scholarly journals An Integrated Multi-Sensor Network for Adaptive Grasping of Fragile Fruits: Design and Feasibility Tests

Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4973
Author(s):  
Yuanxin Xie ◽  
Baohua Zhang ◽  
Jun Zhou ◽  
Yuhao Bai ◽  
Meng Zhang
Keyword(s):  
Sensor Network ◽  
Mechanical Damage ◽  
Agricultural Products ◽  
Flexible Manipulator ◽  
Cosserat Theory ◽  
System A ◽  
Mechanical Compliance ◽  
Point Calculation ◽  
Sense Of Touch ◽  
The Relationship

Secure grasping of fragile fruits and other agricultural products without potential slip and damage is still a challenge due to the size and shape varying, bruise susceptible, as well as hardness changing during fruit and vegetable maturation. In the robotic grasping process, the mechanical damage mainly depends upon the aggressiveness of the gripper and the sensitivity of the product to the damage. In this study, a flexible gripper integrated with multi-sensor network is designed and tested. The network proposed includes three kinds of sensors that enable the gripper to grasp various products with the sense of touch and visual perception. Particular attention has been attached to the sensors applied between the fingers, and this makes sensing and grasping capabilities improved. To create an accurate grasping system, a grasping algorithm and the force control model are proposed for any bending state based on Cosserat theory. The boundary detection is included in the grasping algorithm, detecting the shape edge by some certain point calculation. The created grasping system guarantees mechanical compliance by evaluating and adjusting the finger status including force, angle, and direction. Multi-group tests have been done on grasping several objects of different sizes and materials in daily life. The relationship between force, bending, and surface material is also analyzed and compared under different conditions. The numerical comparisons related to the measurement error are analyzed based on their standard deviations. Experimental results indicate that this flexible manipulator with proposed system and strategy has better grasping ability for fragile fruits with its good flexibility and dexterity.

scholarly journals Relations Between Safety and Security in Technical Systems

2007 ◽  
Vol 3 (1) ◽  
pp. 63-73 ◽  
Author(s):  
Zbigniew Smalko
Keyword(s):  
Decision Maker ◽  
Machine System ◽  
System A ◽  
The Subject ◽  
Technical Systems ◽  
Machine Control ◽  
The Relationship

Relations Between Safety and Security in Technical Systems The subject of this paper deals with the relationship between safety and security of the man - machine system. In the above system a man can act both as a decision - maker and operator. His desired psychophysical efficiency lies in the undertaking the correct decisions as well as in the skilful machine control and operating.

scholarly journals Evaluation of laparoscopic vs robotic partial nephrectomy using the margin, ischemia and complications score system: a retrospective single center analysis

2015 ◽  
Vol 87 (1) ◽  
pp. 49 ◽  
Author(s):  
Stefano Ricciardulli ◽  
Qiang Ding ◽  
Xu Zhang ◽  
Hongzhao Li ◽  
Yuzhe Tang ◽  
...  
Keyword(s):  
Partial Nephrectomy ◽  
Risk Groups ◽  
Matched Pair ◽  
P Value ◽  
Robotic Partial Nephrectomy ◽  
Score System ◽  
Operative Outcomes ◽  
System A ◽  
Binary Regression Analysis ◽  
The Relationship

