scholarly journals A hybrid continuum robot based on pneumatic muscles with embedded elastic rods

2019 ◽  
Vol 234 (1) ◽  
pp. 318-328 ◽  
Author(s):  
Cijing Sun ◽  
Lisha Chen ◽  
Jinguo Liu ◽  
Jian S Dai ◽  
Rongjie Kang
Keyword(s):  
Large Scale ◽  
Control Point ◽  
Three Dimensional ◽  
Static Model ◽  
Point Of View ◽  
Elastic Rods ◽  
Energy Principle ◽  
Locking Mechanism ◽  
Pneumatic Muscles ◽  
Continuum Robot

Continuum robots have attracted increasing attention in recent years due to their intrinsic compliance and safety. Nevertheless, the use of structure compliance may lead to reduction of stiffness and positioning precision. This paper presents a novel design of a hybrid continuum robot whose actuators are composed of pneumatic muscles and embedded elastic rods. Such robot can switch drive modes between large-scale movement and fine adjustment of position by employing a locking mechanism to change its stiffness. A three-dimensional static model of the robot is presented using an improved Kirchhoff rod theory, where elastic deformation of the robot is accounted for from an optimal control point of view via minimal total potential energy principle. Experiments were carried out to validate the static model and to test the stiffness and precision of the robot. This work provides a possible way to strengthen the control precision of a continuum robot with compliant structure.

scholarly journals RESEARCH ON THE MAPPING OF LARGE-SCALE TOPOGRAPHIC MAPS BASED ON LOW-ALTITUDE DRONE AERIAL PHOTOGRAPHY SYSTEM

2020 ◽  
Vol XLII-3/W10 ◽  
pp. 623-628
Author(s):  
R. S. Lu
Keyword(s):  
Aerial Photography ◽  
Large Scale ◽  
Control Point ◽  
Three Dimensional ◽  
Operator Method ◽  
Image Data ◽  
Aerial Survey ◽  
Least Square ◽  
Image Feature

Abstract. The field data collection and in-house data processing of the aerial photography system of the uavouring aircraft are studied, combined with their working examples in this paper. The aerial survey of the Bowen School of Management of Guilin University of Technology is carried out by using the Southern Sky Patrol AS1200 aerial survey system, and the obtained data is processed and studied in the internal and external industry. In order to successfully complete this research, this article (1) first of all to the external industry collected data inspection, that is, the quality of the aircraft film inspection, the main content of the inspection is the detection of the image of the tone, resolution, level, whether the film can clearly identify the main objects, such as houses, roads, etc. can be clearly identified; - Whether the film is ghosting, whether there is misalignment and fuzziness, etc. , if the film has blurred or other quality problems, it is necessary to carry out retest or retest, this step is mainly to ensure the quality of research data, for the industry processing data to do a basic guarantee. (2) For the processing of in-house data, this paper uses a correction model for image data distortion pre-processing, the method of arithmetic and the edge detection operator method of extracting the image feature, and the image matching method Greenfeld-Schenk method based on the feature, Bamard-Thompson method and jump method and other methods to match the image, at the same time, this paper also takes the aerial triangulation method of the processing of internal data, complete the measurement control point encryption work, so as to calculate the spatial coordinates of the encryption control point, reduce the field laying work like control points, and thus reduce the working time of the field. (3) For improving the accuracy of the topographic elevation point in the aviation area, this paper uses polymorphic curve to be legal, using the field elevation measured value of the checkpoint and the three-dimensional measurement value does not match the difference, using the least square-by-multiply method to fit, so that the elevation checkpoint curve fitting value change and the actual difference is the smallest, with the measurement area elevation accuracy.

scholarly journals Deglaciation of the Northern Hemisphere at the onset of the Eemian and Holocene

1999 ◽  
Vol 28 ◽  
pp. 1-8 ◽  
Author(s):  
Ralf Greve ◽  
Karl-Heinz Wyrwoll ◽  
Anton Eisenhauer
Keyword(s):  
Northern Hemisphere ◽  
Large Scale ◽  
Three Dimensional ◽  
Ice Sheet ◽  
Ice Cores ◽  
Point Of View ◽  
Simulation Code ◽  
Ice Volume ◽  
Global Ice Volume ◽  
Ice Sheet Dynamics

