Robot-Based Creation of Complete 3D Workpiece Models

A complete object database containing a model (representing geometric and texture information) of every possible workpiece is a common necessity e.g. for different object recognition or task planning approaches. The generation of these models is often a tedious process. In this paper we present a fully automated approach to tackle this problem by generating complete workpiece models using a robotic manipulator. A workpiece is recorded by a depth sensor from multiple views for one side, then turned, and captured from the other side. The resulting point clouds are merged into one complete model. Additionally, we represent the information provided by the object’s texture using keypoints. We present a proof of concept and evaluate the precision of the final models. In the end we conclude the usefulness of our approach showing a precision of around 1 mm for the resulting models.

Robust output regulation of the linearized Boussinesq equations with boundary control and observation

We study a temperature and velocity output tracking problem for a two-dimensional room model with the fluid dynamics governed by the linearized translated Boussinesq equations. Additionally, the room model includes finite-dimensional models for actuation and sensing dynamics; thus, the complete model dynamics are governed by an ODE–PDE–ODE cascade. As the main contribution, we design a low-dimensional internal model-based controller for robust output tracking of the room model. The controller’s performance is demonstrated through a numerical example.

Complete model-free siding mode control (CMFSMC)

This study presents a complete model-free sliding mode control (CMFSMC) framework for the control of continuous-time non-affine nonlinear dynamic systems with unknown models. The novelty lies in the introduction of two equalities to assign the derivative of the sliding functions, which generally bridges the designs of those model-based SMC and model-free SMC. The study includes a double SMC (DSMC) design, state observer design, and desired reference state vector design (whole system performance), which all do not require plant nominal models. The preconditions required in the CMFSMC are the plant dynamic order and the boundedness of plant and disturbances. U-model based control (U-control) is incorporated to configure the whole control system, that is (1) taking model-free double SMC as a robust dynamic inverter to cancel simultaneously both nonlinearity and dynamics of the underlying plants, (2) taking a model-free state observer to estimate the state vector, (3) taking invariant controller to specify the whole control system performance in a linear output feedback control and to provide desired reference state vector. The related properties are studied to support the concept/configuration development and the analytical formulations. Simulated case studies demonstrate the developed framework and show off the transparent design procedure for applications and expansions.

The Perception Level of Thinking Models in General and Vocational Education

The revised Bloom’s taxonomy consists of six level which are remember (C1), understand (C2), apply (C3), analyze (C4), evaluate (C5) and create (C6). Every level of qualification sometimes applies different level of taxonomy, either complete model (C1 to C6) or incomplete model (C1 to C3, C2 to C4, C4 to C6). Thus, this research aimed to find the proportion of the complete and incomplete level of thinking models and their suitability in primary and secondary education. This research was a descriptive research using the ex-post facto approach. from six Educational Institutions for Educators in Java, Indonesia with 82 educational experts. The data was collected using survey questionnaire and was analyzed using descriptive and inferential statistics. The results showed that: (1) for the complete level of thinking model, elementary school covered the C1–C6 level of thinking with the most substantial proportion was C1; in junior high school was C2; and senior/vocational high school was C3; (2) for the incomplete level of thinking, elementary school covered the C1–C3 level of thinking with the most significant proportion was C1; junior high school covered the C1–C4 levels and the most substantial proportion was the C2; and senior/vocational high school included the C1–C5 levels with the most significant portion of the C3; (3) the suitable level of thinking was the complete model whereas the current practice referred to the incomplete model.

PSVIII-4 Genetic evaluation of functional heifer longevity in north American angus cattle

The goals of this study were to develop a genetic evaluation system for a novel trait called functional heifer longevity (FHL), and determine if this novel trait is heritable. The FHL trait was defined as binary, in which the heifers received the code 1 if they had calved by the end of their third year (n = 377,938), or 0 if they were culled/sold during this period (n = 368,308). Analysis were performed using linear animal models and Bayesian inference. The significant systematic effects included in the statistical models are born by embryo transfer, year-season of birth, and age at calving (in months). Three models, differing according to their random effects (i.e., reduced model, which included only herd-year-season and additive genetic random effects; maternal genetic model, which added maternal genetic effects; and complete model, which further added maternal permanent environmental effects), were compared based on the deviance information criterion (DIC) and the estimates of genetic parameters. The reduced model was preferred according to the DIC values. However, high maternal heritabilities were estimated using the maternal genetic (0.51) and complete (0.36) models, indicating that maternal effects can impact the selection of heifers for breeding. Similar additive genetic heritabilities were estimated among the three models (0.24, 0.27, and 0.25 using the reduced, maternal genetic, and complete models, respectively), and no significant re-ranking of selection candidates were observed based on their additive genetic breeding values. Total heritabilities and correlations estimated between additive genetic and maternal genetic effects were 0.37 and -0.28 for the maternal genetic, and 0.31 and -0.27 for the complete model, respectively. This study shows that FHL is heritable, and that including maternal effects in the statistical models might be important. These results contribute to a larger project studying the genetics of female longevity in Angus cattle.

The Legal Regulation in the Context of the Paired Operation of the Law and Opposition to its Implementation

Legal reality examination reveals contradictions and uncertainties that make the researcher think about the correctness of the tasks and tools of doctrinal cognition. In modern science, a wide range of means of cognition have been developed, which makes it possible to overcome such situations and achieve the expected outcomes. One of the jurisprudence methodological resources includes the logical form of paired categories. This method is used to reveal the interaction between non-polar elements in any phenomenon, to form the most complete model of the process or mechanism functioning, etc. In the paper, the author proposes to examine the process of legal regulation through the linkage of the concepts "action of the law — opposition to the implementation of the law." The phenomena under consideration possess not only the distinctive properties, but also the properties that conciliate them. This made it possible to consider the interaction between the operation of the law and the counteraction to it within the framework of legal regulation. On the basis of the algorithm of categories pairing, the study concludes that the action of the law and the opposition to it are subordinate to the law of the unity and struggle of opposites. The development of the unity of the opposites under consideration is taking place in the course of legal regulation representing a contradiction expressed in two mutually exclusive statements: "legal regulation is determined by the operation of the law," "legal regulation is determined by opposition to the law."