Objective: To evaluate differences between Laparoscopic Partial Nephrectomy (LPN) and Robot-Assisted Partial Nephrectomy (RAPN) using the Margin, Ischemia and Complications (MIC) score system and to evaluate factors related with MIC success. Materials and Methods: Single centre retrospective study on 258 LPN and 58 RAPN performed between January 2012 and January 2014. Success was defined when surgical margins was negative, Warm Ischemia Time (WIT) was ≤ 20 minutes and no major complications occurred. Mann-Whitney-U and Pearson χ2 correlation were used to compare LPN and RAPN. A matched pair comparison was also performed. Spearman correlation (Rho) was used to evaluate the relationship between clinical, intra and post-operative and pathological patients characteristics with MIC score. A binary regression analysis was also performed to evaluate independent factors associated with MIC success. Results: The MIC rate in LPN and RAPN was 55% and 65.5% respectively. No differences in clinical, intra and post-operative outcomes between groups were found. Clinical tumor size (p-value: < 0.001; OR: 0.829; 95% CI: 0.697-0.987), PADUA score (p-value: < 0.001; OR: 0.843; 95% CI: 0.740-0.960), PADUA risk groups (intermediate; p-value: < 0.001; OR: 0.416; 95% CI: 0.238- 0.792; high: p-value: < 0.001; OR: 0.356; 95% CI: 0.199- 0.636), WIT (p-value: < 0.001; OR: 0.598; 95% CI: 0.530- 0.675) were independently associated with MIC. eGFR (< 60 vs ≥ 60 ml/min per 1.73 m2: p-value: < 0.001; OR: 3.356; 95% CI: 1.701-6.621) and Fuhrman nuclear grade (p-value: 0.014; OR: 1.798; 95% CI:1.129-2.865) were also independently associated with MIC. Conclusions: MIC score system is a simple and useful tool to report and to compare different surgical approach.

scholarly journals Client's immersed and distanced speech and therapist's interventions in emotion-focused therapy for depression: an intensive analysis of a case study

2016 ◽  
Vol 19 (2) ◽  
Author(s):  
Ana Bela Couto ◽  
Eunice Barbosa ◽  
Sara Silva ◽  
Tiago Bento ◽  
Ana Sofia Teixeira ◽  
...  
Keyword(s):  
Laboratory Studies ◽  
Clinical Change ◽  
Emotion Focused Therapy ◽  
Client Variables ◽  
Observational Measures ◽  
Helping Skills ◽  
System A ◽  
Therapeutic Dialogue ◽  
The Relationship

Previous laboratory studies have explored the importance of participants adopting an immersed or distanced perspective in the analysis of their experiences. These studies concluded that distancing allows analyzing emotions in a healthier way and immersion leads to higher vulnerability. However, in psychotherapy, the relationship between these perspectives and clinical change has been less investigated. The present study aims to contribute to understanding how these variables evolve during psychotherapy and also to explore the therapist’s contributions to this process. This study analyzes a good-outcome case of emotion-focused therapy for depression through two observational measures of psychotherapy process: the measure of immersed and distanced speech – which identifies client’s adoption of an immersed or distanced stance when talking about their problems – and the helping skills system – which identifies therapist’s interventions focused on exploration, insight or action. Results showed a decrease of immersed speech and an increase of distanced speech along the process, with a higher frequency of exploration skills preceding both types of client’s speech. Finally, the evolution of therapist’s and client’s speech showed a reasonable flexibility of therapeutic dialogue throughout the sessions, in particular due to the evolution of client variables (evidencing a higher diversity of behaviors).

scholarly journals Agricultural Sector FDI and Economic Growth in Saarc Countries

2019 ◽  
Vol 8 (2S10) ◽  
pp. 116-121
Keyword(s):  
Economic Growth ◽  
Foreign Direct Investment ◽  
Direct Investment ◽  
Agricultural Sector ◽  
South Asians ◽  
Secondary Data ◽  
Agricultural Products ◽  
Fdi Inflows ◽  
Important Relationship ◽  
The Relationship

The study seeks to establish the relationship between foreign direct investment to Saarc region agricultural sector and economic growth with secondary data. SAARC comprises 3% of the world's area, 21% of the world's population and 3.8% (US$2.9 trillion) making up a total of 3% of the world’s area. The country has second in all over the world in terms of agriculture position. The population obliquely all of the member states is over 1.7 billion, accounting for 21% of the world’s total population. In their 42% of the agricultural operation in SAARC nations and also 51% source of livelihood of the South Asians. The study has revealed that India alone accounts for 52 per cent of the agricultural products using the SAARC region peoples. For the present study, a total of 34 groups related to the agricultural products were selected out of the total groups. The techniques employed to analyze the data include descriptive statistic, correlation and linear forecast method. The study also revealed a positive and important relationship between economic growth and foreign direct investment flow to the agricultural sector. Thus, the study recommends that policy should focus on flexible trade policies to attract more foreign direct investment (FDI) inflows to SAARC nations. i.e. Afghanistan, Bangladesh, Bhutan, Maldives, Nepal, Pakistan, Sri Lanka including India

scholarly journals An Investigation into Change in Agricultural and Industrial Products Output-price Relationships Drawing from Nepalese Experience

