A simulation-based control interface layer for a high-fidelity anthropomorphic training simulator

Deakin University’s futuristic Universal Motion simulator will overcome the limitations of current motion simulator platforms by employing an anthropomorphic robot arm to provide the motion fidelity necessary to exploit the potential of modern simulation environments. Full motion simulators frequently utilize Stewart platforms to mimic the movement of vehicles during simulation. However, due to the limited motion range and dexterity of such systems, and their inability to convey realistic accelerations, they are unable to represent accurate motion characteristics. The Universal Motion Simulation aims to close the gap between the limitations of the current motion technology and real world, by introducing a flexible, modular, high-fidelity motion system that can be used for a variety of immersive training applications. The modular nature of the design allows interchangeable and configurable simulation pods to be attached to the end effectors.

An experimental study on the failure tolerant control of a redundant planar serial manipulator via pseudo-inverse approach

In this paper, fault-tolerant control of redundant planar serial manipulators has been investigated experimentally via an offline method called psuedo-inverse reconfiguration method. Minimizing the end-effector's velocity jump via an optimal mapping of joint failures into healthy joints velocity space can be regarded as the main contribution of this reconfiguration approach. This algorithm has been simulated and implemented on a four-link serial manipulator named as TaArm. It should be mentioned that for simulation and practical tests, C++ programming language in QtCreator environment has been used which provided high computational speed. Two scenarios has been selected for simulation and implementation studies and results shows that the algorithm considerably removes the velocity jump of the end-effector in both simulation and experimetal studies.

The end of the cold war and the causes of Soviet collapse

"In 1985, Mikhail Gorbachev ascended to power in the USSR. In selecting a young reformer to the position of general secretary, the politburo had recognised the pressing need to revitalise the Soviet Union. To this end, the leadership imposed a series of reforms aimed at reinvigorating the Soviet economy and society, of which the shifts in foreign policy were the most radical and wide-ranging. Yet, the culmination of the reform process was not Soviet reinvigoration, but the rapid collapse of the USSR. The End of the Cold War and the Causes of Soviet Collapse examines the role played by this foreign policy reform process in the breakdown of Soviet power. Nick Bisley uses a historical sociological theory of the state to analyse the influence of foreign policy alongside the other domestic factors which shaped the development, functioning and failure of the Soviet state.
He concludes that the international confrontation was an important structural element of Soviet state rule and that the end of the confrontation contributed to the destabilisation of the state in the late 1980s. Moreover, he shows that international factors are fundamental to the functioning of modern states and that international and domestic orders shape one another in vital ways."--BOOK JACKET.

A new genus of Rhynchonellid Brachiopod from the Lower Triassic of South China and Implications for timing the recovery of Brachiopoda after the end-Permian mass extinction

A new genus, Meishanorhynchia, is proposed based on new material from the Lower Triassic of the Meishan section, South China. It is of a late Griesbachian age based on both associated biozones (ammonoids and
bivalves) and radiometric dates of the intercalated volcanic ash beds. Comparison with both Palaeozoic and Mesozoic-Cenozoic-related genera suggests that it may represent the first radiation of progenitor brachiopods in the aftermath of the end-Permian extinction. The lowest brachiopod horizon that contains the genus is estimated to be about 250.1±0.3 Ma. This implies that the initial stage of recovery of Brachiopoda in the Early Triassic was probably about 1.3±0.3 myr after the major pulse of the end-Permian mass extinction (dated as 251.4±0.3 Ma). This is in agreement with Hallam's expectancy that biotic recovery typically begins within one million years or so of major mass extinctions, in contrast to current views on the end-Permian extinction event which propose that the recovery of most if not all biotic groups in the Early Triassic was severely delayed and only began about five million years after the end-Permian extinction.

Rapid determination of carbohydrates in heroin drug seizures using capillary electrophoresis with short-end injection

A simple and rapid method for the analysis of carbohydrates in heroin samples by capillary electrophoresis utilizing a borate complexation method is described. Separations were performed using an uncoated fused silica capillary, 50 cm × 50 mm I.D. × 360 mm O.D. with an effective separation length of 9 cm. The system was run at 60°C with an applied voltage of -8 kilovolts. Injection of each sample was for 1 sec at -50 mbar. UV detection was employed with the wavelength set at 195 nm. The background electrolyte consisted of 65 mM borate, pH 12.0. Samples and standards were prepared in the run buffer containing 2 mg/mL of mannose as an internal standard. Under these conditions a test mixture containing glucose, sucrose, lactose, mannitol and mannose as an internal standard was resolved within 5 min. The method was used to determine the concentration of carbohydrates in heroin seizure samples and synthetic heroin samples. The results were in good agreement with the reported values.

