Geometric Analysis and Synthesis of the Metamorphic Robotic Hand

2006 ◽  
Vol 129 (11) ◽  
pp. 1191-1197 ◽  
Author(s):  
Jian S. Dai ◽  
Delun Wang
Keyword(s):  
Differential Geometry ◽  
Geometric Analysis ◽  
Robotic Hand ◽  
Traditional Structure ◽  
Curve Approximation ◽  
Analysis And Synthesis ◽  
Finger Motion ◽  
The Relationship ◽  
Robotic Fingers

This paper presents a novel robotic hand with a metamorphic palm which changes the traditional structure of a robotic hand. Based on this new hand structure, the paper investigates motion of the robotic fingers with respect to the palm by presenting finger operation planes and by revealing the relationship between finger motion and palm motion. The study presents the normals of the finger operation planes as a function of the input angles of the palm and uses these normals to relate finger motion to palm motion. This leads to the coaxial condition of the finger-palm relationship that is then converted to the coplanar condition of normals of all finger operation planes. The condition is then used to generate a coupler trajectory, and the iterative trajectory fitting and curve approximation are used for synthesis of palm links, leading to differential geometry based synthesis of angular lengths of the metamorphic palm.

Differential Geometry Based Analysis and Synthesis of a Multifingered Robotic Hand With a Metamorphic Palm

2006 ◽  
Author(s):  
Jian S. Dai ◽  
Delun Wang
Keyword(s):  
Differential Geometry ◽  
Image Space ◽  
Robotic Hand ◽  
Spherical Image ◽  
Gaussian Image ◽  
Traditional Structure ◽  
Analysis And Synthesis ◽  
Finger Motion ◽  
The Relationship ◽  
Robotic Fingers

This paper presents a novel robotic hand with a metamorphic palm which changes the traditional structure of a robotic hand. Based on this new hand structure, the paper investigates motion of robotic fingers with respect to the palm by introducing finger operation-planes and by revealing the relationship between finger motion and palm motion. The study presents normals of the finger operation-planes as function of the input angle of the palm and relates finger motion to palm motion. This leads to the co-axial condition of the finger-palm relationship that is then converted to the coplanar condition of normals of all finger operation-planes. The paper then maps the known normals of the first two finger operation-planes to a spherical image space and produces the Gaussian image of normals and a cone of a normal, leading to differential geometry based analysis of the normals of the operation planes and synthesis of the metamorphic palm.

The State’s Role in Ensuring Fair Income Distribution in Vietnam Today: Some Issues from the Theory of Justice as Fairness by John Rawls

2020 ◽  
Vol 6 (2) ◽  
pp. 181-195
Keyword(s):  
Income Distribution ◽  
Economic Efficiency ◽  
John Rawls ◽  
Social Stability ◽  
Social Equality ◽  
Justice As Fairness ◽  
Theory Of Justice ◽  
Analysis And Synthesis ◽  
Economic Philosophy ◽  
The Relationship

Fairness in income distribution is a factor that both motivates employees and contributes to maintaining social stability. In Vietnam, fair income distribution has been studied from various perspectives. In this article, through the analysis and synthesis of related documents and evidence, and from the perspective of economic philosophy, the author applies John Rawls’s Theory of Justice as Fairness to analyze some issues arising from the implementation of the state’s role in ensuring fair income distribution from 1986 to present. These are unifying the perception of fairness in income distribution; solving the relationship between economic efficiency and social equality; ensuring benefits for the least-privileged people in society; and controlling income. On that basis, the author makes some recommendations to enhance the state’s role in ensuring fair income distribution in Vietnam. Received 11thNovember 2019; Revised 10thApril 2020; Accepted 20th April 2020

Stimulating the Development of "Greening" of Ukrainian Industry

2021 ◽  
pp. 55-67
Author(s):  
Ella Sheludko ◽  
◽  
Mariia Zavgorodnia ◽  
Keyword(s):  
Public Policy ◽  
Large Scale ◽  
Industrial Enterprises ◽  
Valuation Method ◽  
Circular Model ◽  
Analysis And Synthesis ◽  
Logical Method ◽  
Modern Economic ◽  
The Relationship ◽  
Further Development