AbstractHigh resolution (TIMS) U-series dating of sea-level events obtained from coral-reef complexes suggests that global deglaciation from the Saale (penultimate) glacial to the Eem Interglacial (marine δ18O stages 6/5) may have occurred earlier in relation to Milankovitch insolation forcing than that from the Wisconsinan glacial to the Holocene Interglacial (marine δ18O stages 2/1). However, the interpretation of these data has been problematic because of the possibility of isotope exchange. In order to investigate whether these different lead—lag relations between Milankovitch forcing and ice volume are feasible from the point of view of large-scale ice-sheet dynamics and thermodynamics, the three-dimensional polythermal ice-sheet model SICOPOLIS (Simulation Code for Poly- thermal Ice Sheets) is applied to the entire Northern Hemisphere (which gives the major contribution to global ice-volume changes due to the relative stability of the Antarctic ice sheet) and simulations through the last two climatic cycles are conducted. The simulations cover the interval from 250 kyr BP until today and are driven by surface-temperature reconstructions of deep ice cores (GRIP, Vostok) and simple parameterizations for the change of precipitation with time. Discussion of the results is focused on the Saale/Eem and the Wisconsinan/Holocene transitions. The amount and rate of deglaciation are in good agreement with the SPECMAP record for both cases, and the evidence of the data for an early start of the Eem Interglacial is supported.

scholarly journals Deep anomaly detection through visual attention in surveillance videos

2020 ◽  
Vol 7 (1) ◽  
Author(s):  
Nasaruddin Nasaruddin ◽  
Kahlil Muchtar ◽  
Afdhal Afdhal ◽  
Alvin Prayuda Juniarta Dwiyantoro
Keyword(s):  
Visual Attention ◽  
Large Scale ◽  
Three Dimensional ◽  
Point Of View ◽  
Surveillance Videos ◽  
Attention Model ◽  
Security Officer ◽  
Spatiotemporal Information ◽  
3D Cnn ◽  
Deep Convolution Network

Abstract This paper describes a method for learning anomaly behavior in the video by finding an attention region from spatiotemporal information, in contrast to the full-frame learning. In our proposed method, a robust background subtraction (BG) for extracting motion, indicating the location of attention regions is employed. The resulting regions are finally fed into a three-dimensional Convolutional Neural Network (3D CNN). Specifically, by taking advantage of C3D (Convolution 3-dimensional), to completely exploit spatiotemporal relation, a deep convolution network is developed to distinguish normal and anomalous events. Our system is trained and tested against a large-scale UCF-Crime anomaly dataset for validating its effectiveness. This dataset contains 1900 long and untrimmed real-world surveillance videos and splits into 950 anomaly events and 950 normal events, respectively. In total, there are approximately ~ 13 million frames are learned during the training and testing phase. As shown in the experiments section, in terms of accuracy, the proposed visual attention model can obtain 99.25 accuracies. From the industrial application point of view, the extraction of this attention region can assist the security officer on focusing on the corresponding anomaly region, instead of a wider, full-framed inspection.

On the Minimum Phase Property of Mass-Dashpot-Spring Sampled Systems

2004 ◽  
Vol 127 (4) ◽  
pp. 642-647 ◽  
Author(s):  
Kuo-Chin Chan ◽  
Jong-Lick Lin
Keyword(s):  
Large Scale ◽  
Control Point ◽  
Sampling Period ◽  
Point Of View ◽  
Minimum Phase ◽  
Digital Controllers ◽  
Sensors And Actuators ◽  
Modal Damping ◽  
Sampled Systems ◽  
Condition B

In literature, it is shown by Åström et al. that a sampled system may become nonminimum phase for sufficiently fast sampling, even though the continuous-time system is minimum phase. However, it is verified in this paper that the sampled system of a modal damping mass-dashpot-spring structural dynamics with sufficient condition B=CTΓ is minimum phase independent of the sampling period. From a control point of view, this significant result is essential and beneficial to the digital controllers design for a large-scale structure. In addition, it also provides a criterion to locate the sensors and actuators of a structural system.

Birlikte Yaşama Kültürü Çerçevesinde Avrupa Birliği ve Türkiye Politikaları: Suriyelilere Yönelik Tutumun Sultanbeyli Örneği Üzerinden Değerlendirilmesi

2017 ◽  
Vol 4 (1) ◽  
pp. 41-61
Author(s):  
Pelin Sönmez ◽  
Abulfaz Süleymanov
Keyword(s):  
Civil Wars ◽  
Large Scale ◽  
Social Acceptance ◽  
Point Of View ◽  
The Other ◽  
Syrian Refugees ◽  
The European Union ◽  
International Protection ◽  
Legal Structure ◽  
Turkish People

