scholarly journals Tarantula: Design, Modeling, and Kinematic Identification of a Quadruped Wheeled Robot

2018 ◽  
Vol 9 (1) ◽  
pp. 94 ◽  
Author(s):  
Abdullah Aamir Hayat ◽  
Karthikeyan Elangovan ◽  
Mohan Rajesh Elara ◽  
Mullapudi Sai Teja
Keyword(s):  
Cross Sections ◽  
Degrees Of Freedom ◽  
Drainage System ◽  
Cost Effective ◽  
Kinematic Parameters ◽  
Coordinate Measurement ◽  
Cost Effective Method ◽  
Wheeled Robot ◽  
Set Up ◽  
The Cost

This paper firstly presents the design and modeling of a quadruped wheeled robot named Tarantula. It has four legs each having four degrees of freedom with a proximal end attached to the trunk and the wheels for locomotion connected at the distal end. The two legs in the front and two at the back are actuated using two motors which are placed inside the trunk for simultaneous abduction or adduction. It is designed to manually reconfigure its topology as per the cross-sections of the drainage system. The bi-directional suspension system is designed using a single damper to prevent the trunk and inside components from shock. Formulation for kinematics of the wheels that is coupled with the kinematics of each leg is presented. We proposed the cost-effective method which is also an on-site approach to estimate the kinematic parameters and the effective trunk dimension after assembly of the quadruped robot using the monocular camera and ArUco markers instead of high-end devices like a laser tracker or coordinate measurement machine. The measurement technique is evaluated experimentally and the same set up was used for trajectory tracking of the Tarantula. The experimental method for the kinematic identification presented here can be easily extended to the other mobile robots with serial architecture designed legs.

CAD Of Anticorrosive Protection Of Steel Structures

2019 ◽  
pp. 18-23
Keyword(s):  
Protective Coating ◽  
Computer Aided Design ◽  
Steel Structures ◽  
Cost Effective ◽  
Operating Conditions ◽  
Computational Tool ◽  
Protection Method ◽  
Cost Effective Method ◽  
The Cost ◽  
Aided Design

The choice of cost-effective method of anticorrosive protection of steel structures is an urgent and time consuming task, considering the significant number of protection ways, differing from each other in the complex of technological, physical, chemical and economic characteristics. To reduce the complexity of solving this problem, the author proposes a computational tool that can be considered as a subsystem of computer-aided design and used at the stage of variant and detailed design of steel structures. As a criterion of the effectiveness of the anti-corrosion protection method, the cost of the protective coating during the service life is accepted. The analysis of existing methods of steel protection against corrosion is performed, the possibility of their use for the protection of the most common steel structures is established, as well as the estimated period of effective operation of the coating. The developed computational tool makes it possible to choose the best method of protection of steel structures against corrosion, taking into account the operating conditions of the protected structure and the possibility of using a protective coating.

Method of Fuels and Lubricants Performance Properties Requirements Management

2021 ◽  
Vol 624 (2) ◽  
pp. 16-24
Author(s):  
Yu. M. Pimenov ◽  
◽  
A. V. Ulit’ko ◽  
V. A. Sereda ◽  
◽  
...  
Keyword(s):  
Cost Effective ◽  
Life Cycles ◽  
Requirements Management ◽  
Performance Properties ◽  
Operational Conditions ◽  
Quantitative Expression ◽  
Laboratory Bench ◽  
Motor Fuels ◽  
Cost Effective Method ◽  
The Cost

The cost-effective method of fuels and lubricants performance properties requirements management is proposed. Method ensures effectiveness enhancement of equipment and of fuels and lubricants life cycles; it includes requirements establishment (constructing of conceptual and empirical models of requirements), their quantitative expression through highly informative indicators of fuels and lubricants propensity for transformations, then approbation with the use of laboratory, bench and test stands tests, specification, assessment of realization in real world equipment operational conditions, effectiveness evaluation and modification of requirements. Some illustrations of application of the new method phases with regards to motor fuels and hydraulic fluid are provided.

Development of a Telemedicine and Distance Learning Network in Rural Eastern North Carolina

1995 ◽  
Vol 1 (3) ◽  
pp. 178-182 ◽  
Author(s):  
Charles Kesler ◽  
David Balch
Keyword(s):  
North Carolina ◽  
Cost Effective ◽  
Telemedicine Service ◽  
School Of Medicine ◽  
Telemedicine Consultation ◽  
Network Costs ◽  
Set Up ◽  
Education Network ◽  
The Cost ◽  
Eastern North Carolina

A telemedicine service was established between the East Carolina University (ECU) School of Medicine in Greenville and the Central Prison in Raleigh, about 160 km away. Based on the first two years' experience of providing a prison telemedicine service, a medical education network was set up, linking the School of Medicine to health institutions in Ahoskie, approximately 160 km away, and Jacksonville, approximately 145 km away. At about the same time, a telemedicine network was installed linking the ECU to two rural hospitals, the Roanoke-Chowan Hospital in Ahoskie, and the Martin General Hospital in Williamston, both approximately 75 km away. Although it was a demonstration project, the prison telemedicine service was thought to be cost-effective. The cost of transporting a patient from prison for medical care was estimated to be $700. In comparison, a telemedicine consultation cost about $70, excluding the equipment and network costs. During the first 33 months of operation there were over 400 telemedicine consultations carried out in eastern North Carolina. The majority were dermatology consultations, with neurology and gastroenterology being next most frequent.

