829 resultados para Mobile Robots Dynamic and Kinematic Modelling and Simulation


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Changes in concentration levels and speciation of heavy metals during sedimentation on example of a typical semi-closed bay, where bottom sediments have formed due to river run-off, are under consideration. It is shown that due to desorption of mobile manganese, zinc and copper entered the bay with river suspended matter, their total contents in bottom sediments decrease and percentages of lithogenic forms increase. Contents and speciation of iron in bottom sediments are determined by its participation in coagulation of river colloids in the mixing zone and by mechanical differentiation of sedimentary material.

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The aim of this paper is to find out if there is a significant difference in using NDVI dataset processed by harmonic analysis method to evaluate its dynamic and response to climate change, compared with the original data.

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Hydrographical changes of the southern Indian Ocean over the last 230 kyr, is reconstructed using a 17-m-long sediment core (MD 88 770; 46°01'S 96°28'E, 3290m). The oxygen and carbon isotopic composition of planktonic (N. pachyderma sinistra and G. bulloides) and benthic (Cibicidoides wuellerstorfi, Epistominella exigua, and Melonis barleeanum) foraminifera have been analysed. