scholarly journals Influence of external disturbances to dynamic balance of the semi-anthropomimetic robot

2014 ◽  
Vol 11 (1) ◽  
pp. 145-158
Author(s):  
Vladimir Petrovic ◽  
Kosta Jovanovic ◽  
Veljko Potkonjak
Keyword(s):  
External Force ◽  
Dynamic Balance ◽  
Mobile Platform ◽  
Upper Body ◽  
External Disturbances ◽  
History Of ◽  
Entire History ◽  
Font Color ◽  
External Impulse

The idea of building an artificial man extends through the entire history of mankind. In this paper we present a semi-anthropomimetic robot, as a structure that consists of an upper human-like body mounted on a cart (mobile platform). Semi-anthropomimetic robot uses the three-wheeled mobile platform (two driving wheels and one passive wheel). Upper body configuration is represented as an anthropomimetic structure with antagonistically coupled drives. The aim of this paper is analysis of the robot behaviour under disturbances. Two types of disturbances are examined: disturbances following from the cart motion, and external disturbances. External disturbances (external impulse and long term external force) emulate interaction of the robot with its environment. Numerous simulations were performed, in order to analyze the balance of the robot. Accordingly, appropriate dimensions of the mobile platform are estimated, relying on the ZMP concept. [Projekat Ministarstva nauke Republike Srbije, br. TR-35003 i br. III-44008] <br><br><font color="red"><b> This article has been retracted. Link to the retraction <u><a href="http://dx.doi.org/10.2298/SJEE1603435E">10.2298/SJEE1603435E</a><u></b></font>

The Relationship Between Fear of Falling and Functional Fitness among Older Adults Living in Rest Home

2020 ◽  
Vol 16 (1) ◽  
Author(s):  
H Tuna ◽  
Ö Bozan ◽  
B Gürpınar ◽  
N İlçin
Keyword(s):  
Risk Factors ◽  
Older Adults ◽  
Fall Risk ◽  
Fear Of Falling ◽  
Dynamic Balance ◽  
Upper Body ◽  
Functional Fitness ◽  
Fall Risk Factors ◽  
Rest Home ◽  
History Of

Objective: This study aimed to report the fear of falling and assess its associations with several fall-related characteristics and functional fitness parameters among older adults living in the rest home. Methods: Seventy-eight older adults aged between 65-94 years were included in the study. History of falling and the number of risk factors for falling were recorded. Fear of falling was evaluated with The Falls Efficacy ScaleInternational. Functional fitness was assessed with Senior Fitness Test, including tests for the functional measurement of strength, flexibility, aerobic endurance and dynamic balance. Result: The mean age of participants was 78.46±7.16 years. There were correlations exist between fear of falling and number of fall risk factors, dynamic balance, upper body flexibility and aerobic endurance (p<0.05). Multiple linear regression analysis showed that the parameters with the highest determinants of fear of falling were the dynamic balance and history of falling (p<0.05). Conclusions: In our study, history of falling, number of fall risk factors, flexibility for the upper body, aerobic endurance and dynamic balance were parameters related to fear of falling among older adults, but the most influential factors in fear of falling were dynamic balance and history of falling.

scholarly journals Retraction notice to: Influence of external disturbances to dynamic balance of the semi-anthropomimetic robot [Serb. Jour. of elect. Eng., Vol. 11, no. 1, feb. 2014, pp. 145-158]

2016 ◽  
Vol 13 (3) ◽  
pp. 435-435
Author(s):  
E Editorial
Keyword(s):  
Dynamic Balance ◽  
Electrical Engineering ◽  
External Disturbances ◽  
Technical Errors ◽  
Retracted Article ◽  
Retraction Notice ◽  
Font Color

