Modeling and Mechanical Analysis of Snake Robots on Cylinders

2019 ◽  
Vol 11 (4) ◽  
Author(s):  
Chaoquan Tang ◽  
Peng Li ◽  
Gongbo Zhou ◽  
Deyuan Meng ◽  
Xin Shu ◽  
...  
Keyword(s):  
Mechanical Analysis ◽  
Point Of View ◽  
The Body ◽  
Optimal Method ◽  
Tree Structures ◽  
Snake Robot ◽  
Mechanical Models ◽  
And Performance ◽  
The Relationship ◽  
Snake Robots

The narrow and redundant body of the snake robot makes it suitable for the inspection of complex bar structures, such as truss or tree structures. One of the key issues affecting the efficient motion of snake robots in complex bar structures is the development of mechanical models of snake robots on cylinders. In other words, the relationship between the payload and structural and performance parameters of the snake robot is still difficult to clarify. In this paper, the problem is approached with the Newton–Euler equations and the convex optimal method. Firstly, from the kinematic point of view, the optimal attitude of the snake robot wrapped around the cylinder is found. Next, the snake robot is modeled on the cylinder and transformed into a convex optimization problem. Then, the relationship between the payload of the snake robot on the cylinder and the geometric and attitude parameters of the body of snake robots is analyzed. Finally, the discussion for the optimal winding attitude and some advices for the design of the snake robot are proposed. This study is helpful toward the optimal design of snake robots, including geometry parameters and motor determination.

Engineering observation of lateral undulation in colubrid snakes for wheel-less locomotion

Robotica ◽  
2011 ◽  
Vol 30 (7) ◽  
pp. 1079-1093 ◽  
Author(s):  
Farshad Barazandeh ◽  
Hossein Rahnamafard ◽  
Mehdi Rajabizadeh ◽  
Hossein Faraji
Keyword(s):  
Point Of View ◽  
The Body ◽  
Smooth Surfaces ◽  
Field Observations ◽  
Snake Robot ◽  
Muscular Structure ◽  
Lateral Undulation ◽  
Snake Robots

SUMMARYNature has always inspired engineers. This research tries to understand the contribution of snake anatomy in its locomotion from engineering point of view to be adopted in the design of snake robots. Rib design and muscular structure of snake robots will have a great impact on snake robot flexibility, weight, and actuators' torque. It will help to eliminate wheels in snake robots during serpentine locomotion. The result of this research shows that snakes can establish the required peg points on smooth surfaces by deflecting the body and ribs. The results are verified by both field observations and simulation.

scholarly journals The Relationship between Dramatic Text and Performance with the Centrality of the Body with a Look at Anne Bogart’s Rendition of The Persians

1970 ◽  
Vol 2 (2) ◽  
pp. 25-31
Author(s):  
Samin Gheitasy ◽  
Leila Montazeri ◽  
Simin Dolatkhah
Keyword(s):  
The Body ◽  
Physical Approach ◽  
The World ◽  
Dramatic Text ◽  
And Performance ◽  
Anne Bogart ◽  
The Relationship ◽  
Sociological View

The dramatic text defines, to some extent, the structure of the work but the type of performance and the physical approach to the text can represent different meanings. The body of the actor, as a means of conveying concepts from the text to the audience, can be effective in creating different interpretations and meanings of the text. Since eons ago, directors have used the body of the actor with different approaches, and the application of body on the stage has always been underdoing changes. Anne Bogart is one of the few directors who is less known in the Iranian theater despite possessing the most updated and well-known methods of practice and performance in the world. Using her viewpoint method, she brings live and dynamic bodies to the stage; bodies that are able to convey the hidden meanings of the text to the audience in the most suitable way. The overall purpose of this research is to find the relationship between the dramatic text and the performance with the centrality of the body with a sociological view toward the body. To this end, by presenting Foucault's theories, the researchers defines the role of the body in the society and its extent of effectivity and impressibility. Finally, this study explores the implications of this role in each element of Aeschylus’s The Persians, and it shall show how Bogart beautifully represents them using the bodies of her actors during performance.