Türkiye, Cumhuriyet tarihinin en yoğun zorunlu göç dalgasını 2011 yılından bu yana süren Suriye Savaşı ile yaşamaktadır. Suriye vatandaşlarının geçici koruma statüsü altında Türkiye toplumuna her açıdan entegrasyonları günümüzün ve geleceğin politika öncelikleri arasında düşünülmelidir. Öte yandan ülkeye kabul edilen sığınmacıların kendi kültürel kimliğini kaybetmeden içinde yaşadığı ev sahibi topluma uyumu, ortak yaşam kültürünün gelişmesi açısından önem arz etmektedir. Bu makalede, "misafir" olarak kabul edilen Suriyeli vatandaşların Türk toplumunca kabul edilmeleri ve dışlanma risklerinin azaltılmasına yönelik devlet politikaları ortaya konularak, üye ve aday ülkelere göçmenlerin dışlanmasını önlemek için Avrupa Birliği (AB) tarafından sunulan hukuki yapı ve kamu hizmeti inisiyatifleri incelenmekte, birlikte yaşam kültürü çerçevesinde Suriyeli vatandaşlara yönelik  toplumsal kabul düzeyleri ele alınmaktadır. Çalışma iki ana bölümden oluşmaktadır: göçmen ve sığınmacılara karşı toplumsal dışlanmayı engellemek için benimsenen yasa ve uygulamaların etkisi ve İstanbul-Sultanbeyli bölgesinde Suriyeli sığınmacılarla ilgili toplumsal algı çalışmasının sonuçları. Bölgede ikamet eden Suriyelilere yönelik toplumsal kabul düzeyinin yüksek olduğu görülürken, halkın Suriyelileri kendilerine  kültürel ve dini olarak yakın hissetmesi toplumsal kabul düzeyini olumlu etkilemektedir. ABSTRACT IN ENGLISHAn evaluation of the European Union and Turkish policies regarding the culture of living togetherThis article aims to determine the level of social acceptance towards Syrians within the context of cohabitation culture by evaluating EU’s legal structure and public service initiatives in order to prevent Syrian refugees from being excluded in member and candidate countries and by revealing government policies on acceptance of Syrians as “guest” by Turkish society and minimizing the exclusion risks of them. This article consists of two main parts, one of which is based on the effects of law and practices preventing refugees and asylum seekers from social exclusion, and the other is on the results of social perception on Syrians in Sultanbeyli district of Istanbul. At the end of 5-years taking in Syrian War, it is obvious that most of more than 3 million Syrian with unregistered ones in Turkey are “here to stay”. From this point of view, the primary scope of policies should be specified in order to remove side effects of refugee phenomenon seen as weighty matter by bottoming out the exclusion towards those people. To avoid possible large-scale conflicts or civil wars in the future, the struggle with exclusion phenomenon plays a crucial role regarding Turkey’s sociological situation and developing policies. In the meaning of forming a model for Turkey, a subtitle in this article is about public services for European-wide legal acquis and practices carried out since 1970s in order to prevent any exclusion from the society. On the other hand, other subtitles are about legal infrastructure and practices like Common European Asylum and Immigration Policies presented in 2005, and Law on Foreigners and International Protection introduced in 2013. In the last part of the article, the results of a field survey carried out in a district of Istanbul were used to analyze the exclusion towards refugees in Turkey. A face-to-face survey was randomly conducted with 200 settled refugees in Sultanbeyli district of Istanbul, and their perceptions towards Syrian people under temporary protection were evaluated. According to the results, the level of acceptance for Syrians living in this district seems relatively high. The fact that Turkish people living in the same district feel close to Syrian refugees culturally and religiously affect their perception in a positive way: however, it is strikingly seen and understood that local residents cop an attitude on the refugees’ becoming Turkish citizens.

Methods of Network Planning and Management when Implementing Territory Planning Projects

2019 ◽  
pp. 49-54
Keyword(s):  
Large Scale ◽  
Housing Stock ◽  
Network Planning ◽  
Network Models ◽  
Point Of View ◽  
Residential Areas ◽  
Basic Principles ◽  
Planning And Management ◽  
Planning Project ◽  
Complex Process

The success of the Program of housing stock renovation in Moscow depends on the efficiency of resource management. One of the main urban planning documents that determine the nature of the reorganization of residential areas included in the Program of renovation is the territory planning project. The implementation of the planning project is a complex process that has a time point of its beginning and end, and also includes a set of interdependent parallel-sequential activities. From an organizational point of view, it is convenient to use network planning and management methods for project implementation. These methods are based on the construction of network models, including its varieties – a Gantt chart. A special application has been developed to simulate the implementation of planning projects. The article describes the basic principles and elements of modeling. The list of the main implementation parameters of the Program of renovation obtained with the help of the developed software for modeling is presented. The variants of using the results obtained for a comprehensive analysis of the implementation of large-scale urban projects are proposed.