2020 ◽  
pp. 12-19
Author(s):  
Ghan Shyam Dhakal
Keyword(s):  
Standard Deviation ◽  
Negative Correlation ◽  
Agricultural Sector ◽  
Agricultural Products ◽  
Fiscal Year ◽  
Annual Growth Rate ◽  
Industrial Products ◽  
Industrial Sectors ◽  
Low Degree ◽  
The Relationship

Purpose: This research article explored the relationship between change in output and domestic price of both agricultural and industrial products and the variability or consistency of the annual growth rate of change in price and output of both agricultural and industrial sectors of Nepal. Objectives: The research aimed to establish the relationship between change in the price of agricultural products and change in the price of industrial products in Nepal. Methods: The study applied descriptive and analytical approaches to measure the relationship or correlation between changes in output and prices of products in the agricultural and industrial sectors. The parameters were analysed by comparing the standard deviation and coefficient of variation. The relation of agricultural and industrial product output with price is established by using a simple correlation analysis. Limitations: Based on secondary data collected from various economic surveys of Nepal covering 17 years from fiscal year 2002/03 to 2018/19. It measured the relationship between the annual change in price and output of agricultural and industrial production using simple statistical tools like mean, standard deviation, and correlation. Results: It was found that there is a moderate positive correlation between the change in price of agricultural and industrial products. Similarly, there is a low degree negative correlation between change in output and price in both the agricultural and industrial sectors. Implications: There was a positive relationship between the price of agricultural products and industrial products. Therefore, it is necessary to give high priority to the development of the agricultural sector. Industrial development is impossible without the development of the agricultural sector because they are interdependent with each other. The agricultural sector and industrial sector are uplifted simultaneously. There was a low degree negative correlation between price and output of the product of both the agricultural and industrial sectors. Therefore, output increasing activities must be performed by private and public sectors.

scholarly journals European Constitutions as sources of Party Law and the Fundamental Law of Hungary = Las Constituciones europeas como fuentes de la Ley de Partidos y la Ley Fundamental de Hungría

2017 ◽  
pp. 51
Author(s):  
Peter Smuk
Keyword(s):  
Political Parties ◽  
Representative Democracy ◽  
Political Regime ◽  
System A ◽  
Constitutional State ◽  
El Sistema ◽  
Election System ◽  
Fundamental Law ◽  
Sociedad Civil ◽  
The Relationship

<p>La regulación de los partidos políticos parece un tema ligeramente descuidado en la literatura constitucional húngara. Así, a pesar de que hay un gran número de cuestiones que deben analizarse y entenderse en los ámbitos de la democracia representativa, en el sistema electoral y en la financiación de los partidos, derivadas de las particularidades del cambio del régimen político, y que hace necesaria la interpretación de nuestro sistema político actual. Un análisis sustantivo de estas cuestiones en términos de derecho constitucional (y desde las ciencias políticas) podría contribuir a una mejor comprensión de la democracia representativa húngara, el estado constitucional, así como la relación entre la sociedad civil y el Estado. En este documento voy a ofrecer una visión general de las normas constitucionales relativas a los partidos políticos europeos y comparar la redacción de la Ley Fundamental de Hungría con las normas constitucionales creadas en 1989.</p><p>The regulation of political parties seems a slightly neglected topic in the Hungarian constitutional literature. It is so despite the fact that there are a large number of questions to be analysed and understood in the fields of representative democracy, election system and party financing arising from the particularities of the change of the political regime, the recent constitution-making or the necessary interpretation of our current political system. A substantive analysis of these questions in terms of constitutional law (and political science) could contribute to a better understanding of the Hungarian representative democracy, constitutional state as well as the relationship between civil society and the state. In this paper I will provide a rough overview of constitutional rules relating to European political parties and compare the wording of the Fundamental Law of Hungary with the constitutional rules created in 1989.</p><div> </div>

