Autonomous Assembly Method of 3-Arm Robot to Fix the Multipin and Hole Load Plate on a Space Station

Using space stations for a large number of observation, exploration, and research is a necessary way to fully develop space technology. It is a necessary means of space experiment to install the extravehicular experimental load by using the load plate. However, the extravehicular environment is full of danger, which poses a threat to the health and even safety of astronauts. Using robots to replace astronauts to complete this task can effectively reduce the threat to astronauts. Aiming at the problem that the configurations of existing space robots have difficulty in balancing the contradiction between complexity and dexterity, our previous work proposes a 12-DOF 3-arm robot and preliminarily explores the feasibility of its large-scale ability. This paper focus on the 8-DOF redundant dexterous manipulator composed of 2 of the robot arms. In view of the difficulties in solving the inverse kinematics of the redundant manipulator, the challenges of complex environmental lighting, and difficulties of matching multiple groups of holes and pins in the load plate assembly task, the research on the autonomous assembly of the load plate is carried out. The main work is as follows: (a) A variable D-H parameter inverse kinematics solution method is proposed, which lays a foundation for humanoid dexterous operation planning of the robot. (b) An autonomous operation method based on visual guidance and variable parameter admittance control is proposed. Finally, the safety and robustness of the robot in the autonomous assembly of the load plate with multipins and holes are successfully verified by experiments.

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Educating Democratic Character

Moral Philosophy and Politics ◽

10.1515/mopp-2019-0041 ◽

2021 ◽

Vol 0 (0) ◽

Author(s):

Natalia Rogach Alexander ◽

Philip Kitcher

Keyword(s):

Large Scale ◽

Democratic Education ◽

Political Life ◽

Individual Experience ◽

Main Work ◽

Mutual Engagement ◽

Democratic Character ◽

Imminent Death ◽

Different Levels

Abstract Many recent writers on democracy have lamented its decay and warned of its imminent death. We argue that the concerns are focused at three different levels of democracy. The most fundamental of these, celebrated by Tocqueville and by Dewey, recognizes the interactions and joint deliberations among citizens who seek sympathetic mutual engagement. Such engagement is increasingly rare in large-scale political life. In diagnosing and treating the problems, we recommend returning to the debate between Lippmann and Dewey, in which many of the concerns now prominent were already voiced. This inspires the main work of the paper – the reconstruction of Dewey’s conception of democracy as a ‘mode of associated living’. We focus on the thesis that democracy is educative and explicate Dewey’s notion of growth, showing how democratic education contributes to three important functions: the capacity for sustaining oneself, the enrichment of individual experience, and the ability to enter into cooperative discussions with fellow citizens. Dewey’s conception of democratic education is directed at fostering particular virtues and, if citizens come to possess them, the need for Lippmann’s ‘omnicompetent individual’ vanishes. We conclude by suggesting that Dewey’s project of educating democratic character is pertinent for addressing the disaffection of our times.

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Environmentally safe, substrate-independent and repairable nanoporous coatings: large-scale preparation, high transparency and antifouling properties

Journal of Materials Chemistry A ◽

10.1039/c7ta05112c ◽

2017 ◽

Vol 5 (38) ◽

pp. 20277-20288 ◽

Cited By ~ 30

Author(s):

Yong Li ◽

Zhaozhu Zhang ◽

Mengke Wang ◽

Xuehu Men ◽

Qunji Xue

Keyword(s):

Self Assembly ◽

Large Scale ◽

Intrinsic Properties ◽

High Transparency ◽

Assembly Method ◽

Antifouling Coatings ◽

Large Scale Preparation ◽

Environmentally Safe ◽

Scale Preparation ◽

Substrate Independent

Repairable and antifouling coatings were prepared via self-assembly method without destroying the intrinsic properties of substrates, which aims to tackle low transparency and poor durability problems of current coatings.

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Enhanced production of 99Mo in inverse kinematics heavy ion reactions

EPJ Web of Conferences ◽

10.1051/epjconf/202125208003 ◽

2021 ◽

Vol 252 ◽

pp. 08003

Author(s):

Justin Mabiala ◽

Marcia R.D. Rodrigues ◽

Georgios A. Souliotis ◽

Victor E. Iacob ◽

Ninel Nica ◽

...

