scholarly journals Dynamics based modeling of wheeled platform for humanoid robot torso

2016 ◽  
Vol 13 (3) ◽  
pp. 335-345
Author(s):  
Vladimir Petrovic ◽  
Kosta Jovanovic ◽  
Veljko Potkonjak
Keyword(s):  
Humanoid Robot ◽  
Theoretical Background ◽  
Upper Body ◽  
External Disturbances ◽  
Modern Times ◽  
Proper Size ◽  
External Forces ◽  
Engineering Projects

From the ancient mythology till the modern times, people were trying to build an artificial mechanical replica of themselves. Inspired by this long tradition of various engineering projects, we will hereby describe a partly humanoid robotic structure. Our robotic configuration is composed out of an anthropomimetic upper body, but instead of legs it uses a wheeled cart for the motion. In our research, this so-called semi-anthropomimetic structure has a four-wheeled cart. This work is aiming to analyze the behaviour of the robot that is exposed to different kind of external disturbances. Disturbances coming from the outside in the form of external forces (impulse and long term) simulate the interactions of the robot and its ambience. Necessary simulations were thoroughly executed (in that way analyzing robotic balance) and proper size of the cart is evaluated following the ZMP theoretical background.

scholarly journals Influence of external disturbances to dynamic balance of the semi-anthropomimetic robot

2014 ◽  
Vol 11 (1) ◽  
pp. 145-158
Author(s):  
Vladimir Petrovic ◽  
Kosta Jovanovic ◽  
Veljko Potkonjak
Keyword(s):  
External Force ◽  
Dynamic Balance ◽  
Mobile Platform ◽  
Upper Body ◽  
External Disturbances ◽  
History Of ◽  
Entire History ◽  
Font Color ◽  
External Impulse

The idea of building an artificial man extends through the entire history of mankind. In this paper we present a semi-anthropomimetic robot, as a structure that consists of an upper human-like body mounted on a cart (mobile platform). Semi-anthropomimetic robot uses the three-wheeled mobile platform (two driving wheels and one passive wheel). Upper body configuration is represented as an anthropomimetic structure with antagonistically coupled drives. The aim of this paper is analysis of the robot behaviour under disturbances. Two types of disturbances are examined: disturbances following from the cart motion, and external disturbances. External disturbances (external impulse and long term external force) emulate interaction of the robot with its environment. Numerous simulations were performed, in order to analyze the balance of the robot. Accordingly, appropriate dimensions of the mobile platform are estimated, relying on the ZMP concept. [Projekat Ministarstva nauke Republike Srbije, br. TR-35003 i br. III-44008] <br><br><font color="red"><b> This article has been retracted. Link to the retraction <u><a href="http://dx.doi.org/10.2298/SJEE1603435E">10.2298/SJEE1603435E</a><u></b></font>

Challenges, Concerns, and Perspectives for Poland's Energy Transition during Global COVID-19 Pandemic

2020 ◽  
Vol 1 (2) ◽  
pp. 169-173
Author(s):  
Andrzej Lorkowski ◽  
Robert Jeszke
Keyword(s):  
Internal Energy ◽  
Energy Transition ◽  
Energy Transformation ◽  
Modern Times ◽  
Current Discussion ◽  
The Face ◽  
National Governments ◽  
The Eu ◽  
At Home

The whole world is currently struggling with one of the most disastrous pandemics to hit in modern times – Covid-19. Individual national governments, the WHO and worldwide media organisations are appealing for humanity to universally stay at home, to limit contact and to stay safe in the ongoing fight against this unseen threat. Economists are concerned about the devastating effect this will have on the markets and possible outcomes. One of the countries suffering from potential destruction of this situation is Poland. In this article we will explain how difficult internal energy transformation is, considering the long-term crisis associated with the extraction and usage of coal, the European Green Deal and current discussion on increasing the EU 2030 climate ambitions. In the face of an ongoing pandemic, the situation becomes even more challenging with each passing day.

PRACTICAL ASPECTS OF APPLICATION OF THE MODEL OF INTEGRAL ASSESSMENT OF THE LEVEL OF ECONOMIC SECURITY OF UKRAINE

2017 ◽  
Author(s):  
Oksana Gaiduchok ◽  
◽  
Oleksiy Stupnytskyi ◽  
Keyword(s):  
National Security ◽  
Economic Security ◽  
Modern World ◽  
Security Threats ◽  
National Interests ◽  
Modern Times ◽  
Military Security ◽  
Integral Assessment ◽  
Political Economic