Aerobic Evaluation in Elite Slalom Kayakers Using a Tethered Canoe System: A New Proposal

2017 ◽  
Vol 12 (7) ◽  
pp. 864-871
Author(s):  
Homero Gustavo Ferrari ◽  
Leonardo H.D. Messias ◽  
Ivan G.M. Reis ◽  
Claudio A. Gobatto ◽  
Filipe A.B. Sousa ◽  
...  
Keyword(s):  
Low Cost ◽  
Critical Force ◽  
Noninvasive Method ◽  
Maximal Lactate Steady State ◽  
National Team ◽  
System A ◽  
And Performance ◽  
The Relationship ◽  
New Strategies ◽  
Aerobic Evaluation

Background:Among other aspects, aerobic fitness is indispensable for performance in slalom canoe.Purpose:To propose the maximal-lactate steady-state (MLSS) and critical-force (CF) tests using a tethered canoe system as new strategies for aerobic evaluation in elite slalom kayakers. In addition, the relationship between the aerobic parameters from these tests and the kayakers’ performances was studied.Methods:Twelve male elite slalom kayakers from the Brazilian national team participated in this study. All tests were conducted using a tethered canoe system to obtain the force records. The CF test was applied on 4 d and analyzed by hyperbolic (CFhyper) and linear (CFlin) mathematical models. The MLSS intensity (MLSSint) was obtained by three 30-min continuous tests. The time of a simulated race was considered the performance index.Results:No difference (P < .05) between CFhyper (65.9 ± 1.6 N) and MLSSint (60.3 ± 2.5 N) was observed; however, CFlin (71.1 ± 1.7 N) was higher than MLSSint. An inverse and significant correlation was obtained between MLSSint and performance (r = –.67, P < .05).Conclusion:In summary, MLSS and CF tests on a tethered canoe system may be used for aerobic assessment of elite slalom kayakers. In addition, CFhyper may be used as an alternative low-cost and noninvasive method to estimate MLSSint, which is related with slalom kayakers’ performance.

Effect of system compliance on weld power in ultrasonic additive manufacturing

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Gowtham Venkatraman ◽  
Adam Hehr ◽  
Leon M. Headings ◽  
Marcelo J. Dapino
Keyword(s):  
Additive Manufacturing ◽  
Electrical Power ◽  
Three Dimensional ◽  
Power Input ◽  
Material Strength ◽  
Content Type ◽  
Ultrasonic Additive Manufacturing ◽  
Linear Elastic ◽  
Mechanical Compliance ◽  
The Relationship

Purpose Ultrasonic additive manufacturing (UAM) is a solid-state joining technology used for three-dimensional printing of metal foilstock. The electrical power input to the ultrasonic welder is a key driver of part quality in UAM, but under the same process parameters, it can vary widely for different build geometries and material combinations because of mechanical compliance in the system. This study aims to model the relationship between UAM weld power and system compliance considering the workpiece (geometry and materials) and the fixture on which the build is fabricated. Design/methodology/approach Linear elastic finite element modeling and experimental modal analysis are used to characterize the system’s mechanical compliance, and linear system dynamics theory is used to understand the relationship between weld power and compliance. In-situ measurements of the weld power are presented for various build stiffnesses to compare model predictions with experiments. Findings Weld power in UAM is found to be largely determined by the mechanical compliance of the build and insensitive to foil material strength. Originality/value This is the first research paper to develop a predictive model relating UAM weld power and the mechanical compliance of the build over a range of foil combinations. This model is used to develop a tool to determine the process settings required to achieve a consistent weld power in builds with different stiffnesses.

How effective has CERD been in protecting minorities?

2017 ◽  
Author(s):  
Joshua Castellino
Keyword(s):  
Minority Rights ◽  
System A ◽  
Rights Discourse ◽  
The Relationship

The chapter articulates the relationship between the minority rights discourse and ICERD, and looks forward to a greater understanding of its relevance to minority rights. Overall the chapter paints ICERD as a key custodian of minority rights within the UN system, a role which has been under-represented in the literature.

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