margin. The design idea stems from the generalized stability triangle (GST) derived by the author for the second-order biquadratic digital filter. Based on the GST, a parameter-transformation method is proposed on the transformations of the denominator coefficients of the transfer function of the biquadratic phase compensator. The transformations convert the original denominator coefficients to other new parameters, and any values of those new parameters can guarantee that the GST condition is always satisfied. Optimizing the new parameters yields a biquadratic phase compensator that definitely meets a prespecified stability margin. That is, a biquadratic all-pass phase compensator can be designed to have an arbitrarily specified stability margin. This in turn avoids the occurrence that a recursive phase compensator may become unstable in the practical applications. Thus, the resulting biquadratic phase compensator has robust stability, which is extremely important during the practical filtering operations. A design example is given to show the stability margin guarantee as well as the approximation accuracy.

scholarly journals Comparative Study of Contact Repulsion in Control and Mutant Macrophages Using a Novel Interaction Detection

2020 ◽  
Vol 6 (5) ◽  
pp. 36
Author(s):  
José Alonso Solís-Lemus ◽  
Besaiz J Sánchez-Sánchez ◽  
Stefania Marcotti ◽  
Mubarik Burki ◽  
Brian Stramer ◽  
...  
Keyword(s):  
Computational Analysis ◽  
Statistical Significance ◽  
Contact Dynamics ◽  
Drosophila Embryo ◽  
Interaction Detection ◽  
Future Developments ◽  
Novel Method ◽  
Candidate Protein ◽  
Motion Characteristics ◽  
Mutant Cells

In this paper, a novel method for interaction detection is presented to compare the contact dynamics of macrophages in the Drosophila embryo. The study is carried out by a framework called macrosight, which analyses the movement and interaction of migrating macrophages. The framework incorporates a segmentation and tracking algorithm into analysing the motion characteristics of cells after contact. In this particular study, the interactions between cells is characterised in the case of control embryos and Shot mutants, a candidate protein that is hypothesised to regulate contact dynamics between migrating cells. Statistical significance between control and mutant cells was found when comparing the direction of motion after contact in specific conditions. Such discoveries provide insights for future developments in combining biological experiments with computational analysis.

scholarly journals A Novel Method for Intelligent Fault Diagnosis of Bearing Based on Capsule Neural Network

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-17 ◽  
Author(s):  
Zhijian Wang ◽  
Likang Zheng ◽  
Wenhua Du ◽  
Wenan Cai ◽  
Jie Zhou ◽  
...  
Keyword(s):  
Neural Network ◽  
Fault Diagnosis ◽  
Weight Coefficient ◽  
Convergence Condition ◽  
Intelligent Fault Diagnosis ◽  
Wind Turbine Gearbox ◽  
Time Frequency ◽  
Proposed Model ◽  
Novel Method ◽  
Relationship Of

In the era of big data, data-driven methods mainly based on deep learning have been widely used in the field of intelligent fault diagnosis. Traditional neural networks tend to be more subjective when classifying fault time-frequency graphs, such as pooling layer, and ignore the location relationship of features. The newly proposed neural network named capsules network takes into account the size and location of the image. Inspired by this, capsules network combined with the Xception module (XCN) is applied in intelligent fault diagnosis, so as to improve the classification accuracy of intelligent fault diagnosis. Firstly, the fault time-frequency graphs are obtained by wavelet time-frequency analysis. Then the time-frequency graphs data which are adjusted the pixel size are input into XCN for training. In order to accelerate the learning rate, the parameters which have bigger change are punished by cost function in the process of training. After the operation of dynamic routing, the length of the capsule is used to classify the types of faults and get the classification of loss. Then the longest capsule is used to reconstruct fault time-frequency graphs which are used to measure the reconstruction of loss. In order to determine the convergence condition, the three losses are combined through the weight coefficient. Finally, the proposed model and the traditional methods are, respectively, trained and tested under laboratory conditions and actual wind turbine gearbox conditions to verify the classification ability and reliable ability.

