scholarly journals MOVEMENT ALGORITHM OF AN AUTONOMOUS ROBOT-HEXAPOD FOR MOVING IN NARROW CLOSED SPACES

2021 ◽  
pp. 61-68
Author(s):  
Ilya Platov ◽  
Oleksii Pavlovskyi
Keyword(s):  
Static Stability ◽  
Technical Condition ◽  
Initial Position ◽  
Walking Robots ◽  
Practical Implementation ◽  
Video Cameras ◽  
Confined Spaces ◽  
The Future ◽  
The Matrix ◽  
Servo Drives

The article proposes the use of a walking robot - hexapod for its use to monitor the technical condition of ventilation shafts, technical dry channels, enclosed spaces, etc. The peculiarity of this type of robots is the increased possibility in comparison with tracked or wheeled machines, due to their design and ability to overcome irregularities. Also, in comparison with existing designs, the hexapod can be fully autonomous and does not depend on a stationary power source. In its turn, construction of walking robots requires development of complex algorithms of motion, which are significantly different compared to wheeled or tracked moving devices, because in addition to the control of limbs, which are set in motion by servo drives, the computer core must process information from sensors that provide information both about the position of the robot itself, and about the surrounding objects, which can be: distance sensors, touch sensors, video cameras, accelerometers, gyroscopes, etc. The paper highlights the developments used to date, but analysis of existing algorithms for walking robots showed a lack of such for the use of the robot in narrow and confined spaces, ventilation shafts, dry technical ducts, etc. In this regard, an algorithm was developed that partially closes this gap. The peculiarity of this algorithm is the simplicity of practical implementation, as well as the safety of the construction of work in progress, because it takes into account the need for increased static stability by modifying the matrix of limb position by a third state, which gives the opportunity to consider the initial position, or memorize the limb state, from which, in the future, you can continue the movement from an arbitrary stable position. In addition, the algorithm can be applied not only to robots with six limbs, but also to other kinds of mobile walking platforms, because the proposed variant allows testing and calibration of any type of gait at each iteration of the step. In the future, it is planned to test the proposed algorithm on the developed prototype not only when moving the work on horizontal surfaces, but also on vertical surfaces, which is an important component for the proposed application area.

scholarly journals HEXAPOD MOVEMENT ALGORITHMS TO AVOID INTERFERENCE. ANGULAR MOVEMENT

2021 ◽  
pp. 58-64
Author(s):  
Ilya Platov ◽  
Oleksii Pavlovskyi ◽  
Yuliia Pavlovska
Keyword(s):  
Power Supply ◽  
Vertical Movement ◽  
Work Design ◽  
Walking Robots ◽  
Practical Implementation ◽  
State Matrix ◽  
Starting Position ◽  
Confined Spaces ◽  
Versatile Tool ◽  
Area Of Application

This paper considers the possibility of using a stepping robot - hexapod for research, monitoring the condition of technical dry channels, enclosed spaces and more. Compared to existing designs used today, the hexapod has a list of advantages that make it a more versatile tool, namely: autonomy, due to the power supply installed at work, design features that ensure its increased patency on uneven surfaces. Instead, this type of work requires the development of complex algorithms for movement than in the case of wheeled or tracked machines, ie. hexapod is a platform that moves the limbs, which in turn move with the help of servos. Therefore, the movement of the platform is provided by the control of each servo. In addition, environmental information is additionally processed from rangefinders, limb con-tact sensors with the surface, cameras, accelerometers, etc. Particular attention is paid to robot rotation algorithms, as the proposed scope imposes restrictions on the ability to maneuver freely in space. An algorithm for rotating robots in confined spaces based on limb state matrices has been developed, which greatly simplifies the practical implementation and allows to easily change the type of stroke during the hexapod operation. It is also proposed to introduce a buffer state matrix, which allows you to remember the last position of the limbs of the robot in case of its failure, after the elimination of which, it is possible to continue moving from any last state. Or return to the starting position and change the route. The versatility of the algorithm allows its use not only in the development of the software part of the hesapod, but also for other types of walking robots. Since the developed algorithm allows you to easily modify the types of moves at each iteration of the step. In the future, it is planned to test this algorithm on a model of a hexapod and supplement it with the necessary components for vertical movement, which is very important for passability in this area of application.

scholarly journals The future of SIMS: Who embodies which smile and when?