scholarly journals Drift Reduction of a 4-DOF Measurement System Caused by Unstable Air Refractive Index

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6329
Author(s):  
Ruijun Li ◽  
Yongjun Wang ◽  
Pan Tao ◽  
Rongjun Cheng ◽  
Zhenying Cheng ◽  
...  
Keyword(s):  
Refractive Index ◽  
Laser Beam ◽  
Measurement System ◽  
Degrees Of Freedom ◽  
Cost Effective ◽  
Control Mode ◽  
Detection Accuracy ◽  
Long Distance ◽  
Cost Effective Method ◽  
Novel Method

Laser beam drift greatly influences the accuracy of a four degrees of freedom (4-DOF) measurement system during the detection of machine tool errors, especially for long-distance measurement. A novel method was proposed using bellows to serve as a laser beam shield and air pumps to stabilize the refractive index of air. The inner diameter of the bellows and the control mode of the pumps were optimized through theoretical analysis and simulation. An experimental setup was established to verify the feasibility of the method under the temperature interference condition. The results indicated that the position stability of the laser beam spot can be improved by more than 79% under the action of pumping and inflating. The proposed scheme provides a cost-effective method to reduce the laser beam drift, which can be applied to improve the detection accuracy of a 4-DOF measurement system.

The Engineering Technology Index Analysis of the Low-Carbon Building

2012 ◽  
Vol 535-537 ◽  
pp. 1985-1990
Author(s):  
Bao Ku Qi ◽  
Jing Ming Zhao ◽  
Yu Qu
Keyword(s):  
Cost Effective ◽  
Low Carbon ◽  
Engineering Technology ◽  
Architectural Form ◽  
Cost And Benefit ◽  
Low Carbon Economy ◽  
Cost Effective Method ◽  
The Cost ◽  
Analysis Mode ◽  
Carbon Economy

Low-carbon building is the new building types under the background of low-carbon economy. Compared with traditional architectural form, the cost and benefit of the low-carbon building have changed a lot; therefore, it is necessary to analyze the low-carbon building from the perspective of cost and benefit. This paper structured an analysis mode through the cost-effective method, and also provided a new analysis idea and approach to value the low-carbon building, so it has an important referential value for the promotion and construction of low-carbon building in the whole society.

scholarly journals Using DSLR to 'Scan' Colour Slides: learning from the Digitising Jemdet Nasr 1988–1989 Project

2020 ◽  
Author(s):  
Mónica Palmero Fernández
Keyword(s):  
Dynamic Range ◽  
Cost Effective ◽  
Archaeological Site ◽  
High Dynamic Range ◽  
Photographic Film ◽  
Film Scanner ◽  
Cost Effective Method ◽  
High Dynamic ◽  
University Department ◽  
The Cost

This article presents a cost-effective method for digitising photographic film for archival purposes using a DSLR camera, focussing on the widely used colour reversal Kodachrome film produced by Eastman Kodak between 1935 and 2009. I discuss the digitisation of an archive of 787 Kodachrome slides taken between 1988 and 1989 during the excavation of Jemdet Nasr, an archaeological site located in southern Iraq (Project website). I compare results obtained using a film scanner (Nikon Coolscan IV ED) with two different scanning software solutions (SilverFast and VueScan), a flatbed scanner (HP Scanjet 8300), and two DSLR cameras with macro lens (a Canon EOS KissX3 with 105mm lens and a Canon EOS 80D with 90mm lens). The results demonstrate the cost-effective value of the DSLR method for archives where time and resources are limited, but where digital photography equipment might be readily available, such as an archaeological unit or a university department. The method allows for high quality, fast and economical digitisation of excavation and collection archives that will enhance research. The method also offers superior results in rendering the high dynamic range of photographic film such as Kodachrome.

scholarly journals A PRACTICAL HYDROPONIC SYSTEM FOR USE IN PLANT NUTRITION STUDIES

HortScience ◽  
1992 ◽  
Vol 27 (6) ◽  
pp. 670d-670
Author(s):  
Larry S. Kennedy ◽  
William B. Beavers ◽  
Carl E. Sams
Keyword(s):  
Distribution System ◽  
Plant Nutrition ◽  
Experimental System ◽  
Cost Effective ◽  
Nutrient Distribution ◽  
Hydroponic System ◽  
Practical Applications ◽  
Rooting Medium ◽  
Set Up ◽  
The Cost

A common problem of researchers concerned with micronutrient plant nutrition is the development of a reliable and affordable experimental system. If nutrient distribution is uneven or subject to outside contamination, then the time and resources dedicated to a project will have been wasted. We have devised a dependable and cost effective nutrient distribution system which has many practical applications. This design is relatively maintenance free, easily adaptable to existing greenhouse conditions and limits the possibility of outside contamination. Using perlite as the rooting medium, our system is constructed of easily obtainable hardware and mechanical components. The total material cost of our system, which included three nutrient treatments, was approximately $800. This resulted in a conservative estimate of $12.50 per plant in our particular study. However, the cost of a larger experiment would be reduced considerably since additional replications could be added at approximately $2.00 each. The experimental set-up is described along with the initial cost analysis.

