Kinematics and Statics Including Cable Sag for Large Cable-Suspended Robots

2016 ◽  
Author(s):  
Dheerendra Sridhar ◽  
Robert L. Williams
Keyword(s):  
Comparative Analysis ◽  
Modeling And Simulation ◽  
Large Scale ◽  
Robot System ◽  
Line Model ◽  
Actuation Redundancy ◽  
Cable Length ◽  
Qualitative And Quantitative ◽  
Straight Line ◽  
Quantitative Results

Cable sag can have significant effects on the cable length computation in a cable-suspended robot and this is more pronounced in large-scale outdoor systems. This requires modeling the cable as a catenary instead of an approximated straight-line model. Furthermore, when there is actuation redundancy involved, the modeling and simulation of the system becomes much more complex, requiring optimizing routines to solve the problem. A cable-sag-compensated (catenary) model was implemented in simulation for an example large outdoor cable-suspended robot system to solve the coupled kinematics and statics problems. This involved optimization of cable tensions and finding the errors involved in the cable length. A comparative analysis between the straight-line and cable sag model is presented, the main contribution of this paper. Based on the qualitative and quantitative results obtained, recommendations were made on the choice of model and solution methodologies.

scholarly journals What If We Could Not See? Counterfactual Analysis for Egocentric Action Anticipation

2021 ◽  
Author(s):  
Tianyu Zhang ◽  
Weiqing Min ◽  
Jiahao Yang ◽  
Tao Liu ◽  
Shuqiang Jiang ◽  
...  
Keyword(s):  
Side Effect ◽  
Large Scale ◽  
Visual Representation ◽  
Visual Features ◽  
Counterfactual Analysis ◽  
First Person ◽  
Analysis Framework ◽  
Qualitative And Quantitative ◽  
Quantitative Results ◽  
Near Future

Egocentric action anticipation aims at predicting the near future based on past observation in first-person vision. While future actions may be wrongly predicted due to the dataset bias, we present a counterfactual analysis framework for egocentric action anticipation (CA-EAA) to enhance the capacity. In the factual case, we can predict the upcoming action based on visual features and semantic labels from past observation. Imagining one counterfactual situation where no visual representation had been observed, we would obtain a counterfactual predicted action only using past semantic labels. In this way, we can reduce the side-effect caused by semantic labels via a comparison between factual and counterfactual outcomes, which moves a step towards unbiased prediction for egocentric action anticipation. We conduct experiments on two large-scale egocentric video datasets. Qualitative and quantitative results validate the effectiveness of our proposed CA-EAA.

Comparative analysis of essential oil obtained from fresh and dried leaves of medicinal sage

2020 ◽  
pp. 39-53
Author(s):  
Tatyana Shcheglova
Keyword(s):  
Comparative Analysis ◽  
Essential Oil ◽  
Raw Materials ◽  
Quantitative Difference ◽  
Botanical Garden ◽  
Component Composition ◽  
Gas Chromatography Mass Spectrometry ◽  
Qualitative And Quantitative ◽  
Salvia Officinalis L ◽  
Medical University

The article presents results of the study of a comparative analysis of essential oil obtained from fresh and dried leaves of medicinal sage (Salvia officinalis L.), growing in the Botanical Garden of the First Moscow State Medical University named after Sechenov. The studies were carried out using gas chromatography– mass spectrometry. Qualitative and quantitative difference in the component composition of the essential oil obtained from fresh and dried raw materials was determined as a result of the study.

Model Order Reduction of Transmission Line Model

2020 ◽  
Vol 19 ◽  
Keyword(s):  
Transmission Line ◽  
Large Scale ◽  
Original System ◽  
Reduced Order Model ◽  
Benchmark Problems ◽  
Transmission Line Model ◽  
Order Model ◽  
Line Model ◽  
Reduced Order ◽  
Numerical Effort

Transmission Line model are an important role in the electrical power supply. Modeling of such system remains a challenge for simulations are necessary for designing and controlling modern power systems.In order to analyze the numerical approach for a benchmark collection Comprehensive of some needful real-world examples, which can be utilized to evaluate and compare mathematical approaches for model reduction. The approach is based on retaining the dominant modes of the system and truncation comparatively the less significant once.as the reduced order model has been derived from retaining the dominate modes of the large-scale stable system, the reduction preserves the stability. The strong demerit of the many MOR methods is that, the steady state values of the reduced order model does not match with the higher order systems. This drawback has been try to eliminated through the Different MOR method using sssMOR tools. This makes it possible for a new assessment of the error system Offered that the Observability Gramian of the original system has as soon as been thought about, an H∞ and H2 error bound can be calculated with minimal numerical effort for any minimized model attributable to The reduced order model (ROM) of a large-scale dynamical system is essential to effortlessness the study of the system utilizing approximation Algorithms. The response evaluation is considered in terms of response constraints and graphical assessments. the application of Approximation methods is offered for arising ROM of the large-scale LTI systems which consist of benchmark problems. The time response of approximated system, assessed by the proposed method, is also shown which is excellent matching of the response of original system when compared to the response of other existing approaches .

scholarly journals Affective communication: a mixed method investigation into COVID-19 outbreak communication using the Taiwanese government Facebook page

2021 ◽  
pp. 175797592110035
Author(s):  
Chia Yu Lien ◽  
Yun-Hsuan Wu
Keyword(s):  
Social Media ◽  
Mixed Method ◽  
Health Authority ◽  
Disease Outbreak ◽  
Government Agencies ◽  
Affective Communication ◽  
Frontline Workers ◽  
The Public ◽  
Qualitative And Quantitative ◽  
Quantitative Results

The COVID-19 outbreak has created an unprecedented challenge for governments to convey information to the public, and social media has become a critical method of COVID-19 communication in Taiwan. Objectives: This study examines a total of 1128 Facebook posts published by Taiwan’s principal health authority from December 1, 2019 to May 31, 2020. Methods: Using both qualitative and quantitative approaches, this study investigates strategies used by the Taiwan government to communicate the COVID-19 outbreak and public responses toward these strategies. Result: Novel uses of Facebook posts on outbreak communication were identified, including solidarity, reviews of actions, press conferences, and the use of animal and cartoon images. Quantitative results showed that the public responded significantly more frequently to messages generating positive affects, such as posts that reviewed government actions and public efforts; posts that expressed thanks, approval, or comradeship; and posts that paired text with photographs of frontline workers or cute animals. Conclusion: These results suggest that, amid a disease outbreak, the public not only look for updated situations and guidelines but also for affective affirmation from government agencies.

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