Discourse for Transition toward Sustainability Development in Industrial Ecology Context in  Kutai Kartanegara

A rich ecological value area within East Kalimantan, Kutai Kartanegara, represents a specific-particular ecological system of an island in a tropical country. Covered by the evergreen forest in the past, it has a closed-loop system formed naturally due to its metabolism. This system maintains the high diversity of nature which provides abundant resources both renewable and non-renewable. Owing to its ecological system value, the earth has been numerous beneficial the economic sector both for country and region for decades. Let say coal is one of the attractive resources for the energy sector, which has been contributing over 80% of the GDRP of Kutai Kartanegara in 2010.

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Vision-Based Motion Planning of Cable-Driven Parallel Robots in the Presence of Moving Obstacle Using Sampling-Based Method

ASME 2021 30th Conference on Information Storage and Processing Systems ◽

10.1115/isps2021-65188 ◽

2021 ◽

Author(s):

Jiajun Xu ◽

Kyoung-Su Park

Keyword(s):

Closed Loop ◽

Convex Bodies ◽

Parallel Robots ◽

Suggested Method ◽

Forward Simulation ◽

Closed Loop System ◽

The Past ◽

Complex Constraints ◽

Vision Algorithm ◽

Moving Obstacle

Abstract In the past decades, cable-driven parallel robots (CDPRs) have been proven the extraordinary performance for various applications. However, the multiple cables lead the robot easy to interfere with environments. Especially the large workspace of CDPR may introduce unknown moving obstacles. In this study, a sampling-based path planning method is presented for a CDPR to find the collision-free path in the presence of the moving obstacle. The suggested method is based on rapidly exploring random tree (RRT) algorithm which gives CDPRs advantages to handle complex constraints such as cable collision and dynamic feasible workspace (DFW). Moreover, we conduct the forward simulation to check the feasibility in a closed-loop system. The moving parts of both CDPRs and the moving obstacle are assumed as convex bodies, so that Gilbert-Johnson-Keerthi (GJK) algorithm is adopted to detect collision in real-time. Finally, the related simulation is carried out to illustrate the algorithm. The experiment is also presented using the drone as a moving obstacle and YOLO vision algorithm to detect the drone. The experiment results demonstrate the reliability of the suggested method.

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The Origin of the Moon and its Relationship to the Origin of the Solar System

Symposium - International Astronomical Union ◽

10.1017/s0074180900178192 ◽

1962 ◽

Vol 14 ◽

pp. 133-148 ◽

Cited By ~ 2

Author(s):

Harold C. Urey

Keyword(s):

Solar System ◽

The Moon ◽

The Past ◽

The Earth ◽

Short Period ◽

Origin Of The Moon

During the last 10 years, the writer has presented evidence indicating that the Moon was captured by the Earth and that the large collisions with its surface occurred within a surprisingly short period of time. These observations have been a continuous preoccupation during the past years and some explanation that seemed physically possible and reasonably probable has been sought.

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