Due to technical errors the article entitled ?Influence of External Disturbances to Dynamic Balance of the Semi-Anthropomimetic Robot?, by authors Vladimir M. Petrovic, Kosta Jovanovic, Veljko Potkonjak, published in Serbian journal of Electrical Engineering, Vol. 11, No. 1, February 2014, pp. 145-158, has been retracted from the Journal. <br><br><font color="red"><b> Link to the retracted article <u><a href="http://dx.doi.org/10.2298/SJEE131014013P">10.2298/SJEE131014013P</a></b></u>

scholarly journals SOME ASPECTS OF THE ARCHIVAL INDUSTRY OF KAZAKHSTAN

2021 ◽  
Vol 68 (1) ◽  
Author(s):  
T. Makanbaev ◽  
◽  
G. Seksenbayeva ◽  
Keyword(s):  
Twentieth Century ◽  
Political System ◽  
The State ◽  
Soviet Period ◽  
The Political ◽  
Cultural Life ◽  
History Of ◽  
Entire History ◽  
Party Ideology

The twentieth century turned out to be the most eventful for the history of archiving, and for the history of Kazakhstan as a whole. This has profoundly affected all aspects of the state, political, social, economic and cultural life. Wars, revolutions, changes in the political system, the restoration and collapse of the USSR - this is how the twentieth century began and ended. This article is an attempt to understand the course and certain feature of the long-term archival process in Kazakhstan. The entire history of archives of the Soviet period is closely intertwined with the history of the political system of the state. The history of archives is related to the monopoly rule of one-party ideology, with administrative pressure in the spiritual sphere of man, including pressure over archives. A new milestone in the development of archiving took place after the collapse of the USSR, so the archive system became independent. Independent Kazakhstan has carried out a number of reforms to democratize archival activities. As a result of these changes, a new archive management system was formed. Archives become part of the country's cultural heritage. The article focuses on identifying the leading trends in the formation of archives and key problems in the domestic archival science. Less attention is paid to the history of individual archives, since in general this is fully reflected in monographs, textbooks and numerous articles of Kazakhstani authors.

Biodiversity dynamics and environmental occupancy of fossil azooxanthellate and zooxanthellate scleractinian corals

Paleobiology ◽  
2015 ◽  
Vol 41 (3) ◽  
pp. 402-414 ◽  
Author(s):  
Wolfgang Kiessling ◽  
Ádám T. Kocsis
Keyword(s):  
Deep Water ◽  
Scleractinian Corals ◽  
Nutrient Concentrations ◽  
Turnover Rates ◽  
Extinction Rates ◽  
Morphological Criteria ◽  
Anoxic Events ◽  
History Of ◽  
Entire History

AbstractScleractinian corals have two fundamentally different life strategies, which can be inferred from morphological criteria in fossil material. In the non-photosymbiotic group nutrition comes exclusively from heterotrophic feeding, whereas the photosymbiotic group achieves a good part of its nutrition from algae hosted in the coral’s tissue. These ecologic differences arose early in the evolutionary history of corals but with repeated evolutionary losses and presumably also gains of symbiosis since then. We assessed the biodiversity dynamics and environmental occupancy of both ecologic groups to identify times when the evolutionary losses of symbiosis as inferred from molecular analyses might have occurred and if these can be linked to environmental change. Two episodes are likely: The first was in the mid-Cretaceous when non-symbiotic corals experienced an origination pulse and started to become more common in deeper, non-reef habitats and on siliciclastic substrates initiating a long-term offshore trend in occupancy. The second was around the Cretaceous/Paleogene boundary with another origination pulse and increased occupancy of deep-water settings in the non-symbiotic group. Environmental factors such as rapid global warming associated with mid-Cretaceous anoxic events and increased nutrient concentrations in Late Cretaceous–Cenozoic deeper waters are plausible mechanisms for the shift. Turnover rates and durations are not significantly different between the two ecologic groups when compared over the entire history of scleractinians. However, the deep-water shift of non-symbiotic corals was accompanied by reduced extinction rates, supporting the view that environmental occupancy is a prominent driver of evolutionary rates.