2010 ◽  
Vol 33 (6) ◽  
pp. 464-480 ◽  
Author(s):  
Paula M. Niedenthal ◽  
Martial Mermillod ◽  
Marcus Maringer ◽  
Ursula Hess
Keyword(s):  
Facial Expression ◽  
Eye Contact ◽  
Initial Position ◽  
Top Down ◽  
The Core ◽  
Facial Expression Of Emotion ◽  
Expression Of Emotion ◽  
Target Article ◽  
The Future

AbstractThe set of 30 stimulating commentaries on our target article helps to define the areas of our initial position that should be reiterated or else made clearer and, more importantly, the ways in which moderators of and extensions to the SIMS can be imagined. In our response, we divide the areas of discussion into (1) a clarification of our meaning of “functional,” (2) a consideration of our proposed categories of smiles, (3) a reminder about the role of top-down processes in the interpretation of smile meaning in SIMS, (4) an evaluation of the role of eye contact in the interpretation of facial expression of emotion, and (5) an assessment of the possible moderators of the core SIMS model. We end with an appreciation of the proposed extensions to the model, and note that the future of research on the problem of the smile appears to us to be assured.

Tasks of the Development and Implementation of Enterprise Industrial Safety Management System when Operating Technical Devices

2021 ◽  
pp. 15-19
Author(s):  
N.A. Makhutov ◽  
◽  
A.P. Cherepanov ◽  
M.V. Lisanov ◽  
◽  
...  
Keyword(s):  
Management System ◽  
Safety Management ◽  
Technical Condition ◽  
Industrial Safety ◽  
Automated System ◽  
Practical Implementation ◽  
Technical Diagnostics ◽  
Technical Device ◽  
Safety Management System ◽  
Hazardous Production

Development and practical implementation of the enterprise industrial safety management system considering the new requirements of the legislation on creation of the state system for monitoring, remote control, technical certification, and diagnostics of technical devices at hazardous production facilities supervised by Rostechnadzor is discussed in the article. To perform automated collection, recording, generalization, systematization, and evaluation of the information on the parameters that characterize safety of the enterprise hazardous equipment as a whole and each technical device, a block diagram of the enterprise automated industrial safety management system is proposed. The basics are suggested for creating the automated system containing a database that includes all the technical documentation, certificates and expert opinions, repair documentation and accompanying documents (orders, instructions, audit conclusions, etc.) for the efficiency of tracking the technical condition in real time considering changes in all the controlled parameters of the enterprise technological complexes. It is noted in the article that the assessment of the technical condition and life of single and unique technical devices that make up the bulk of equipment in hazardous production should be carried out already at the manufacturing stage by combining technical control with technical diagnostics, and their results should be included in the technical passport of the device. The need in this information for the operators is invaluable, especially after working out the manufacturer’s designated period of safe operation and for evaluating the actual technical condition and comparing it with its original, which was documented during fabrication. Data on the initial state allows to qualitatively assess the degradation processes that are developing during operation and consider them when evaluating the life of a technical device and conduct a qualitative audit of the industrial safety management system.

scholarly journals Historical Databases Now and in the Future

2021 ◽  
Vol 10 ◽  
pp. 9-12
Author(s):  
Kris Inwood ◽  
Hamish Maxwell-Stewart
Keyword(s):  
Data Structure ◽  
The Netherlands ◽  
Longitudinal Data ◽  
Practical Implementation ◽  
High Quality ◽  
Rule Based ◽  
Intermediate Data ◽  
The Future ◽  
Historical Databases ◽  
Historical Sample

Kees Mandemakers has enriched historical databases in the Netherlands and internationally through the development of the Historical Sample of the Netherlands, the Intermediate Data Structure, a practical implementation of rule-based record linking (LINKS) and personal encouragement of high quality longitudinal data in a number of countries.

scholarly journals Practical Implementation of an Indoor Robot Localization and Identification System using an Array of Anchor Nodes

2020 ◽  
Vol 16 (1) ◽  
pp. 1-8 ◽  
Author(s):  
Israa AL-Forati ◽  
Abdulmuttalib Rashid
Keyword(s):  
Search Algorithm ◽  
Low Cost ◽  
Binary Search ◽  
Practical Implementation ◽  
Identification System ◽  
Robot Localization ◽  
Light Emitting ◽  
The Matrix ◽  
Anchor Nodes ◽  
Binary Search Algorithm

This paper proposes a low-cost Light Emitting Diodes (LED) system with a novel arrangement that allows an indoor multi-robot localization. The proposed system uses only a matrix of low-cost LED installed uniformly on the ground of an environment and low-cost Light Dependent Resistor (LDR), each equipped on bottom of the robot for detection. The matrix of LEDs which are driven by a modified binary search algorithm are used as active beacons. The robot localizes itself based on the signals it receives from a group of neighbor LEDs. The minimum bounded circle algorithm is used to draw a virtual circle from the information collected from the neighbor LEDs and the center of this circle represents the robot’s location. The propose system is practically implemented on an environment with (16*16) matrix of LEDs. The experimental results show good performance in the localization process.