TO THE PROBLEMS OF COMBATING CORRUPTION IN MODERN RUSSIA AND INTERNATIONAL COOPERATION IN THE FIELD OF ANTI-CORRUPTION

2020 ◽  
Author(s):  
Angela Dranishnikova
Keyword(s):  
Large Scale ◽  
The State ◽  
Point Of View ◽  
Modern Life ◽  
Existing Problems ◽  
Moral Point ◽  
Material Goods ◽  
The Russian Federation ◽  
The Difference ◽  
The Government

In the article, the author reflects the existing problems of the fight against corruption in the Russian Federation. He focuses on the opacity of the work of state bodies, leading to an increase in bribery and corruption. The topic we have chosen is socially exciting in our days, since its significance is growing on a large scale at all levels of the investigated aspect of our modern life. Democratic institutions are being jeopardized, the difference in the position of social strata of society in society’s access to material goods is growing, and the state of society is suffering from the moral point of view, citizens are losing confidence in the government, and in the top officials of the state.

Recombinant Protein Production in Microalgae: Emerging Trends

2020 ◽  
Vol 27 (2) ◽  
pp. 105-110 ◽  
Author(s):  
Niaz Ahmad ◽  
Muhammad Aamer Mehmood ◽  
Sana Malik
Keyword(s):  
Chloroplast Genome ◽  
Recombinant Proteins ◽  
Large Scale ◽  
Higher Plants ◽  
Scale Up ◽  
Chloroplast Transformation ◽  
Point Of View ◽  
Nuclear Transformation ◽  
Scale Production ◽  
Algal Chloroplast

: In recent years, microalgae have emerged as an alternative platform for large-scale production of recombinant proteins for different commercial applications. As a production platform, it has several advantages, including rapid growth, easily scale up and ability to grow with or without the external carbon source. Genetic transformation of several species has been established. Of these, Chlamydomonas reinhardtii has become significantly attractive for its potential to express foreign proteins inexpensively. All its three genomes – nuclear, mitochondrial and chloroplastic – have been sequenced. As a result, a wealth of information about its genetic machinery, protein expression mechanism (transcription, translation and post-translational modifications) is available. Over the years, various molecular tools have been developed for the manipulation of all these genomes. Various studies show that the transformation of the chloroplast genome has several advantages over nuclear transformation from the biopharming point of view. According to a recent survey, over 100 recombinant proteins have been expressed in algal chloroplasts. However, the expression levels achieved in the algal chloroplast genome are generally lower compared to the chloroplasts of higher plants. Work is therefore needed to make the algal chloroplast transformation commercially competitive. In this review, we discuss some examples from the algal research, which could play their role in making algal chloroplast commercially successful.

scholarly journals A Review on Additive Manufacturing Possibilities for Electrical Machines

Energies ◽  
2021 ◽  
Vol 14 (7) ◽  
pp. 1940
Author(s):  
Muhammad Usman Naseer ◽  
Ants Kallaste ◽  
Bilal Asad ◽  
Toomas Vaimann ◽  
Anton Rassõlkin
Keyword(s):  
Additive Manufacturing ◽  
Large Scale ◽  
Three Dimensional ◽  
Electrical Machines ◽  
Electromagnetic Properties ◽  
Scale Production ◽  
Performance Parameters ◽  
Large Scale Production ◽  
One Step ◽  
Manufacturing Techniques

This paper presents current research trends and prospects of utilizing additive manufacturing (AM) techniques to manufacture electrical machines. Modern-day machine applications require extraordinary performance parameters such as high power-density, integrated functionalities, improved thermal, mechanical & electromagnetic properties. AM offers a higher degree of design flexibility to achieve these performance parameters, which is impossible to realize through conventional manufacturing techniques. AM has a lot to offer in every aspect of machine fabrication, such that from size/weight reduction to the realization of complex geometric designs. However, some practical limitations of existing AM techniques restrict their utilization in large scale production industry. The introduction of three-dimensional asymmetry in machine design is an aspect that can be exploited most with the prevalent level of research in AM. In order to take one step further towards the enablement of large-scale production of AM-built electrical machines, this paper also discusses some machine types which can best utilize existing developments in the field of AM.

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