In modern times, it is believed that by reducing the risk of military intervention, military security has lost its relevance, and economic security has become a priority of national interests. The principle of economic security is as follows: national interests are supported through an economic system that supports free exchange and ensures the upward mobility of the nation. The analysis of economic security is based on the concept of national interests. It is well known that the problem of national security and its components cannot be considered only from the standpoint of current interests; it is closely related to the possibilities of their implementation over a significant, long-term period. Each stage of realization of national interests of the country is characterized by its assessment of its geopolitical, geostrategic and geoeconomic conditions, security threats and the main carriers of these threats, the mechanism of realization of national interests (each of the stages has its own assessment of the main definitions and categories of security, the main vectors of geoeconomic policy). Economic security is the foundation and material basis of national security. A state is in a state of security if it protects its own national interests and is able to defend them through political, economic, socio-psychological, military and other actions. There is a close connection between economic security and the system of national and state interests, and it is through this category that the problems of economic potential and economic power of the state, geopolitical and geoeconomic positions of the country in the modern world are intertwined. At a time when regional forces are trying to expand markets, provide access to finance and the latest technology, economic security has become a necessary component of the ability of regional forces to expand their influence. The article is devoted to the study of economic security of Ukraine and its components using the model of quantitative assessment of economic security of Ukraine. Using the Fishburne method, a model is built that allows to obtain an integrated assessment of the level of economic security based on the synthesis of nine partial indicators.

scholarly journals “Industrious Revolution” Revisited: A Variety of Diligence Derived from a Long-Term Local History of Kuta in Kyô-Otagi, a Former County in Japan

Histories ◽  
2021 ◽  
Vol 1 (3) ◽  
pp. 108-121
Author(s):  
Satoshi Murayama ◽  
Hiroko Nakamura
Keyword(s):  
Early Modern ◽  
Industrial Production ◽  
Industrial Revolution ◽  
Local History ◽  
The Self ◽  
Modern Times ◽  
Original Theory ◽  
Self Reliance ◽  
History Of

Jan de Vries revised Akira Hayami’s original theory of the “Industrious Revolution” to make the idea more applicable to early modern commercialization in Europe, showcasing the development of the rural proletariat and especially the consumer revolution and women’s emancipation on the way toward an “Industrial Revolution.” However, Japanese villages followed a different path from the Western trajectory of the “Industrious Revolution,” which is recognized as the first step to industrialization. This article will explore how a different form of “industriousness” developed in Japan, covering medieval, early modern, and modern times. It will first describe why the communal village system was established in Japan and how this unique institution, the self-reliance system of a village, affected commercialization and industrialization and was sustained until modern times. Then, the local history of Kuta Village in Kyô-Otagi, a former county located close to Kyoto, is considered over the long term, from medieval through modern times. Kuta was not directly affected by the siting of new industrial production bases and the changes brought to villages located nearer to Kyoto. A variety of diligent interactions with living spaces is introduced to demonstrate that the industriousness of local women was characterized by conscience-driven perseverance.

scholarly journals Cycles and circulation: a theme in the history of biology and medicine

2021 ◽  
Vol 43 (3) ◽  
Author(s):  
Nick Hopwood ◽  
Staffan Müller-Wille ◽  
Janet Browne ◽  
Christiane Groeben ◽  
Shigehisa Kuriyama ◽  
...  
Keyword(s):  
Natural Philosophy ◽  
Life Cycles ◽  
Modern Times ◽  
Systems Ecology ◽  
The Face ◽  
History Of ◽  
Celestial Bodies ◽  
Reproductive Cycles ◽  
Economics And Biology

AbstractWe invite systematic consideration of the metaphors of cycles and circulation as a long-term theme in the history of the life and environmental sciences and medicine. Ubiquitous in ancient religious and philosophical traditions, especially in representing the seasons and the motions of celestial bodies, circles once symbolized perfection. Over the centuries cyclic images in western medicine, natural philosophy, natural history and eventually biology gained independence from cosmology and theology and came to depend less on strictly circular forms. As potent ‘canonical icons’, cycles also interacted with representations of linear and irreversible change, including arrows, arcs, scales, series and trees, as in theories of the Earth and of evolution. In modern times life cycles and reproductive cycles have often been held to characterize life, in some cases especially female life, while human efforts selectively to foster and disrupt these cycles have harnessed their productivity in medicine and agriculture. But strong cyclic metaphors have continued to link physiology and climatology, medicine and economics, and biology and manufacturing, notably through the relations between land, food and population. From the grand nineteenth-century transformations of matter to systems ecology, the circulation of molecules through organic and inorganic compartments has posed the problem of maintaining identity in the face of flux and highlights the seductive ability of cyclic schemes to imply closure where no original state was in fact restored. More concerted attention to cycles and circulation will enrich analyses of the power of metaphors to naturalize understandings of life and their shaping by practical interests and political imaginations.

scholarly journals State Feedback Sliding Mode Controller Design for Human Swing Leg System