Space and time in granite plutonism

1981 ◽  
Vol 301 (1461) ◽  
pp. 321-336 ◽  
Keyword(s):  
Alkaline Magmatism ◽  
Calc Alkaline ◽  
Magma Generation ◽  
History Of ◽  
Minor Significance ◽  
Granitoid Rocks ◽  
Entire History ◽  
Refractory Mineral ◽  
Ocean Lithosphere

Granitic suites formed in the last 2500 Ma are either calc-alkaline or, less commonly, alkalic. The space-time trends of granitoid rocks from modern compressional arcs include variations towards more silicic and potassic products. But even the most ‘mature’ magmas of these arcs have Fe/Mg ratios near to 1, in contrast with the strongly iron-enriched alkalic suites that characterize zones of crustal extension. Both calc-alkaline and alkalic suites are mainly mantle-derived; they evolved, respectively, from tholeiitic and alkali basalt parental magmas which have been subject, in most examples, to a two-stage fractionation history. Other factors that may influence the evolution of these parental magmas include, first, the addition of variable, but minor, amounts of crustal melt and, secondly, the persistence of refractory mineral phases in the zone of melting. Contributions from subducted continental detritus are thought to be of minor significance. A long-term trend, over the entire history of the crust from more sodic to more potassic calc-alkaline magmatism may reflect the declining importance of subducted ocean lithosphere in magma generation and the increasing role of the overlying volatile-fluxed mantle wedge. This trend and, in particular, the widespread development of alkalic granite suites in mid-Proterozoic times, may be linked to the declining vigour of tectonic and associated magmatic processes during the Earth’s history. These alkalic suites may indicate a period when the continental lithosphere had become stable enough to resist fragmentation, leading to intracontinental ‘rift and swell’ zones of magmatism. In some cases, new plate cycles, with more normal calcalkaline igneous rocks, seem to have occurred in the same zones. Although much of the evidence favours the operation of plate tectonic and subduction processes in magma generation during Archaean and early Proterozoic times, this link cannot be taken as proved except for the last ca . 1000 Ma.

scholarly journals An empirical study of the per capita yield of science Nobel prizes: is the US era coming to an end?

2018 ◽  
Vol 5 (5) ◽  
pp. 180167 ◽  
Author(s):  
Claudius Gros
Keyword(s):  
Success Rates ◽  
Nobel Prizes ◽  
The Us ◽  
The Usa ◽  
History Of ◽  
Entire History ◽  
Per Capita ◽  
Historical Developments ◽  
The Uk

We point out that the Nobel prize production of the USA, the UK, Germany and France has been in numbers that are large enough to allow for a reliable analysis of the long-term historical developments. Nobel prizes are often split, such that up to three awardees receive a corresponding fractional prize. The historical trends for the fractional number of Nobelists per population are surprisingly robust, indicating in particular that the maximum Nobel productivity peaked in the 1970s for the USA and around 1900 for both France and Germany. The yearly success rates of these three countries are to date of the order of 0.2–0.3 physics, chemistry and medicine laureates per 100 million inhabitants, with the US value being a factor of 2.4 down from the maximum attained in the 1970s. The UK in contrast managed to retain during most of the last century a rate of 0.9–1.0 science Nobel prizes per year and per 100 million inhabitants. For the USA, one finds that the entire history of science Noble prizes is described on a per capita basis to an astonishing accuracy by a single large productivity boost decaying at a continuously accelerating rate since its peak in 1972.

scholarly journals Dynamics based modeling of wheeled platform for humanoid robot torso

2016 ◽  
Vol 13 (3) ◽  
pp. 335-345
Author(s):  
Vladimir Petrovic ◽  
Kosta Jovanovic ◽  
Veljko Potkonjak
Keyword(s):  
Humanoid Robot ◽  
Theoretical Background ◽  
Upper Body ◽  
External Disturbances ◽  
Modern Times ◽  
Proper Size ◽  
External Forces ◽  
Engineering Projects

From the ancient mythology till the modern times, people were trying to build an artificial mechanical replica of themselves. Inspired by this long tradition of various engineering projects, we will hereby describe a partly humanoid robotic structure. Our robotic configuration is composed out of an anthropomimetic upper body, but instead of legs it uses a wheeled cart for the motion. In our research, this so-called semi-anthropomimetic structure has a four-wheeled cart. This work is aiming to analyze the behaviour of the robot that is exposed to different kind of external disturbances. Disturbances coming from the outside in the form of external forces (impulse and long term) simulate the interactions of the robot and its ambience. Necessary simulations were thoroughly executed (in that way analyzing robotic balance) and proper size of the cart is evaluated following the ZMP theoretical background.

scholarly journals Slippery when wet: cross-species transmission of divergent coronaviruses in bony and jawless fish and the evolutionary history of the Coronaviridae

