Criminological classification of robots: risk-based approach

The subject of the research is key criminal risks in robotics. The purpose of the article is to confirm or disprove the hypothesis that key criminal risks of using robots may be identified and classified. The author dares to describe the key aspects of the application of risk-based approach in the assessment of robotic activities, identify the key risks of using robots, give a criminological classification. The methodology includes a formal logical method, systematic approach, formal legal interpretation of legal acts and academic literature, SWOT analysis. The main results of the study. The author applies the main provisions of criminal riskology when assessing encroachments involving robots. Key risks and challenges when using robots are identified. The severity of the consequences of harm caused by using robots (from minor to critical risk) is assessed and a matrix of the probability of its occurrence is provided. The author's criminological classification of robots is based on the risk-based approach and is substantiated on two grounds. The first one is the category of public danger and the second is the potential severity of the consequences of harm caused by robots. The causal complex that can lead to criminal risks in robotics is identified. The grounds of such risks are divided into those related to the mechanical subsystem of robots, digital subsystem of robots and power supply subsystem of robots. Conclusions. The risk-based approach is the most progressive and effective basis for regulating the criminal relations in robotics. The author demonstrates the existence of real risks to the peace and security of mankind, life and health of people, objects of wildlife, nonliving material objects from the use of robots. It is necessary to recognize robotics as source of increased potential criminal danger and to adopt appropriate regulation as soon as possible. The necessity and expediency of applying a risk-based approach to robotics is theoretically substantiated, and the characteristics of robots that are important in assessing the criminal potential of their exploitation are evaluated. The conclusions and recom mendations of this paper may become a basis for the implementation of the risk-based approach in legal regulation of robotics. The risk matrix presented in the article can be used to establish a framework for regulatory impact on robotics, assess the consequences of potential harm and minimize it.

Fabrication and Development of Portable 3-Axis Computer Numerical Control Machine

Machining is a prerequisite fundamental process of manufacturing without which no production can be deemed possible. Conventional machining methods were tedious, costly, time and space consuming, as well as inefficient. With development of computer and numerical control, modern day machining devices have been developed which have made the process a smooth ride. The machining processes are now controllable with the finest accuracies and save time and cost. CNC machines have been the most useful developments that have contributed to the modern day machining task. Computed Numerical Control has thus been our inspiration. This lead us to conceiving and fabricating a 3- axis CNC machine that is designed as a router but could perform several operations such as drilling, cutting, printing, milling etc. on attachment of different tools. The machine has a main driving mechanical subsystem that drives the tool through lead screws attached to motors that are driven by a microcontroller that is under our control through a computer. Any design can be drawn and fed to the Arduino microcontroller from across the world through a Java applet and the machining proceeds by calculating the coordinates of the three axes and the relative movement between the points whose combination is actually the design. The process is thus very accurate and versatile. The fabrication has been achieved by using simple and cheap materials and done in the mechanical workshop located inside the campus.

Direct predictive speed control of permanent magnet synchronous motor fed by matrix converter

This paper proposes a non-cascade -single loop- Direct Speed Control algorithm for surface mounted Permanent Magnet Synchronous Motor (PMSM) fed by Matrix Converter. The proposed method uses Finite Control Set Model Predictive Control (FCS-MPC) to manipulate system speed and currents simultaneously. Also, for better performance of the predictive method, an observer designed to estimate mechanical torque and other uncertain parameters of the mechanical subsystem as a lumped disturbance. Simulation results using Matlab/Simulink demonstrate the performance of proposed algorithm.

Control of the mechanical system oscillation with a drive under conditions of parametric uncertainty

A method for adaptive control of oscillations by cascade systems based on the energy approach and the method of highspeed big-gradient with an adjustable model is proposed. The control objectives are all trajectories limitation of a closed system and the excitation in the mechanical subsystem of oscillations with a given energy level, as well as the identification of unknown parameters for the mechanical subsystem. An example and results of computer simulation are given. Keywords high-speed big-gradient method; cascade system; adaptive management; Lyapunov function; speed gradient algorithm

Modelling Methodology of Piston Pneumatic Air Engine Operation

The article presents a mathematical model describing the operation of a piston pneumatic air engine. Compressed air engines are an alternative to classic combustion solutions as they do not directly emit toxic exhaust components. In the study, a modified internal combustion piston engine was adopted as pneumatic engine. The mathematical model was divided on the two subsystems, that is, mechanical and pneumatic. The mechanical subsystem describes a transformation of compressed air supply process parameters to energy transferred to the piston and further the conversion of the translational to rotary motion; in turn, in the pneumatic part, the lumped elements method was used. Calculations were carried out using the Matlab-Simulink software, resulting in the characteristics of external and economic indicators. The presented mathematical model can be ultimately developed with additional elements, such as the intake or exhaust system, as well as timing system control.

Quantum coherence versus nonclassical correlations in optomechanics

Coherence arises from the superposition principle, where it plays a central role in quantum mechanics. In Phys. Rev. Lett. 114, 210401 (2015), it has been shown that the freezing phenomenon of quantum correlations beyond entanglement is intimately related to the freezing of quantum coherence (QC). In this paper, we compare the behavior of entanglement and quantum discord with quantum coherence in two different subsystems (optical and mechanical). We use respectively the entanglement of formation (EoF) and the Gaussian quantum discord (GQD) to quantify entanglement and quantum discord. Under thermal noise and optomechanical coupling effects, we show that EoF, GQD and QC behave in the same way. Remarkably, when entanglement vanishes, GQD and QC remain almost unaffected by thermal noise, keeping nonzero values even for high-temperature, which is in concordance with Phys. Rev. Lett. 114, 210401 (2015). Also, we find that the coherence associated with the optical subsystem is more robust — against thermal noise — than those of the mechanical subsystem. Our results confirm that optomechanical cavities constitute a powerful resource of QC.

Supercritical Coexistence Behavior of Coupled Oscillating Planar Eccentric Rotor/Autobalancer System

The automatic balancing and undesirable nonsynchronous behavior of coupled oscillating configured flexible foundation and planar eccentric rotor equipped with a passive autobalancer (AB) system has been thoroughly investigated here. Specifically, it is described that the unified AB/rotor unit is attached to a foundation via a symmetric support and the foundation is also mounted on the spring-damper isolator which allows oscillating only vertically. Therefore, the AB/rotor unit dynamically interacts with the flexible foundation, which is quite analogous to well-known vertically coupled two-spring and two-mass oscillator. Although the single unit AB/rotor system is widely explored in the related AB studies, such coupled arrangement with AB discussed here has not been previously investigated and thus needs to be explored for further application of AB into various vibration isolation problems of other complicated machines/settings. Therefore, solutions for the synchronous stable balanced and the nonsynchronous unstable limit cycle response of AB/rotor/foundation system are obtained via a fixed equilibrium condition and a harmonic like balancing approach. Furthermore, the stability of each response is assessed via a perturbation and Floquet analysis and, for the system parameters and operating speeds, the undesirable coexistence of the wanted stable balanced synchronous response and undesirable nonsynchronous limit cycle has been thoroughly studied. Due to coupled oscillating feature, it is newly found that the multiple limit cycles are encountered in the range of supercritical speeds and more complicated coexistence is attracted into the system, as well as the damping parameters of coupled components (i.e., flexible foundation) influences of the undesirable limit cycle of AB on the particular supercritical speeds. The findings in this paper yield important insights for researchers wishing to utilize automatic balancing devices in more practical rotor systems coupled with additional vibrating mechanical subsystem such as a washing machine or a reciprocating air conditioning compressor with a flexible foundation.