The Kinematic and Static Analysis of the Dual Drive Fusiform Tensegrity Robot

2021 ◽  
Author(s):  
Shibo Liu ◽  
Jiangping Mei ◽  
Panfeng Wang ◽  
Fan Guo

Abstract In recent decades, researchers have successfully applied tensegrity robots in wilderness exploration, aerospace and biomimicry, based on the strong adaptability and high stiffness to mass ratio. In this paper, a fusiform tensegrity robot driven by cable and telescopic strut is proposed, which is intended to be used as a foot module of a multi-legged robot. The numerical kinematic and static solution of the dual drive fusiform tensegrity robot is derived using the principle of minimum energy. Then, its force space, which is a set of external forces applied to the robot in a certain equilibrium configuration, is calculated. Next, the workspace of one reference point is derived by calculating an equivalent four bar mechanism. Meanwhile the workspace of the other end of the strut is calculated numerically. Finally, the theoretical analysis is verified by a simulation, and the dual drive fusiform tensegrity robot module is proved to be feasible as one foot of a multi-legged robot.

Author(s):  
Marcio Luis Costa ◽  
Alex Silva Messias

Nas últimas décadas se observa o retorno da religião sob forma de fundamentalismo religioso, utilizando a mídia e instrumentos de pressão política para fazer valer suas crenças, pois diante do receio ao questionamento, os fundamentalistas veem no “outro”, no diferente, uma ameaça a ser combatida e, em alguns casos, extirpada para preservar suas convicções. O presente estudo tem por objetivo discutir as tendências sócio-políticas do fundamentalismo religioso cristão. Para tanto, com método bibliográfico narrativo, visitamos alguns autores em nível nacional e internacional, que abordam as condições que fizeram emergir o fenômeno social do fundamentalismo religioso, sua estruturação e atuação, até suas demandas sócio-políticas. Os resultados apontam que quando se identifica e transfere qualquer responsabilidade pessoal e histórica para as forças externas, o “outro”, entendido como pessoa e/ou instituição, não podemos negar que esse processo alcança dimensões de problema social. Notamos algumas tendências como mudança de movimento religioso para ideologia acirrada, da postura de fiel para militância, do “ad intra” das religiões para demandas “ad extra”, dos altares e púlpitos para ocupações políticas.Palavras-chave: Fundamentalismo Religioso; Protestante; Católico. CHRISTIAN RELIGIOUS FUNDAMENTALISM: SOCIAL-POLITICS TENDENCIESAbstractIn the last decades the return of religion in religious fundamentalism form can be observed, using media and instruments of political pressure, because when facing the fear of questioning, fundamentalists see in the “other”, in the different, a threat to be stopped and, in some cases, extirpated top preserve their convictions.  This study aims to discuss the social-politics tendencies of the Christian religious fundamentalism. For that, with the narrative bibliographic method, we visited some authors of national and international level, that approach the conditions that caused the emergence of the religious fundamentalism social phenomenon, its structure and role, until its social-politics demand. The results show that when any personal or historical responsibility is identified and transferred to external forces, the “other”, understood as person and/or institution, we cannot deny this process reaches dimensions of social problem. We notice some tendencies such as the change of the religious movement to fierce ideology, from the posture of faithful to militancy, from “ad intra” of religions to “ad extra” demands, from the altars and pulpits to political positions.Keywords: Religious Fundamentalism; Protestant; Catholic.


2020 ◽  
pp. 1-37
Author(s):  
Manuel A. Gómez ◽  
Goncalo Monteiro

We devise an endogenous growth model in which agents’ utility depends not only on current consumption but also on the pleasure of anticipated future consumption. We consider the case in which agents derive satisfaction from their own anticipatory feelings—inward-looking or internal anticipation—and the case in which agents derive utility from anticipation of other people’s future consumption—outward-looking or external anticipation. We characterize the effects of introducing a forward-looking consumption reference on the dynamics of the economy. Whereas the inward-looking economy features transitional dynamics, the outward-looking economy does not. The distortions caused by the externality in the economy with external habits can be corrected by subsidizing income at a time-varying rate or by means of a tax on consumption at a decreasing rate. We contrast the equilibrium dynamics of our specification to the more standard specification of the habit formation consumption reference point. Numerical simulations supplement the theoretical analysis.