The rapid analysis of heroin drug seizures using micellar electrokinetic chromatography with short-end injection

A simple and rapid method for the analysis of heroin seizures by micellar electrokinetic chromatography with short-end injection is described. Separations were performed using an uncoated fused silica capillary, 50 cm×50 mm I.D.×360 mm O.D. with an effective separation length of 8 cm. The system was run at 25°C with an applied negative voltage of –25 kilovolts. Injection of each sample was for 2 s at –50 mbar. UV detection was employed with the wavelength set at 210 nm. The background electrolyte consisted of 85:15 (water:acetonitrile, v/v) containing final concentrations of 25 mM SDS and 15 mM sodium borate, pH 9.5. Samples and standards were prepared in 0.1% v/v acetic acid and diluted in the run buffer containing 1 mg/ml of N,N-dimethyl-5-methoxytryptamine as an internal standard. Under these conditions a text mixture containing caffeine, paracetamol, morphine, codeine, heroin, and acetylcodeine was resolved within 1.5 min. The method was used to determine the concentration of heroin in heroin seizure samples, and the results were in good agreement with those obtained by a validated gas chromatographic method.

Introduction: Lambert and lampposts: the end of equality in Anglo-Australian matrimonial property law

This contribution introduces the volume by classifying the collection into 3 categories: (i) examinations of the area of property law which focus on the relationship between the decisions in White, Figgins and Lambert; (ii) reactions to the implications of McFarlane, Parlour for the evolution of spousal maintenance; (iii) more general theoretical considerations of ‘fairness’. It is argued that the judicial response to the breadth of the discretion provided by the respective legislatures has been to create ‘rules of thumb’; and that the absence of any serious examination of underlying principles has been to permit opportunistic cross-referencing between the jurisdictions. In this context it is argued that (analogously with the introduction of no-fault divorce) the recent attraction of ‘equality’ as a governing principle owes more to the incapacity and/or unwillingness of the forensic process to evaluate contribution in a coherent manner than to any genuine commitment to substantive equality.

A mechanism to end conflict in Aceh

On 15 August 2005, the Government of Indonesia and the Free Aceh Movement (GAM) signed an agreement to end almost 30 years of conflict between them over claims to independence. After a series of failed ceasefires, this was the first comprehensive peace agreement, and contained within it the potential to settle the political and economic claims that fuelled a desire for separation in Aceh. The talks that led to the peace agreement followed the devastating tsunami of 26 December 2004, which killed over 100,000 people in Aceh, and an escalated military campaign by the Indonesian military against GAM forces. The talks were brokered by an international mediation organisation and supported by the European Union (EU). Despite some opposition within Jakarta, the talks were ultimately successful, producing an agreement that addressed many of the fundamental concerns of the Acehnese, especially around economic redistribution and local political representation. The EU agreed to monitor the agreement by sending a 200 strong Aceh Monitoring Mission (AAM), supported by monitors from ASEAN states. The main purpose of the AMM was to oversee the decommissioning of GAM weapons and the withdrawal of most Indonesian troops and police. It was thereafter expected to retain a smaller presence in order to monitor the implementation of other aspects of the agreement. The Aceh peace agreement faced a number of hurdles, including whether or not the Indonesian military would work to undermine the peace agreement, and over the continuing presence in Aceh of the military’s proxy militias. There were also concerns that the legislation required to secure aspects of the peace agreement might not be passed by the Indonesian legislature or would be diluted to the point that they would no longer be acceptable to GAM. However, as a politically negotiated agreement to end the conflict, the peace agreement was seen as establishing the model for peace in the region, and was touted by some observers as providing the basis for a model for peace in other parts of Indonesia’s sometimes troubled archipelago.

Intention to create legal relations: the end of presumptions

Traditionally, courts have presumed that commercial parties intend to create legal relations when entering into agreements and that family members do not. Although not without their critics, until recently these twin presumptions appeared immutable. This article examines the trend to reduce the emphasis on these presumptions by some members of the judiciary in the selection of Australian and New Zealand cases and proposes that as a consequence of the High Court's decision in Ermogenous v Greek Orthodox Community of SA Inc (2002) 209 CLR 95 the intention to create legal relations presumptions should no longer be used in any context. It concludes by considering the implications for this area of law.