Optimization Analysis on Gyroscope’s Three Dimensions Complicated Motion and Lash-Force

2014 ◽  
Vol 945-949 ◽  
pp. 581-586
Author(s):  
Wen Li Yang ◽  
Xiang Hui Lu
Keyword(s):  
Nonlinear Differential Equations ◽  
Three Dimensional ◽  
Three Dimensions ◽  
Optimization Analysis ◽  
Motion Equations ◽  
Sliding Motion ◽  
Motion State ◽  
Motion Characteristics ◽  
Force Time ◽  
Relationship Of

The complicated motion of the gyroscope includes the rotation, the precession, the nutation and the sliding motion which are coupled, and it is affected by the lash-force by the whip. Taking the gyroscope which is moving stably as the research subject, according to the motion characteristics of the gyro’s rotation and precession, the gyro is assumed to be the two-force bar, and the coupled relationship of the gyroscope is analyzed quantitatively. The three-dimensional complicated motion in the different categories is analyzed. The nonlinear differential equations in the different categories is derived and linearized by the minor variables method, and then the three-dimensional motion equations on the rotation, precession, nutation and slipping of the gyroscope in the different categories is established. Take the big gym gyroscope as the example, the influence of the force, time and position of the whip on the motion state of the gyroscope is analyzed in detail, and provides the basis for the design of the gyroscope.

scholarly journals A three-dimensional structural dissection of Drosophila polytene chromosomes.

1995 ◽  
Vol 131 (2) ◽  
pp. 279-295 ◽  
Author(s):  
Y Urata ◽  
S J Parmelee ◽  
D A Agard ◽  
J W Sedat
Keyword(s):  
Rna Polymerase Ii ◽  
Polytene Chromosome ◽  
Polytene Chromosomes ◽  
Three Dimensional ◽  
Spatial Relationship ◽  
Band Shape ◽  
Structural Details ◽  
Novel Method ◽  
Relationship Of

We have analyzed the three-dimensional structural details of Drosophila melanogaster polytene chromosome bands and interbands using three-dimensional light microscopy and a novel method of sample preparation that does not involve flattening or stretching the chromosomes. Bands have been visualized in unfixed chromosomes stained with the DNA specific dye 4,6-Diamidino-2-phenylindole (DAPI). Interbands have been visualized using fixed chromosomes that have been immunostained with an antibody to RNA polymerase II. Additionally, these structures have been analyzed using in situ hybridization with probes from specific genetic loci (Notch and white). Bands are seen to be composed of approximately 36 substructural features that measure 0.2-0.4 micron in diameter. We suggest that these substructural features are in fact longitudinal fibers made up of bundles of chromatids. Band shape can be a reproducible characteristic of a particular band and is dependent on the spatial relationship of these bundles, varying from bands with a uniform distribution of bundles to bands with a peripheral concentration of chromatin. Interbands are composed of bundles of chromatids of a similar size and number as those seen in the bands. The distribution of bundles is similar between a band and the neighboring interband, implying that there is a long range organization to the DNA that includes both the coding and the noncoding portions of genes. Finally, we note that the polytene chromosome has a circular shape when viewed in cross section, whether there are one or two homologs present.

scholarly journals Skeleton-Based Gesture Recognition Using Several Fully Connected Layers with Path Signature Features and Temporal Transformer Module

2019 ◽  
Vol 33 ◽  
pp. 8585-8593 ◽  
Author(s):  
Chenyang Li ◽  
Xin Zhang ◽  
Lufan Liao ◽  
Lianwen Jin ◽  
Weixin Yang
Keyword(s):  
Gesture Recognition ◽  
Network Architecture ◽  
Temporal Dynamics ◽  
Classification Model ◽  
Feature Descriptor ◽  
Temporal Features ◽  
Key Issues ◽  
Motion Characteristics ◽  
Fully Connected ◽  
Global And Local

The skeleton based gesture recognition is gaining more popularity due to its wide possible applications. The key issues are how to extract discriminative features and how to design the classification model. In this paper, we first leverage a robust feature descriptor, path signature (PS), and propose three PS features to explicitly represent the spatial and temporal motion characteristics, i.e., spatial PS (S PS), temporal PS (T PS) and temporal spatial PS (T S PS). Considering the significance of fine hand movements in the gesture, we propose an ”attention on hand” (AOH) principle to define joint pairs for the S PS and select single joint for the T PS. In addition, the dyadic method is employed to extract the T PS and T S PS features that encode global and local temporal dynamics in the motion. Secondly, without the recurrent strategy, the classification model still faces challenges on temporal variation among different sequences. We propose a new temporal transformer module (TTM) that can match the sequence key frames by learning the temporal shifting parameter for each input. This is a learning-based module that can be included into standard neural network architecture. Finally, we design a multi-stream fully connected layer based network to treat spatial and temporal features separately and fused them together for the final result. We have tested our method on three benchmark gesture datasets, i.e., ChaLearn 2016, ChaLearn 2013 and MSRC-12. Experimental results demonstrate that we achieve the state-of-the-art performance on skeleton-based gesture recognition with high computational efficiency.