The object of this study is the further development of eco-innovations for the rise of industry and the economy. Emphasis is placed on the growing relevance of "green" incentives in line with climate challenges, the economical use of natural resources, as well as the need for a systematic vision of environmental issues and the implementation of international requirements. The study is based on the work of foreign scientists, international rankings and world best practices for the introduction of modern economic mechanisms of state incentives for greening the economy, green modernization, the transition to a circular model of the economy. There is a difference in the implementation of environmental policy - some local projects in Ukraine and the European approach - with the assessment of eco-innovation, systemic change, the formation of ecosystems, scaling technological solutions. The main methods used in the study are: methods of system-structural analysis, analysis and synthesis, grouping - for preliminary analysis and selection of appropriate tools in the study of the implementation of eco-innovation in Ukraine and EU countries; index valuation method and method of comparative analysis - used in the analysis of public policy to stimulate the company to "green" growth; abstract-logical method - used to establish the relationship between the need to introduce new instruments of public policy in the environmental sphere with elements of large-scale reform in the context of climate modernization of industry and to form a systematic vision of major achievements in implementing international requirements for eco-modernization of industrial enterprises. The paper analyzes the forms of international assistance that can compensate for the lack of available financial resources for the purposes of green modernization of the economy in conditions of limited financial capabilities of the state, intensification of competition for European and international environmental investments. The obtained result - a set of possible tools to stimulate Ukrainian industry - allows more systematic implementation of "greening" of Ukrainian industry, and their implementation and combination in a specific mechanism will determine the success of an industrial socially-oriented economy.

scholarly journals Theoretical Aspects of the Territorial Approach to Region and Supply Chain Management

2021 ◽  
pp. 40-60
Author(s):  
A. P. Tyapukhin
Keyword(s):  
Supply Chain ◽  
Supply Chain Management ◽  
Supply Chains ◽  
Point Of View ◽  
Chain Management ◽  
Analysis And Synthesis ◽  
Binary Matrices ◽  
Territorial Approach ◽  
Regional Authorities ◽  
The Relationship

The territorial approach is the basic approach to a region management. At the same time, the “territory” component is the basis of the logistics complex used in Supply Chain Management. In this regard, a need is to clarify and supplement the theory and methodology of the territorial approach to the management of both the region and the supply chains.The subject of this study is the relationship between the regional authorities and the focus enterprise of the supply chain regarding the development of the territories and resources of the region on a mutually beneficial basis.The research methods are methods of analysis and synthesis, induction and deduction, as well as classification, and the tools are binary matrices that provide for the joint use of two classification attributes of the object under study and their dichotomies.The results of this study are the management principles by the competitiveness and sustainability of the management object; classifications of approaches to the management by the region and supply chains; of territories from the point of view of the focus enterprise of the supply chain and the region; the management decisions in the interaction of regions with the links of supply chains; the sequence of the formation of supply chains and the development of territories and resources of the region on the basis of the territorial approach and the relationship between them.The obtained results allow to reduce the costs and time for the development of territories and resources of the region by reducing the lost profits of the supply chain links due to their rational placement and increasing sustainability by achieving a synergistic effect both by the region and by the supply chains.

Differential geometry of autonomous wheel-legged robots

2019 ◽  
Vol 37 (2) ◽  
pp. 615-637
Author(s):  
Vahide Bulut
Keyword(s):  
Differential Geometry ◽  
Trajectory Planning ◽  
Design Methodology ◽  
Geometric Analysis ◽  
Legged Robots ◽  
Rough Terrain ◽  
Geometric Properties ◽  
Content Type ◽  
Robot Trajectory ◽  
Novel Approach

Purpose The purpose of this study is to obtain the differential geometric analysis of autonomous wheel-legged robots and their trajectories on the terrain. Design/methodology/approach The author uses a wheel using the osculating sphere of the curve on rough terrain. Additionally, the author expresses a triple osculating sphere wheel by taking advantage of differential geometry. Moreover, the author examined the consecutive wheel center-curves to obtain the optimum posture of a micro-hydraulic toolkit (MHT) robot. Findings The author examined the terrain path, which is crucial for trajectory planning in terms of the geometric perspective. The author designed the triple MHT wheel using the osculating sphere of the MHT robot trajectory by taking advantage of local differential geometric properties of this curve on the terrain. The consecutive wheel center-curves were expressed and studied based on differential geometry. Originality/value The author provides a novel approach for the optimum posture of an MHT robot using consecutive wheel-center curves and provides an original perspective to MHT robot and its trajectory by using differential geometry.