scholarly journals Matrix forecasting to investigate the capital efficiency of the insurance market: Case of Italy

2020 ◽  
Vol 9 (3) ◽  
pp. 72-83
Author(s):  
Stefano Dell’Atti ◽  
Stefania Sylos Labini ◽  
Iryna Nyenno
Keyword(s):  
Initial Position ◽  
Development Strategies ◽  
Insurance Market ◽  
Transition Matrices ◽  
Policy Makers ◽  
Insurance Sector ◽  
Forecasting Method ◽  
The Matrix ◽  
Capital Efficiency ◽  
Scientific Results

The article aims to verify whether the matrix forecasting method is valid for predicting the insurance market development trends. The methodology is based on the application of the Franchon & Romanet matrix to the insurance market. Our results indicate that the Franchon & Romanet matrix could be usefully employed in the insurance market to identify the initial market position (calculated as financial development potential distributed through the structure of the capital funds available for insurance and financial activities) and the possible future development strategies. The core limits are concerned with the small use of the matrix methods for performance measurement of the insurance market. No empirical study has been conducted. The application of the matrix is concerned with risk management or rating transition matrices. Despite this circumstance gives originality to our paper, it poses a problem of data collection and limits the possibility to conduct the comparison with other scientific results. The construction of the matrix allows identifying the initial position of a country’s insurance market, to evaluate the possible development strategies and to choose the preferable ones. The originality of the paper consists firstly, in the innovativeness of applying to the insurance sector the tool of matrix forecasting; secondly, in providing a supporting tool to policy-makers decisions.

The Static Aeroelasticity of Slender Configurations

1963 ◽  
Vol 14 (1) ◽  
pp. 75-104 ◽  
Author(s):  
G. J. Hancock
Keyword(s):  
Static Stability ◽  
Aerodynamic Forces ◽  
Flexible Aircraft ◽  
The Past ◽  
Plate Models ◽  
Non Linear ◽  
The Future ◽  
Static Aeroelasticity ◽  
Definition Of ◽  
Image Position

SummaryThe validity and applicability of the static margin (stick fixed) Kn,where as defined by Gates and Lyon is shown to be restricted to the conventional flexible aircraft. Alternative suggestions for the definition of static margin are put forward which can be equally applied to the conventional flexible aircraft of the past and the integrated flexible aircraft of the future. Calculations have been carried out on simple slender plate models with both linear and non-linear aerodynamic forces to assess their static stability characteristics.

A Family of Unitals in the Hughes Plane

1990 ◽  
Vol 42 (6) ◽  
pp. 1067-1083 ◽  
Author(s):  
Barbu C. Kestenband
Keyword(s):  
Present Article ◽  
English Translation ◽  
Symmetric Matrices ◽  
Configurational Property ◽  
The Future ◽  
The Matrix ◽  
Classical Unitals ◽  
Hughes Plane

We construct a family of unitals in the Hughes plane. We prove that they are not isomorphic with the classical unitals, and in so doing we exhibit a configuration that exists in the latter, but not in the former. This new configurational property of the classical unitals might serve in the future again as an isomorphism test.A particular instance of our construction has appeared in [11]. But it only concerns itself with the case where the matrix involved is the identity, whereas the present article treats the general case of symmetric matrices over a suitable field. Furthermore, [11] does not answer the isomorphism question. It states that (the English translation is ours) “It remains to be seen whether the unitary designs constructed in this note are isomorphic or not with known designs”.

scholarly journals Qualitative criterion for interception in a pursuit/evasion game

2009 ◽  
Vol 466 (2117) ◽  
pp. 1365-1371 ◽  
Author(s):  
J. A. Morgan
Keyword(s):  
Nash Equilibrium ◽  
Initial Position ◽  
Initial Time ◽  
Sufficient Condition ◽  
Pursuit Evasion ◽  
Evasion Game ◽  
Differential Pursuit ◽  
The Future ◽  
Qualitative Criterion ◽  
Future Cone

A qualitative account is given of a differential pursuit/evasion game. A criterion for the existence of an intercept solution is obtained using future cones that contain all attainable trajectories of target or interceptor originating from an initial position. A sufficient and necessary conditon that an opportunity to intercept always exists is that, after some initial time, the future cone of the target be contained within the future cone of the interceptor. The sufficient condition may be regarded as a kind of Nash equilibrium.

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