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.

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.

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.

Acousmatic Approaches to the Construction of Image and Space in Sound Art

2015 ◽  
Vol 20 (2) ◽  
pp. 148-159 ◽  
Author(s):  
Peter Batchelor
Keyword(s):  
Current Trend ◽  
Image Space ◽  
Sound Art ◽  
Concert Hall ◽  
Spatial Sound ◽  
Alternative Means ◽  
Acousmatic Music ◽  
Relationship Of ◽  
The Relationship

This article considers ideas of image and space as they apply to acousmatic music and to sound art, establishing overlaps and compatibilities which are perhaps overlooked in the current trend to consider these two genres incompatible. Two issues in particular are considered: compositional (especially mimesis and the construction of image, and what shall be termed ‘ephemeral narrative’) and presentational (in particular multichannel speaker deployment). While exploring several relevant works within this discussion, by way of a case study the article introduces the author’s GRIDs project – a series of four multichannel sound sculptures united in their arrangement in geometric arrays of many (in some cases potentially hundreds of) loudspeakers. These permit, by virtue of being so massively (and geometrically) multichannel, the generation of extremely intricate spatial sound environments – fabricated landscapes – that emerge directly from an acousmatic compositional aesthetic. Owing to their alternative means of presentation and presentation contexts, however, they offer very different experiences from those of acousmatic music encountered in the concert hall. So the latter part of this article explores the various ways in which the listener might engage with constructed image space within these sound sculptures, along with the relationship of the audio content of each with its visual and situational setup – that is, its environment.

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 Three great books about power. Actual analysis of concepts

2021 ◽  
Vol 266 ◽  
pp. 05003
Author(s):  
I.M. Zdretsov ◽  
M.A. Vasilyeva
Keyword(s):  
Comparative Analysis ◽  
Power Relations ◽  
Law And Order ◽  
Philosophical Approach ◽  
Great Books ◽  
Analysis And Synthesis ◽  
The Difference ◽  
The Relationship ◽  
Descriptive Method

In this article, three books related to power were analyzed: Kitami Masao’s “The Swordless Samurai”, Han Feitzu’s “The Book of Law and Order” and N. Machiavelli’s “The Prince”. The main judgments were highlighted and conclusions were drawn on how each author understands the power. Similar and opposite conclusions were compared. Also, the reasons for the fundamental differences between these ideas are identified. Analysis of differences on a religious basis was made using the modern Agamben's work “The Kingdom and the Glory” as it touches on the relationship between religion and power. The study used an integrated cultural-philosophical approach, in which descriptive method, comparative analysis, and synthesis can be separated from each other. As a result of this work, the following conclusions were obtained: the difference in the functions of power leads to different understanding of power; the religious environment surrounding a person largely influences his understanding of power. Based on this, different concepts of power should be compared to identify common significant positions that demonstrate the nature of power relations.

scholarly journals Modeling and Simulation of Robotic Finger Powered by Nylon Artificial Muscles

2019 ◽  
Vol 12 (1) ◽  
Author(s):  
Lokesh Saharan ◽  
Lianjun Wu ◽  
Yonas Tadesse
Keyword(s):  
High Performance ◽  
Electrical Power ◽  
Simulated Data ◽  
Artificial Muscle ◽  
Power Input ◽  
Artificial Muscles ◽  
Robotic Hand ◽  
Finger Motion ◽  
Angular Displacements ◽  
Measured Input

Abstract A robotic finger actuated by novel artificial muscles known as twisted and coiled polymer (TCP) muscles has been proposed as an inexpensive, yet high-performance component of a robotic hand in recent years. In this paper, the Euler–Lagrangian method coupled with an electro-thermo-mechanical model-based transfer function was used for the analysis of finger joints in the hand. Experiments were performed at three power magnitudes provided to the TCP muscles, and the output angular displacements of the index finger subtended corresponding to the power levels were measured. The measured input and output parameters were used for system identification. To elucidate how the new artificial muscle influences the finger motion, two types of numerical simulations were performed: force input simulation (FIS) using measured force as an input and power input simulation (PIS) using measured electrical power as an input. Results were quantified statistically, and the simulated data were compared with the experimental results. Sensitivity analysis was also presented to understand the effect of the mechanical properties on the system. This model will help in understanding the effect of the TCP muscles and other similar smart actuators on the dynamics of the robotic finger.

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