2018 ◽  
Vol 21 (1) ◽  
pp. 51 ◽  
Author(s):  
Hazem I. Ali ◽  
Azhar J. Abdulridha
Keyword(s):  
State Feedback ◽  
Humanoid Robot ◽  
Controller Design ◽  
Sliding Mode ◽  
Knee Joints ◽  
Upper Body ◽  
Double Pendulum ◽  
Robot Leg ◽  
Dynamic Output Feedback Controller ◽  
The Mathematical Model

In this paper, the robustness properties of sliding mode control (SMC) which is designed to produce a dynamic output feedback controller to achieve robustness for trajectory tracking of the nonlinear human swing leg system is presented. The human swing leg represents the support of human leg or the humanoid robot leg which is usually modeled as a double pendulum. The thigh and shank of a human leg will respect the pendulum links, hip and knee will connect the upper body to thigh and then shank respectively. The total moments required to move the muscles of thigh and shank are denoted by two external (servomotors) torques applied at the hip and knee joints. The mathematical model of the system is developed. The results show that the proposed controller can robustly stabilize the system and achieve a desirable time response specification.

The Pirate and the Admiral: Europeanisation and Globalisation of Maritime Conflict Management

2019 ◽  
Vol 20 (4) ◽  
pp. 429-470
Author(s):  
Louis Sicking
Keyword(s):  
Conflict Management ◽  
International Law ◽  
West African ◽  
Universal Jurisdiction ◽  
First Century ◽  
Maritime Security ◽  
Maritime Trade ◽  
Modern Times ◽  
Special Place

AbstractPiracy holds a special place within the field of international law because of the universal jurisdiction that applies: any state may seize a pirate ship on the high seas and decide upon the penalties to be imposed, as is currently the case with Somali and West African pirates. Unlike today, piracy was the norm in pre-modern times. Maritime trade and piracy went hand in hand. At the same time, kings and emperors recruited their admirals from among pirates. This raises the question of how princes, states and cities distinguished between legal and illegal violence at sea. How did they deal with maritime conflict among themselves and among their respective subjects and citizens? This article puts maritime conflict management in a European, global and long term perspective while avoiding anachronistic and teleological approaches. Finally, it argues that pre-modern conflict management is relevant to understand maritime security in the twenty-first century.

Physical–spatial–technological environments and successful ageing

2021 ◽  
pp. 43-50
Author(s):  
Clemens Tesch-Römer ◽  
Hans-Werner Wahl ◽  
Suresh I. S. Rattan ◽  
Liat Ayalon
Keyword(s):  
Point Of View ◽  
Successful Ageing ◽  
Term Care ◽  
Lack Of Fit ◽  
Person Environment Fit ◽  
Environment Agency ◽  
External Forces ◽  
Practical Implications ◽  
Practical Sense

In this chapter the authors argue that physical, spatial, and technological environments are relevant to successful ageing both in a conceptual and in a practical sense. Conceptually, efforts towards ageing successfully cannot be discussed separately from the various external forces that serve as constraining or enhancing influences in this respect. From a practical point of view, interventions aimed at improving one’s environment become increasingly relevant as an individual’s resources and reserve capacities dwindle. Environments for ageing successfully may be characterized in terms of person–environment docility vs proactivity, person–environment fit vs lack of fit, and person–environment agency vs belonging. The authors link these concepts with various models of successful ageing and discuss practical implications for housing, long-term care environments, neighbourhoods, municipalities, and use of digital technology.

Guided Waves as an Online Monitoring Technology for Long-Term Operation in Nuclear Power Plants: Experimental Results on a Steam Discharge Pipe

2019 ◽  
Vol 5 (1) ◽  
Author(s):  
Mauro Cappelli ◽  
Francesco Cordella ◽  
Francesco Bertoncini ◽  
Marco Raugi
Keyword(s):  
Nuclear Power ◽  
Power Plants ◽  
Nuclear Power Plants ◽  
Guided Waves ◽  
Complex Structure ◽  
Theoretical Background ◽  
Guided Wave ◽  
Experimental Results ◽  
Term Operation

Guided wave (GW) testing is regularly used for finding defect locations through long-range screening using low-frequency waves (from 5 to 250 kHz). By using magnetostrictive sensors, some issues, which usually limit the application to nuclear power plants (NPPs), can be fixed. The authors have already shown the basic theoretical background and simulation results concerning a real steel pipe, used for steam discharge, with a complex structure. On the basis of such theoretical framework, a new campaign has been designed and developed on the same pipe, and the obtained experimental results are now here presented as a useful benchmark for the application of GWs as nondestructive techniques. Experimental measures using a symmetrical probe and a local probe in different configurations (pulse-echo and pitch-catch) indicate that GW testing with magnetostrictive sensors can be reliably applied to long-term monitoring of NPPs components.

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