Gun Barrel Refurbishing Using a Shrink-Fitted Autofrettaged Liner

2018 ◽  
Vol 140 (2) ◽  
Author(s):  
J. Perry ◽  
M. Perl
Keyword(s):  
Cross Sections ◽  
Cost Effective ◽  
Von Mises Stress ◽  
Maximum Pressure ◽  
Internal Diameter ◽  
Original Performance ◽  
Gun Barrel ◽  
Von Mises ◽  
Von Mises Stresses ◽  
The Cost

During the firing of guns, the barrel undergoes two major damaging processes: wear of its inner surface and internal cracking. Barrel's are condemned based on either the increase of their internal diameter due to wear or the severity of their internal cracking. The cost of replacing such a damaged gun barrel runs in the tenth of thousands of U.S.$. Therefore, cost effective methods are sought for restoring such gun barrels. In the present analysis, a new method is proposed for refurbishing vintage gun barrels by machining their inner damaged layer and replacing it by an intact, autofrettaged, shrink-fit liner that will restore the barrel to its original performance. The design of the shrink-fitted liner is based on two design principles. First, the von-Mises residual stress distribution through the thickness of the barrel at each of its cross sections along the inserted liner should be at least equal in magnitude to von Mises stress, which prevailed in the original barrel. Second, once the maximum pressure is applied to the compound barrel, the von-Mises stresses at the inner surfaces of the liner machined barrel should be equal to their respective yield stresses. The preliminary results demonstrate the ability of this process to mend such barrels and bringing them back to their initial safe maximum pressure (SMP) and their intact conditions, rather than condemn them. Furthermore, from the authors' experience, based on a preliminary rough estimate, such an alternative seems to be cost effective.

scholarly journals Understanding the Cost-Effectiveness of Hearing Aids and Surgery for the Treatment of Otosclerosis

2022 ◽  
Author(s):  
Danielle M. Gillard ◽  
Jeffrey D. Sharon
Keyword(s):  
Quality Of Life ◽  
Cost Effectiveness ◽  
Hearing Aids ◽  
Cost Effective ◽  
Stapes Surgery ◽  
Cost Effective Method ◽  
Patient Reported ◽  
Complications Of Surgery ◽  
The Cost

Abstract Purpose of Review To summarize and critically review recent literature on the relative cost-effectiveness of hearing augmentation versus stapes surgery for the treatment of otosclerosis. Recent Findings Otosclerosis leads to reduced patient quality of life, which can be ameliorated by either stapes surgery, or hearing aid usage. The success of stapes surgery is high, and the risks of serious postoperative complications are low. Hearing aids don’t have the complications of surgery but are associated with long-term costs. Cost-effectiveness models have shown that stapes surgery is a cost-effective method for treating otosclerosis. Summary Both stapes surgery and hearing aids can improve patient-reported quality of life in otosclerosis. Stapes surgery has larger upfront costs and surgical risks, but hearing aids are associated with longer lifetime costs. Stapes surgery is cost-effective for the treatment of otosclerosis.

Asphalt-Rubber Overlay on Rubblized Concrete Pavement on I-135

1996 ◽  
Vol 1543 (1) ◽  
pp. 71-78 ◽  
Author(s):  
Glenn A. Fager
Keyword(s):  
Thermal Characteristics ◽  
Cost Effective ◽  
Concrete Pavement ◽  
Portland Cement Concrete ◽  
Process Data ◽  
Asphalt Rubber ◽  
Cost Effective Method ◽  
Cement Concrete Pavement ◽  
Control Section ◽  
The Cost

During 1993 and 1994, the Kansas Department of Transportation constructed a 15.25-km full-depth asphalt-rubber project on I-135. Three test sections were finished in 1994 along with one control section in 1995. The test sections consisted of both a thick and thin asphalt-rubber section over rubblized portland cement concrete pavement (PCCP) and a completely reconstructed asphalt-rubber section. The control section was built over rubblized PCCP to the same thickness as the thick asphalt-rubber section. Approximately 172 000 metric tons of asphalt-rubber were produced using the wet (reacted) process. Data indicated that the asphalt-rubber mix cost approximately 50 percent more than the asphalt-only mix. Reducing the thickness of the asphalt-rubber from 225 mm to 180 mm would allow the cost to become equal to the asphalt-only control section. Equal performance of the reduced thickness section or longer performance from the 225-mm asphalt-rubber section would be a cost-effective method of using tire rubber in asphalt pavements. Test data indicate a stable mix and adequate thermal characteristics but high permeabilities. Performance after 6 winter months under traffic indicates no raveling, rutting, flushing, cracking, or moisture damage.

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