Aliansi Strategis dan Kinerja Perusahaan: Perspektif Teori Institusional

2020 ◽  
Vol 1 (2) ◽  
pp. 83-90
Author(s):  
Rebi Fara Handika
Keyword(s):  
Firm Performance ◽  
Institutional Theory ◽  
Empirical Research ◽  
Strategic Alliances ◽  
Strategic Alliance ◽  
Point Of View ◽  
Theory Point ◽  
And Performance ◽  
The Relationship

Abstract   This paper discussed the company's motive to join a strategic alliance from the institutional theory point of view. The theory views that strategic alliances are considered as the medium to acquire legitimation from the environment. Such legitimation then improves the company’s competitive positions and performance. Further, we propose the framework to discuss the relationship between strategic alliances and a company’s performance. The paper proceeds as follows: in the next section, we discuss the institutional theory, the strategic alliance, and firm performance. Afterward, we develop the propositions and discuss the implications for future empirical research.   Abstrak   Artikel ini membahas motif perusahaan untuk bergabung dengan aliansi strategis dari sudut pandang teori institusional. Teori ini memandang bahwa aliansi strategis dianggap sebagai media untuk memperoleh legitimasi dari lingkungan. Legitimasi tersebut kemudian dipercayai akan meningkatkan posisi kompetitif dan kinerja perusahaan. Selanjutnya, kami mengusulkan framework untuk membahas hubungan antara aliansi strategis dan kinerja perusahaan. Artikel ini akan dilanjutkan sebagai berikut: pada bagian berikutnya, kita membahas teori institusional, aliansi strategis, dan kinerja perusahaan. Setelah itu, kami mengembangkan proposisi dan membahas implikasi untuk penelitian empiris di masa depan.

scholarly journals A Head Control Strategy of the Snake Robot Based on Segmented Kinematics

2019 ◽  
Vol 9 (23) ◽  
pp. 5104
Author(s):  
Yunhu Zhou ◽  
Yuanfei Zhang ◽  
Fenglei Ni ◽  
Hong Liu
Keyword(s):  
Control Strategy ◽  
Control Strategies ◽  
The Body ◽  
Head Part ◽  
Joint Angles ◽  
Backbone Curve ◽  
Snake Robot ◽  
Head Control ◽  
Neck Part ◽  
Snake Robots

Head control is important for snake robots to work in an unknown environment. However, the existing methods of head control have certain application limitations for snake robots with different configurations. Thus, a strategy for head control based on segmented kinematics is proposed. Compared with the existing head control strategies, our strategy can adapt to different structures of snake robots, whether wheeled or non-wheeled. In addition, our strategy can realize the accurate manipulation of the snake robot head. The robot body is divided into the base part, neck part and head part. First, parameters of backbone curve are optimized for enlarging the area of the support polygon. Then the desired pose for the head link and the dexterous workspace of the head part can in turn derive the desired position and direction of the end frame for the neck part. An optimization algorithm is proposed to help the end frame of the neck part approach a desired one and obtains the joint angles of the neck part. When the actual frames of the neck part are determined, the dexterous workspace of the head part will cover the desired pose of the head link. Then the TRAC-IK inverse kinematics algorithm is adopted to solve the joint angles of the head part. To avoid the collision between the body and the ground, a trajectory planning method of the overall body in Cartesian space is proposed. Finally, simulations validate the effectiveness of the control strategy.