Keyword(s):

Inverse Kinematics ◽

Large Scale ◽

Heavy Ion ◽

Scale Production ◽

Gas Cell ◽

Enhanced Production ◽

Gas Target ◽

Large Scale Production ◽

Cell Target ◽

Catcher Foil

The reaction of a 100Mo beam at 12 MeV/nucleon impinging on a 4He gas-cell target was performed. The 99Mo alongside other coproduced isotopes were collected after the gas target on an aluminum catcher foil and their respective radioactivities were measured by offline γ-ray analysis. In this contribution, preliminary experimental results which are used to discuss the possibility of optimal large-scale production conditions of the produced radioisotopes are presented.

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Prospects of testing an UHECR single source class model with the K-EUSO orbital telescope

EPJ Web of Conferences ◽

10.1051/epjconf/201921006011 ◽

2019 ◽

Vol 210 ◽

pp. 06011

Author(s):

Oleg Kalashev ◽

Maxim Pshirkov ◽

Mikhail Zotov

Keyword(s):

Cosmic Rays ◽

Active Galactic Nuclei ◽

Large Scale ◽

Space Station ◽

Galactic Nuclei ◽

High Energy ◽

Single Source ◽

Class Model ◽

High Energy Cosmic Rays ◽

Celestial Sphere

KLYPVE-EUSO (K-EUSO) is a planned orbital detector of ultra-high energy cosmic rays (UHECRs), which is to be deployed on board the International Space Station. K-EUSO is expected to have a uniform exposure over the celestial sphere and register from 120 to 500 UHECRs at energies above 57 EeV in a 2-year mission. We employed the TransportCR and CRPropa 3 packages to estimate prospects of testing a minimal single source class model for extragalactic cosmic rays and neutrinos by Kachelrieß, Kalashev, Ostapchenko and Semikoz (2017) with K-EUSO in terms of the large-scale anisotropy. Nearby active galactic nuclei Centaurus A, M82, NGC 253, M87 and Fornax A were considered as possible sources of UHECRs. We demonstrate that an observation of more than 200 events will allow testing predictions of the model with a high confidence level providing the fraction of events arriving from any of the sources is ^10-15%, with a smaller contribution for larger samples. These numbers agree with theoretical expectations of a possible contribution of a single source in the UHECR flux. Thus, K-EUSO can provide good opportunities for verifying the minimal model basing on an analysis of the large-scale anisotropy of arrival directions of UHECRs.

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Application of the Thermodynamic Cycle to Assess the Energy Efficiency of Amine-Based Absorption of Carbon Capture

Energies ◽

10.3390/en12132504 ◽

2019 ◽

Vol 12 (13) ◽

pp. 2504 ◽

Cited By ~ 6

Author(s):

Yaofeng Xu ◽

Shuai Deng ◽

Li Zhao ◽

Xiangzhou Yuan ◽

Jianxin Fu ◽

...

Keyword(s):

Energy Efficiency ◽

Performance Analysis ◽

Carbon Capture ◽

Large Scale ◽

Variable Parameter ◽

Thermodynamic Cycle ◽

Co2 Concentration ◽

Parameter Analysis ◽

Industrial Systems ◽

Efficiency Performance

The thermodynamic cycle, as a significant tool derived from equilibrium, could provide a reasonable and rapid energy profile of complicated energy systems. Such a function could strongly promote an in-depth and direct understanding of the energy conversion mechanism of cutting-edge industrial systems, e.g., carbon capture system (CCS) However, such applications of thermodynamics theory have not been widely accepted in the carbon capture sector, which may be one of the reasons why intensive energy consumption still obstructs large-scale commercialization of CCS. In this paper, a kind of thermodynamic cycle was developed as a tool to estimate the lowest regeneration heat (Qre) of a benchmark solvent (MEA) under typical conditions. Moreover, COPCO2, a new assessment indicator, was proposed firstly for energy-efficiency performance analysis of such a kind of CCS system. In addition to regeneration heat and second-law efficiency (η2nd), the developed COPCO2 was also integrated into the existing performance analysis framework, to assess the energy efficiency of an amine-based absorption system. Through variable parameter analysis, the higher CO2 concentration of the flue gas, the higher COPCO2, up to 2.80 in 16 vt% and the Qre was 2.82 GJ/t, when Rdes = 1 and ΔTheat-ex = 10 K. The η2nd was no more than 30% and decreased with the rise of the desorption temperature, which indicates the great potential of improvements of the energy efficiency.

