Substation Indoor Wheeled Robot Inspection Visual Blind Pressure Plate Recognition

In order to solve the problem of wheeled robots in the main control room of the substation due to the height of the robot and the shooting distance, the main camera cannot take a complete picture of the bottom pressure plate of the relay protection pressure plate cabinet during the inspection process and perform open/close state and label image recognition. Propose install a wide-angle secondary camera on the side of wheeled robot, and targeted proposal for the correction of distorted images taken with a wide-angle lens using a division model, improving the accuracy of decompression plate checks. Experiments have shown that, the proposed approach is practical and feasible, effective solution for indoor wheeled robot relay panel cabinet inspection visual blind spot shooting problem, enhanced the effectiveness of wheeled robotic inspections in the main control room of the substation, improved platen verification accuracy.

Multitarget Search of Swarm Robots in Unknown Complex Environments

When searching for multiple targets in an unknown complex environment, swarm robots should firstly form a number of subswarms autonomously through a task division model and then each subswarm searches for a target in parallel. Based on the probability response principle and multitarget division strategy, a closed-loop regulation strategy is proposed, which includes target type of member, target response intensity evaluation, and distance to the corresponding individuals. Besides, it is necessary to make robots avoid other robots and convex obstacles with various shapes in the unknown complex environment. By decomposing the multitarget search behavior of swarm robots, a simplified virtual-force model (SVF-Model) is developed for individual robots, and a control method is designed for swarm robots searching for multiple targets (SRSMT-SVF). The simulation results indicate that the proposed method keeps the robot with a good performance of collision avoidance, effectively reducing the collision conflicts among the robots, environment, and individuals.

Depth-Dependent High Distortion Lens Calibration

Accurate correction of high distorted images is a very complex problem. Several lens distortion models exist that are adjusted using different techniques. Usually, regardless of the chosen model, a unique distortion model is adjusted to undistort images and the camera-calibration template distance is not considered. Several authors have presented the depth dependency of lens distortion but none of them have treated it with highly distorted images. This paper presents an analysis of the distortion depth dependency in strongly distorted images. The division model that is able to represent high distortion with only one parameter is modified to represent a depth-dependent high distortion lens model. The proposed calibration method obtains more accurate results when compared to existing calibration methods.

Ram Janmabhoomi/Babri Masjid (Uttar Pradesh)

Chapter 3 examines the second model of governance of contested sacred sites: separation and division. The first section begins with an exploration of the Hindu–Muslim struggle over Ram Janmabhoomi/Babri Masjid, which culminated in the destruction of the Babri Masjid in 1992. The suggested solution by the Allahabad High Court to this conflict is the division of the site into three parts, each granted to one religious group. The second section examines the general approach of even-handedness to religion–state relations. This approach serves as a theoretical background to the separation and division model. The third section examines and defines the separation and division model; it discusses the structure, justifications, and shortcomings of this model. Finally, the fourth section examines non-statist, bottom-up sources for the separation and division model, using Axelrod’s cooperation theory, and applying it to the complex context of contested sacred sites.

PERBEDAAN HASIL BELAJAR SISWA MENGGUNAKAN MODEL PEMBELAJARAN KOOPERATIF TIPE JIGSAW DENGAN TIPE STUDENT TEAM ACHIEVEMENT DIVISION (STAD) PADA MATERI SISTEM ENDOKRIN MANUSI

This research is aimed to know the difference of students’ learning scores who were taught by using cooperative Jigsaw dan STAD (Student Team Achievement Division) model in the endocrine system of human body material in grade XI MIA SMA Negeri 7 Medan year of academic 2017/2018. This research is design as an experimental. The population of this research is 72 students, and the sample was taken by random sampling, which XI IPA 1 class (as Jigsaw class) there are 36 students and XI IPA 2 class (as STAD class) there are 36 students. The data is collected by using a multiple-choice question test consist of 30 items and an observation sheet. Based on the analysis requirements data, the average value of students’ learning scores in the Jigsaw model at 84,84 with SD 9,06 and students’ learning scores in the STAD model at 79,88 with SD 8.96. From the data obtained it is known that the average value of the Jigsaw class is higher than the STAD class. The results of hypothesis testing using t-test at a significant level of 0.05, can the two classes differ significantly.