2021 ◽  
Author(s):  
Allison K. Miller ◽  
Jonathon C.O. Mifsud ◽  
Vincenzo A. Costa ◽  
Rebecca M. Grimwood ◽  
Jane Kitson ◽  
...  
Keyword(s):  
Rna Sequencing ◽  
Rna Virus ◽  
Bony Fish ◽  
Sequencing Data ◽  
History Of ◽  
Entire History ◽  
Vertebrate Hosts ◽  
Patterns And Processes ◽  
Jawless Fish

The Nidovirales comprise a genetically diverse group of positive-sense single-stranded RNA virus families that infect a range of invertebrate and vertebrate hosts. Recent metagenomic studies have identified nido-like virus sequences, particularly those related to the Coronaviridae, in a range of aquatic hosts including fish, amphibians and reptiles. We sought to identify additional members of the Coronaviridae in both bony and jawless fish through a combination of total RNA sequencing (meta-transcriptomics) and data mining of published RNA sequencing data, and from this reveal more of the long-term patterns and processes of coronavirus evolution. Accordingly, we identified a number of divergent viruses that fell within the Letovirinae subfamily of the Coronaviridae, including those in a jawless fish - the pouched lamprey. By mining fish transcriptome data we identified additional virus transcripts matching these viruses in bony fish from both marine and freshwater environments. These new viruses retained sequence conservation in the RNA-dependant RNA polymerase across the Coronaviridae, but formed a distinct and diverse phylogenetic group. Although there are broad-scale topological similarities between the phylogenies of the major groups of coronaviruses and their vertebrate hosts, the evolutionary relationships of viruses within the Letovirinae does not mirror that of their hosts. For example, the coronavirus found in the pouched lamprey fell within the phylogenetic diversity of bony fish letoviruses, indicative of past host switching events. Hence, despite possessing a phylogenetic history that likely spans the entire history of the vertebrates, coronavirus evolution has been characterised by relatively frequent cross-species transmission, particularly in hosts that reside in aquatic habitats.

Medical Malpractice in Twentieth Century United States: The Interaction of Technology, Law, and Culture

1998 ◽  
Vol 14 (2) ◽  
pp. 196-211 ◽  
Author(s):  
Kennethe De Ville
Keyword(s):  
United States ◽  
20Th Century ◽  
Medical Malpractice ◽  
The United States ◽  
Cultural Changes ◽  
Late 20Th Century ◽  
History Of ◽  
Underlying Causes ◽  
Entire History

AbstractAlthough medical malpractice litigation in the United States has generated extensive professional and scholarly attention, few analyses of the issue have explored its underlying causes. This essay develops and employs an historical framework to explain the late 20th century phenomenon and concludes that widespread medical malpractice suits are the result of a combination of short-term topical causes and long-term cultural changes that are ignored or left untouched by most reform efforts. Most importantly, however, the development and proliferation of new and improved medical technologies has played a pivotal role throughout the entire history of the litigation, an effect that has become most prominent and important in the last third of the 20th century.

scholarly journals Determinants of Inflation in Europe – A Dynamic Panel Analysis

e-Finanse ◽  
2020 ◽  
Vol 16 (3) ◽  
pp. 51-79
Author(s):  
Lejla Čaklovica ◽  
Adnan S. Efendic
Keyword(s):  
Inflation Rate ◽  
Long Term Effects ◽  
Real Wages ◽  
Dynamic Panel ◽  
Structural Variables ◽  
Short Run ◽  
History Of ◽  
Entire History ◽  
European Economies

Abstract This article offers an empirical analysis of determinants of inflation in 28 European economies that belonged to the transition group of countries in the end of the last century. We rely on dynamic panel methodology and find that economic and structural variables, including economic openness, unemployment, real wages, institutional effects, as well as external factors, such as prices of food and oil, determine the short-run inflationary dynamics in these countries. The obtained results also indicate that inflation rate is autoregressive in the observed period (2005-2015), confirming that contemporaneous inflation rate is determined by the entire history of these determinants. Our further investigation reveals long- term effects of the majority of these variables on price dynamics. Interestingly, distinction between the current EU and transition countries in the model does not lead to different conclusions.

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