Monetary and Non-Monetary Inflation Factors

2019 ◽  
Vol 7 (4) ◽  
pp. 9-14
Author(s):  
Ольга Николайчук ◽  
Olga Nikolaychuk ◽  
Э. Зайцева ◽  
E. Zayceva
Keyword(s):  
Financial Stability ◽  
Scientific Research ◽  
Wage Growth ◽  
Macroeconomic Policy ◽  
Nominal Wage ◽  
Graphic Method ◽  
Theoretical Conclusion ◽  
Previous Issue ◽  
Analysis And Synthesis ◽  
The Relationship

In continuation of our scientific research, published in the previous issue of the journal, this article was written. In the process of research, the methods of analysis and synthesis, the graphic method were used. The results of this study prove the general theoretical conclusion about the relationship between nominal wage growth and inflation. Achieving financial stability is possible with a decrease in the rate of inflation. Based on the analysis of the scientific periodic and monographic literature, the calculations we have cited, the article concluded that the reasons for inflation in Russia are mostly non-monetary. But when choosing a macroeconomic policy, it is necessary to base on the coordination of influence on both monetary and non-monetary factors of inflation.

scholarly journals Geometric and Meshing Properties of Conjugate Curves for Gear Transmission

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Dong Liang ◽  
Bingkui Chen ◽  
Yane Gao ◽  
Shuai Peng ◽  
Siling Qin
Keyword(s):  
Differential Geometry ◽  
Contact Angle ◽  
Power Transmission ◽  
Characteristic Point ◽  
Geometric Analysis ◽  
Gear Transmission ◽  
Axial Position ◽  
Gear Design ◽  
Conjugate Surfaces ◽  
The Given

Conjugate curves have been put forward previously by authors for gear transmission. Compared with traditional conjugate surfaces, the conjugate curves have more flexibility and diversity in aspects of gear design and generation. To further extend its application in power transmission, the geometric and meshing properties of conjugate curves are discussed in this paper. Firstly, general principle descriptions of conjugate curves for arbitrary axial position are introduced. Secondly, geometric analysis of conjugate curves is carried out based on differential geometry including tangent and normal in arbitrary contact direction, characteristic point, and curvature relationships. Then, meshing properties of conjugate curves are further revealed. According to a given plane or spatial curve, the uniqueness of conjugated curve under different contact angle conditions is discussed. Meshing commonality of conjugate curves is also demonstrated in terms of a class of spiral curves contacting in the given direction for various gear axes. Finally, a conclusive summary of this study is given.

scholarly journals Analisis Pengaruh Geometrik Dan Kelengkapan Rambu Lalu Lintas Terhadap Kecelakaan (Studi Kasus : Tanjakan Kethekan Kec. Jambu, Ruas Jalan Ambarawa – Magelang Km. 46+000 S/D 46+750)

2019 ◽  
Vol 24 (1) ◽  
pp. 60
Author(s):  
Rizqi Rangga Perdana ◽  
Yeremia Kristian Adi Permata ◽  
Siti Latifah ◽  
Sukoyo Sukoyo ◽  
Wasino Wasino
Keyword(s):  
Traffic Accidents ◽  
Geometric Analysis ◽  
Black Spot ◽  
Vehicle Speed ◽  
Traffic Signs ◽  
The Road ◽  
Central Java ◽  
Geometric Conditions ◽  
Arterial Road ◽  
The Relationship

<p class="Default"><em>Ambarawa – Magelang main road is an arterial road which used by drivers who came from Central Java headed to Yogyakarta. The Road Segment is considered to have frequent traffic accidents. The study aims to analyze the relationship between geometric aspects and the occurrence of accidents, compare actual speed with plan speed, and analyzing the completeness of the traffic signs on this section to identify the causes of accidents that occurred at that location</em>. <em>The stages of analysis is by doing the geometric calculation of the road and compared with the requirements in the regulation then identifying whether there is a relationship between accidents that occur with geometric conditions, vehicle speed, and the signs completeness. Identification and results of geometric analysis is known that Black Spot are on bend road I (km 46+300) there were 22 accidents due to breaking road markings, 6 accidents due to extreme bend, and 4 accidents due to road slackness throughout 2012 – 2018. On the bend road II (km 46+440) there were 5 accidents due to breaking road markings and on the bend road III (km 46+520) there were 3 accidents due to road slackness. with the result that there is a relationship between geometric conditions with accidents that occur and after being analyzed the completeness of the traffic signs is still lacking and needs to be completed.</em></p>

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