Author(s):  
LIMING YU ◽  
FRANCIS E. H. TAY ◽  
GUOLIN XU ◽  
CIPRIAN ILIESCU ◽  
MARIOARA AVRAM

This paper presents a novel dielectrophoresis (DEP) device where the DEP electrodes define the channel walls. This is achieved by fabricating microfluidic channel walls from highly doped silicon so that they can also function as DEP electrodes. Compared with planar electrodes, this device increases the exhibited dielectrophoretic force on the particle, therefore decreases the applied potential and reduces the heating of the solution. A DEP device with triangle electrodes has been designed and fabricated. Compared with the other two configurations, semi-circular and square, triangle electrode presents an increased force, which can decrease the applied voltage and reduce the Joule effect. Yeast cells have been used to for testing the performance of the device.


2012 ◽  
Vol 45 (2) ◽  
pp. 267-289 ◽  
Author(s):  
Yifat Bitton

The decision in Noar Kahalacha, an anti-segregation in education case that was recently delivered by the Israeli High Court of Justice, has been ‘naturally’ celebrated as the ‘Israeli Brown’. But is it? This article points to the differences between the monumental US Supreme Court decision of Brown and the Israeli Brown-equivalent – Noar Kahalacha. It contends that the two cases bear differences that stem from the divergent patterns of discrimination they represent, and that they reflect these differences squarely. The discrimination patterns reflected by the cases differ by virtue of traits that are traditionally overlooked in antidiscrimination theoretical analysis. Comparing the two cases, therefore, allows us an opportunity to revisit the notion of discrimination and its antidote, antidiscrimination. Drawing on the dichotomous concepts of de jure/de facto discrimination and difference/sameness discrimination, the article shows how these dual theoretical notions are determinative in shaping the distinctiveness of each of these cases. While the African American victims in Brown were easily recognised as a distinctive group suffering from de jure discrimination, the Mizrahi victims in Noar Kahalacha – who suffer from de facto discrimination within a Jewish hegemonic society – lacked such clear recognition. Accordingly, the discrimination narrative that Noar Kahalacha provides is very incomplete and carries only limited potential for effective application in future struggles to eliminate discriminatory practices against Mizrahis in Israel. Brown, on the other hand, carries a converse trait. Though criticised, Brown, nevertheless, strongly signifies the recognition by White America of its overarching discriminatory practices, and implies a genuine dedication to break from it. This understanding further illuminates the limitations embedded in the possibility of ‘importing’ highly contextual antidiscrimination jurisprudence from abroad into our system's highly contextual reality of discrimination.


2012 ◽  
pp. 95-113
Author(s):  
Rita Biancheri

Up to now, in the traditional biomedical paradigm the terms "sex" and "gender" have either been used synonymously and the insertion of gender among the determining elements of conditions of wellbeing/disease has been difficult, and obstructed by disciplinary rigidities that retarded the acceptance of an approach which had already been largely found to be valid in other areas of research. The effected simplification demonstrated its limitations in describing the theme of health; but if, on the one hand, there has been a growing awareness of a subject which can in no way be considered "neutral", on the other hand there continues to be insufficient attention, both in theoretical analysis and in empirical research, given to female differences. The article is intended to support that the sick individual is a person, with his/her genetic heritage, his/her own cultural acquisitions and personal history, and own surrounding life context; but these and similar factors have not traditionally been taken into consideration by official medicine and welfare systems, despite a hoped-for socio-health integration.


2021 ◽  
Vol 12 (2) ◽  
Author(s):  
Oleksandr Malykhin ◽  
Nataliia Oleksandrivna Aristova ◽  
Liudmyla Kalinina ◽  
Tetyana Opaliuk

The present paper addresses the issue of determining the best international practices for developing soft skills among students of different specialties through carrying out a theoretical review. Basing on literature on present-day theory the authors make an attempt to explain soft skills dichotomies, summarize existing approaches to classifying soft skills, consolidate and document best international practices for soft skills development among potential employees of different specialties including bachelor students, master students, doctoral and postdoctoral students. The data obtained in the theoretical analysis reveal that the possible ambiguities in the interpretation of the concept of “soft skills” are caused, on the one hand, by the dichotomic perception of their nature by present-day researchers and educators and, on the other hand, by the absence of the common language which makes it difficult to provide a more unified definition most satisfactory to all concerned. The authors are convinced that soft skills have a cross-cutting nature and regard them as personal and interpersonal meta-qualities and meta-abilities that are vital to any potential employee who is going to make positive contributions not only to his/her professional development but to the development of a company he/she is going to work for. The results of the conducted theoretical review clearly indicate that the absence of the unified understanding of the concept of “soft skills” is reflected in the existence of different approaches to classifying soft skills, let alone, the selection of didactic tools for developing soft skills among potential employees.


