A modular designed bolt tightening shaft based on adaptive fuzzy backstepping control

This paper presents a modular designed autonomous bolt tightening shaft system with an adaptive fuzzy backstepping control approach developed for it. The bolt tightening shaft is designed for the autonomous bolt tightening operation, which has huge potential for industry application. Due to the inherent nonlinear and uncertain properties, the bolt tightening shaft and the bolt tightening process are mathematically modeled as an uncertain strict feedback system. With the adaptive backstepping and approximation property of fuzzy logic system, the controller is recursively designed. Based on the Lyapunov stability theorem, all signals in the closed-loop system are proved to be uniformly ultimately bounded and the torque tracking error exponentially converges to a small residue. And the effectiveness and performance of the proposed autonomous system are verified by the simulation and experiment results on the bolt tightening shaft system.     

Distinct element method analysis of a retaining wall using a steel frame and fill materials

A technique is developed to clearly establish the shear resistance of a cellular structure, retaining wall composed of a steel frame and fill materials with both continuous and discontinuous characteristics. To overcome the limitation of the existing analysis approach based on continuum mechanics, in which the shear behavior and interaction between the frames and fill material of this type of structure are difficult to describe, this paper introduces displacement incremental analysis into the distinct element method. The results obtained by using the proposed approach are compared with experimental results to verify its accuracy. The results show an internal friction angle of fill materials and overburdening load are major factor determining the shear resistance of a retaining wall with a cellular structure type. From the results of the parametric study on the shear behavior of this type of structure, this paper also proposes a shear resistance moment-shear displacement formula for designing a retaining wall with a cellular structure type.     

Remote-Controlled Ambidextrous Robot Hand Concept

In the development of robotic limbs, the side of members is of importance to define the shape of artificial limbs and the range of movements. It is mainly significant tbr biomedical applications concerning patients suffering arms or legs injuries, fn this paper, the concept of an ambidextrous design lbr robot hands is introduced. The fingers can curl in one xvay or another, to imitate either a right hand or a left hand. The advantages and inconveniences of different models have been investigated to optimise the range and the maximum force applied by fingers. Besides, a remote control interthce is integrated to the system, allowing both to send comrnands through internet and to display a video streaming of the ambidextrous hand as feedback. Therefore, a robotic prosthesis could be used for the first time in telerehabilitation. The main application areas targeted are physiotherapy alter strokes or management of phantom pains/br amputees by/earning to control the ambidextrous hand. A client application is also accessible on Facehook social network, making the robotic limb easily reachable for the patients. Additionally the ambidextrous hand can be used tbr robotics research as well as artistic performances.     

安博士再推多款专车专用隔音套餐

在国内的汽车隔音市场上．安博士无疑是最勤奋．也最具创新精神的品牌了,其独辟蹊径推出的专车专用隔音概念．不仅赢得了市场上的一致好评．而且也获得了消费者的认可。     

Development of an operational fitness test for the Royal Air Force

Since 2002, the Royal Air Force (RAF) has been working towards developing role-related physical tests for use as an operational fitness test (OFT). The purpose of this study was to establish reliability of the OFT (comprising four tests), investigate gym-based tests as predictors of performance and establish performance standards. Fifty-eight RAF personnel performed the OFT on three occasions. A separate cohort carried out fitness and anthropometric tests before performing the OFT, by way of establishing performance predictors. Documented evidence and views of an expert panel were used to determine OFT standards. Reliability ranged from moderate to good for three tests, with one test (Dig) showing poor reliability. The 95% limits of agreement for the prediction models ranged from good to poor (6.7-34.2%). The prediction models were not sufficiently accurate to estimate confidently OFT performance, but could be used as a guide to quantify likely outcome and training needs.     

Unsupervised feature selection using clustering ensembles and population based incremental learning algorithm

This paper describes a novel feature selection algorithm for unsupervised clustering, that combines the clustering ensembles method and the population based incremental learning algorithm. The main idea of the proposed unsupervised feature selection algorithm is to search for a subset of all features such that the clustering algorithm trained on this feature subset can achieve the most similar clustering solution to the one obtained by an ensemble learning algorithm. In particular, a clustering solution is firstly achieved by a clustering ensembles method, then the population based incremental learning algorithm is adopted to find the feature subset that best fits the obtained clustering solution. One advantage of the proposed unsupervised feature selection algorithm is that it is dimensionality-unbiased. In addition, the proposed unsupervised feature selection algorithm leverages the consensus across multiple clustering solutions. Experimental results on several real data sets demonstrate that the proposed unsupervised feature selection algorithm is often able to obtain a better feature subset when compared with other existing unsupervised feature selection algorithms.     

Static virtualization of C source code

Many existing systems are written in C and are not re‐entrant or thread safe. Sometimes these systems are required in a context for which they were not first designed, possibly meaning they now need to be re‐entrant. This article introduces a program that filters C source code, modifying shared resources (the global variables) to make the code re‐entrant: ‘virtualizing’ the code. The code is then compiled as normal. This approach allows programmatic virtualization with little cost at runtime. Copyright © 2007 John Wiley & Sons, Ltd.     

Robust Adaptive Control of Cooperating Mobile Manipulators With Relative Motion

In this paper, coupled dynamics are presented for two cooperating mobile robotic manipulators manipulating an object with relative motion in the presence of uncertainties and external disturbances. Centralized robust adaptive controls are introduced to guarantee the motion, and force trajectories of the constrained object converge to the desired manifolds with prescribed performance. The stability of the closed-loop system and the boundedness of tracking errors are proved using Lyapunov stability synthesis. The tracking of the constraint trajectory/force up to an ultimately bounded error is achieved. The proposed adaptive controls are robust against relative motion disturbances and parametric uncertainties and are validated by simulation studies.     

Triangulation in practice

Triangulation is the means by which an alternate perspective is used to validate, challenge or extend existing findings. It is frequently used when the field of study is difficult, demanding or contentious and presence research meets all of these criteria. We distinguish between the use of hard and soft triangulation—the former emphasising the challenging of findings, the latter being more confirmatory in character. Having reviewed a substantial number of presence papers, we conclude that strong triangulation is not widely used while soft triangulation is routinely employed. We demonstrate the usefulness of hard triangulation by contrasting an ontological analysis of in-ness with an empirical study of (computer) game playing. We conclude that presence research would be well served by the wider use of hard triangulation and for the reporting of anomalous and ill-fitting results.