‘To Show … and so to Publish’

2013 ◽  
Author(s):  
Charlotte Scott
Keyword(s):  
The Body ◽  
Complex Relationship ◽  
Multiple Forms ◽  
Textual Authority ◽  
And Performance ◽  
Narrative Poems ◽  
Print Reading ◽  
Rape Of Lucrece ◽  
The Relationship

This chapter examines Shakespeare’s Venus and Adonis and The Rape of Lucrece within the context of the relationship between word and performance. Tracing the poems’ exploration of both action and affect, it examines the multiple forms through which representation becomes authoritative. Beginning with Venus, it focuses on the relationship between performance—sexual, artistic, theatrical, and authorial—and response, emotional, physical, and amorous. Developing the dynamic between action and affect, The Rape of Lucrece produces a complex relationship between knowledge and representation in which the legibility of the body emerges as a powerful and often destructive marker of authority. In this poem the language of print—reading, writing, interpreting, and reproducing—imaginatively reconstructs the body in action. Situating these narrative poems within the context of dramatic performance and textual authority, the chapter highlights the role of the narrative poems in the development of Shakespeare’s dramatic art.

Specificity in the Relationship between Training and Performance in Triathlons

1995 ◽  
Vol 81 (3_suppl) ◽  
pp. 1231-1240 ◽  
Author(s):  
Helen M. Hendy ◽  
Bonnie J. Boyer
Keyword(s):  
Multiple Regression ◽  
The Body ◽  
Cycle Performance ◽  
Regression Analyses ◽  
Behavioral Measures ◽  
Sport Training ◽  
And Performance ◽  
The Relationship

The present study examines whether swim, cycle, and run performance during a triathlon are predicted best by training in the same sport, as suggested by the theory of specificity for the relationship between sport training and performance. Using behavioral measures of training (pace, mileage, workouts), multiple regression analyses of questionnaire responses from 624 triathletes (443 men, 181 women) showed pace of training in the same sport to be the best predictor of swim and run performance for both sprint and endurance triathlons. No clear patterns were seen for cycle performance. Thus, specificity in the relationship between training and performance appears supported, especially for sports that rely more on the body (swim, run) and less on equipment (cycle).

scholarly journals Maurice Merleau-Ponty: Intertwining and Objectification

PhaenEx ◽  
2006 ◽  
Vol 1 (1) ◽  
pp. 113 ◽  
Author(s):  
Dorothea Olkowski
Keyword(s):  
Point Of View ◽  
The Body ◽  
Henri Bergson ◽  
Knowing How ◽  
Phenomenology Of Perception ◽  
The Relationship ◽  
The Invisible

In chapter four of The Visible and the Invisible, titled “The Intertwining -- The Chiasm,” Merleau-Ponty considers the relation between the body as sensible, which is to say “objective,” and the body as sentient, that is, as “phenomenal” body. He makes this inquiry in the context of interrogating the access of such a sensible-sentient or objective-phenomenal body to Being. “Objectivity” and the objective body, as Merleau-Ponty defines it in the Phenomenology of Perception, are to be determined in relation to experience. Objectivity requires knowing how it is possible for determinate shapes to be available for experience at all. But the possibility of determinate shapes is also called into question by Merleau-Ponty insofar as the body is experienced as a point of view on things; thus every body would experience a different point of view, even though things are given as abstract elements of one total world. Since the two elements form a system, an intertwining, in which each moment (that of a body with a particular point of view and that of things in the totality of their world) is immediately expressive of each other, objectivity would seem to be hard to achieve. The relationship between body and things, point of view and world, if the relata continually express one another, would appear to be anything but determinate and the question of how objectivity is possible remains unanswered. This essay will explore this question in the light of Merleau-Ponty’s (mis-) reading of Henri Bergson and from the point of view of Sartre’s original expression of the relation of intertwining.

A propósito del cuerpo, desde una perspectiva psicoanalítica. / A purpose of the body, from a psychoanalytic perspective.