2020 ◽  
Vol 10 (3) ◽  
pp. 115
Author(s):  
Muhamet Reçica ◽  
Naser Pajaziti

Topics related to the structure of the temporal system of Albanian language always give opportunities for new discussions to deal with certain aspects related to various forms of this system, and one of them is the aorist, as a tense containing many semantic, temporal, aspectual, stylistic values, etc. The relationships that exist between the verbal tenses in this system within the absolute time-relative time dimension, which relate to the independent or dependent use of temporal forms against one another in different discoursing contexts, make up an interpretation-based approach to interest. Hence, the essential objective of this paper will be specifically the relations of the Albanian aorist to the other verbal forms, always observed with a time reference point, to illuminate the character of these purely temporal relations against each other under all circumstances of the actions that take place and are displayed by verbal forms in different contexts, relying on the corpus of examined materials.


Author(s):  
Tatyana Petrovna Opekina ◽  
Natalya Sergeevna Shipova

This article presents the results of a theoretical study of self-realisation, self-actualisation and self-efficacy phenomena. The main aspects of understanding and correlating these phenomena in classical and modern Russian and foreign psychology are described. The highlighted concepts related to the phenomenon of self-realisation, both in the field of psychology and pedagogy. The similarities and differences of the self-realisation, self-actualisation, self-efficacy phenomena, as well as their correlation and comparison are presented. A comparative analysis of the studied concepts is given. According to the results of the theoretical analysis, the processes of self-realisation and self-actualisation are based on the inner motivation of a person to grow, develop personality, realise its potential. Both of these processes, due to their subjectivity, are difficult to observe and measure from the outside. We have highlighted the main differences, consisting in a greater awareness and orderliness of the process of self-realisation, as well as its predominantly "social" orientation, while self-actualisation is often associated with the struggle with external forces, the desire for self-realisation is rather approved and supported by the society. The concepts of self-realisation and self-efficacy are united by their inherent representation in the external plane of the life of the individual, as well as awareness, activity, goal-setting, and an orientation towards achieving success. In contrast to self-efficacy, self-release is a process rather than a sustainable phenomenon, and can be expressed both externally and internally through a connection with the value-semantic, motivational spheres of the individual.


2020 ◽  
pp. 36-40
Author(s):  
M. V. Ternova

The article analyzed concept of the study of art by Robin George Collingwood (1889-1943), a well-known English neo-hegelian philosopher. His significant part of the theoretical heritage is connected with the explanation of the nature of art and with the consideration of its condition during the period of the changing Oscar Wilde era to the era of Rudyard Kipling. The circle of problem such as content and form, character, image, mimesis, reflection, emotion, art and "street man" identified. All of them in Collingwood's presentation and interpretation significantly expanded the space of research not only English, but also European art criticism. The concept of study of art is "built" on the basis of an active understanding of historical and cultural traditions accented. The concept of art criticism of R.G. Collingwood – a famous English philosopher of the XIX-XX centuries, on the one hand, has self-importance, and on the other, although based on the traditions of contemporary humanities, still expands art history analysis of aesthetics through aesthetics and psychology. Recognizing the exhaustion of the English model of romanticism, R.G. Collingwood tries to outline the prospects for the development of art in the logic of the movement "romanticism – realism – avant-garde", which leads to the actualization of the problem of "mimesis – reflection". At the same time, the theorist's attention is consciously concentrated around the concept of "subject", the understanding of which is radically changing at the turn of the XIX-XX centuries. Theoretical material in the presentation of R.G. Collingwood is based on the work of Shakespeare, Reynolds, Turner, Cezanne, whose experience allows us to focus on the problem of "artist and audience". It is emphasized that Collingwood's position is ahead of its time, stimulating scientific research in the European humanities. The existence of indicative tendencies, which are distinguished in the logic of European cultural creation of the historical period, is emphasized.


2013 ◽  
Vol 1493 ◽  
pp. 281-286
Author(s):  
Keisuke Yoshimura ◽  
Tetsuya Hashimoto ◽  
Hiroshi Katsumata

ABSTRACTOptical band-gap and cathode luminescence (CL) properties of anatase TiO2 nanopowders mixed with γ- Al2O3 powders by planetary ball mill were evaluated as a function of a powder mass ratio (x=Al2O3/TiO2) of 0 to 0.5 and their correlation with XRD spectra was also investigated. The optical band-gap of TiO2 increased from 3.36 eV to 3.41eV with increasing milling time (tm) up to 600 min, which was in good agreement with the blue shifts observed in the CL spectra with increasing tm and it was interpreted as a quantum size effect. In addition, the optical band-gap of TiO2 powders mixed with Al2O3 with tm=60min greatly increased from 3.36 eV to 3.48 eV with increasing x up to x=0.5. On the other hand, the optical band-gap of all the powders was decreased by annealing at temperatures above 600°C, which was evidenced by the XRD spectra to be due to the growth of grain size.


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