Cicero's ‘Response of the haruspices’ and the Voice of the Gods

2012 ◽  
Vol 102 ◽  
pp. 20-39 ◽  
Author(s):  
Mary Beard
Keyword(s):  
Public Works ◽  
Political Speech ◽  
Religious Ideology ◽  
Republican Rome ◽  
Key Issues ◽  
Religious Importance ◽  
Relationship Of ◽  
The Relationship ◽  
The Voice

AbstractThis article explores the religious importance of Cicero's De Haruspicum Responso against the background of prodigy-handling in Republican Rome. Comparing the prodigy in question to an ‘auditory epiphany’, it argues that key issues raised by the speech include the nature of the divine voice, the relationship of the prodigious ‘rumbling and clattering’ to the gods themselves, and the ambiguous temporalities implied by Roman practices of divination. The article also suggests that De Haruspicum Responso proposes a significant overlap between religious and political speech, and it questions the radical split often assumed between the religious ideology of Cicero's philosophical and his more ‘public’ works.

A Novel Method Using Extracted Human Neutrophil Antigens From HNA Gene-Transfected Cell Lines for Detection of Antibodies Against Human Neutrophil Antigens

Blood ◽  
2012 ◽  
Vol 120 (21) ◽  
pp. 3272-3272
Author(s):  
Rie Onodera ◽  
Kazuhiro Nakamura ◽  
Kikuyo Taniguchi ◽  
Emi Kurita ◽  
Asako Hiraoka ◽  
...  
Keyword(s):  
Cell Lines ◽  
Positive Reaction ◽  
Human Neutrophil ◽  
Conflicts Of Interest ◽  
Age Distribution ◽  
Easy Method ◽  
Novel Method ◽  
Immune Neutropenia ◽  
Relationship Of ◽  
Normal Controls

Abstract Abstract 3272 Antibodies against Human Neutrophil Antigen (anti-HNA antibodies) have been implicated in immune neutropenia and transfusion-related acute lung injury. Those have been usually analyzed by Granulocyte indirect immunofluorescence test by flow-cytometry (GIFT-FCM), which requires fresh blood for panel neutrophils that cannot be preserved more than a few hours. Furthermore, specificity for anti-HNA antibodies cannot be easily identified by GIFT-FCM because of several antigens on membrane of panel neutrophil. In this study, we have developed a novel method designated as KY-Luminex Method, which was modified from Monoclonal antibody-specific immobilization of granulocyte antigens. For KY-Luminex Method, extracted human neutrophil antigens (eHNAs) were established from gene-transfected cell lines (KY-1a, -1b, -1c, -2a, -4a, -4b, -5a, -5b) that express HNA-1a, -1b, -1c, -2a, -4a, -4b, -5a, -5b, respectively. These eHNAs were immobilized by monoclonal antibodies on microspheres (eHNA-microspheres). Sera were tested to the eHNA-microspheres in wells of a 96-well microplate, respectively. The reactivities of the sera were analyzed by Luminex100. From May 2010 to March 2012, sera were obtained from 101 patients with autoimmune neutropenia in children. The age distribution was from 2 months to 72 months. Sixty-three patients were females and 38 were males. As shown in Table, the sera from 74 patients showed positive reaction both in standard GIFT-FCM and KY-Luminex method. The sera from 11 patients showed positive in GIFT-FCM, and negative in KY-Luminex. These sera finally proved to have antibodies against antigens other than neutrophil such as anti-HLA antibody. The sera from 13 patients showed negative in GIFT-FCM, and positive in KY-Luminex. The sera from 3 patients showed negative both in GIFT-FCM and KY-Luminex. Sera with positive reaction against each panel neutrophil in GIFT-FCM have tendency to react against multiple antigens in KY-luminex method. Especially, majoryty of analyzed sera had antibodies against HNA-4a, 4b, 5a and 5b. No antibodies against each antigens were detected in sera from normal controls by KY-luminex method. These results indicate that KY-luminex method has superior to GIFT-FCM in both sensitivity and specificity of anti-HNA antibodies. Furthermore, eHNA-microspheres are stable at 4 centigrade for more than a half year, and many samples such as 96 samples could be analyzes at once in simple and easy method. Table. Relationship of reactivities of patient's sera between GIFT-FCM and KY-luminex method. Data represent the number in 101 patients GIFT-FCM KY-Luminex method positive negative positive 74 11 negative 13 3 Disclosures: No relevant conflicts of interest to declare.

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