2013 ◽  
Vol 2 (04) ◽  
pp. 39-55
Author(s):  
Rosa Lagos Torres
Keyword(s):  
Point Of View ◽  
The Body ◽  
Psychoanalytic Perspective ◽  
The Subject ◽  
The Times ◽  
The Relationship

Este artículo muestra los efectos de la época y la cultura actual sobre la relación con el cuerpo, considerado como una unidad de valor en el mercado. Desde el psicoanálisis, en un recorrido por la noción de cuerpo tanto en Freud como en Lacan, se presenta una noción de cuerpo distinta a la de la medicina, diferenciando cuerpo y organismo, estableciendo que no hay El cuerpo, sino tantos cuerpos como sujetos, siendo el cuerpo concebido como una construcción a partir de la palabra y de la imagen, dando lugar al síntoma (Freud) como metáfora alojada en el cuerpo y como sinthome (Lacan) en tanto acontecimiento del cuerpo que empalma al sujeto con su modalidad de gozar, al hablante ser en su singular modalidad de satisfacción pulsional. This paper shows the effects of the times and the current culture on the relationship with the body, considered as a unit of value in the market. From the psychoanalysis point of view, on a tour of the notion of the body, with Freud, and Lacan both, the notion of body is different from the body presented by the medicine, distinguishing between body and organism. Stating that there is not A body, but many bodies as subjects, being the body, conceived as a construction from the word and the image, resulting in the symptom (Freud) and housed in the body as a metaphor and as a sinthome (Lacan) in all events of the body, that matches the subject with its way jouissance to the parletre in its singular modality of pulsional satisfaction.

The Rôle of Auto-intoxication or Auto-infection in Mental Disorders

1923 ◽  
Vol 69 (284) ◽  
pp. 52-77 ◽  
Author(s):  
Chalmers Watson
Keyword(s):  
Mental Disorders ◽  
Systematic Investigation ◽  
Modern Medicine ◽  
Point Of View ◽  
The Body ◽  
Physical Disorder ◽  
Text Book ◽  
Classical Text ◽  
Mental Symptoms ◽  
The Relationship

I greatly appreciate the honour which the Society has done me in asking me to read a paper by way of introducing a general discussion on the treatment of mental disorders. My remarks will deal with the relationship of physical disorder to mental symptoms. The main point to which I will more particularly draw your attention is to the need for a closer study of the extent to which mental symptoms are the result of some auto-intoxication or infection from one or other of the free mucous surfaces of the body, the gastro-intestinal tract being, in virtue of its size and function, the most important channel. If the relationship is a close one our outlook on mental disorders necessitates greater attention being directed to the investigation and treatment of our patients with the aid of modern methods, than has hitherto been done. The literature of the subject contains many references of a general kind to what is called the toxic factor in the ætiology of insanity, but the systematic investigation of mental disorders from this point of view has not yet been carried out with the reasonable degree of completeness which modern medicine demands. In this connection it is right to refer to the valuable and suggestive work carried out by Lewis Bruce many years ago, the probable significance and value of which has, I think, been largely lost sight of. There is little new in the conception of the aetiology and treatment of mental disorders, which I am going to present for your consideration. It is, however, largely new in the sense that it has not yet been adequately tested. Prof. Robertson has lately drawn my attention to the interesting fact that the leading alienists in France more than 100 years ago entertained the view that the primary cause of mental disorders was to be found in visceral changes. Pinal in his classical text-book on mental disorders in 1809 wrote as follows:“It seems that the primitive seat of insanity generally is in the region of the stomach and intestines, and it is from that centre that the disorder of intelligence propagates itself as by a species of irradiation.”

Thinking Through Veils: Questions of Culture, Criticism and the Body

1997 ◽  
Vol 22 (2) ◽  
pp. 150-161 ◽  
Author(s):  
Donnalee Dox
Keyword(s):  
Cultural Identity ◽  
Performance Studies ◽  
The Body ◽  
Homi Bhabha ◽  
And Performance ◽  
The Relationship

When Homi Bhabha discusses the problematics of signification and coding in intercultural interpretation, he questions the relationship between practices and the experience of culture. By questioning the power of codes and signifiers to fix cultural identity, Bhabha allows that the stable object of culture might be caught ‘in the disturbed artifice of its signification’, that is, ‘at the edge of experience’. This suggests to theatre and performance studies that the culturally inscribed body need not be viewed as a stable repository of displaced and deferred codes. The body may be intercepted in situations, or at moments, when signification dissolves and is reconfigured.

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