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LED Lighting in Horticulture

HortScience ◽

10.21273/hortsci.43.7.1947 ◽

2008 ◽

Vol 43 (7) ◽

pp. 1947-1950 ◽

Cited By ~ 269

Author(s):

Robert C. Morrow

Keyword(s):

Solid State ◽

Large Scale ◽

Space Shuttle ◽

Space Station ◽

Spectral Composition ◽

Light Output ◽

Plant Morphology ◽

Heat Output ◽

Led Lighting ◽

Lighting Systems

Solid-state lighting based on the use of light-emitting diodes (LEDs) is potentially one of the biggest advancements in horticultural lighting in decades. LEDs can play a variety of roles in horticultural lighting, including use in controlled environment research, lighting for tissue culture, and supplemental and photoperiod lighting for greenhouses. LED lighting systems have several unique advantages over existing horticultural lighting, including the ability to control spectral composition, the ability to produce very high light levels with low radiant heat output when cooled properly, and the ability to maintain useful light output for years without replacement. LEDs are the first light source to have the capability of true spectral composition control, allowing wavelengths to be matched to plant photoreceptors to provide more optimal production and to influence plant morphology and composition. Because they are solid-state devices, LEDs are easily integrated into digital control systems, facilitating special lighting programs such as “daily light integral” lighting and sunrise and sunset simulations. LEDs are safer to operate than current lamps because they do not have glass envelopes or high touch temperatures, and they do not contain mercury. The first sustained work with LEDs as a source of plant lighting occurred in the mid-1980s to support the development of new lighting systems to be used in plant growth systems designed for research on the space shuttle and space station. These systems progressed from simple red-only LED arrays using the limited components available at the time to high-density, multicolor LED chip-on-board devices. As light output increases while device costs decrease, LEDs continue to move toward becoming economically feasible for even large-scale horticultural lighting applications.

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Fifty Years of Republican History

The Journal of Roman Studies ◽

10.2307/298296 ◽

1960 ◽

Vol 50 (1-2) ◽

pp. 135-148

Author(s):

A. H. McDonald

Keyword(s):

Social History ◽

Large Scale ◽

Small Scale ◽

Systematic Research ◽

Fundamental Study ◽

Power Politics ◽

Historical Interpretation ◽

Main Work ◽

Economic Interpretation ◽

Scientific Analysis

Fifty years ago, when the founders of this Society looked to the future of Roman studies, the general lines of development in Republican history must have seemed fairly clear. On the technical side Mommsen had opened up the main fields of systematic research, Eduard Meyer was at the height of his influence, and Beloch was testing new methods of historical survey, while Niese had arranged the evidence for Hellenistic politics. Historical scholarship could face a great access of material with confidence, as archaeology and epigraphy extended its scope, though this was less likely to affect Republican than Imperial history. At the same time the problems of historical interpretation had taken shape; for the events of the nineteenth century illustrated the play of power politics, which were relevant to the understanding of Roman imperialism. The ‘economic’ interpretation of history was coming into vogue, and this could lead into ‘social history’. If the influence of family connections and personal ambition was felt less urgently, it could be argued that a ‘scientific’ analysis of Roman politics should probe more deeply into the forces that broke out in the constitutional crisis of the Late Republic. We may admit at once that the main work in Republican history during our period has continued along these lines : we are still heavily in debt to the fundamental study of the older masters. The concept of ‘scientific’ history may have been modified, since it is a task of complicated inference to arrive at historical knowledge; yet the actual methods to which we have succeeded are well fitted for the systematic treatment of detailed evidence. Collingwood did less than justice to the school of Mommsen when he charged it with mastery over small-scale problems but weakness in dealing with large-scale ones. Only strict analysis and reconstruction of the evidence allowed the chief issues of Republican history to be defined critically, and subsequent research has refined on this procedure.

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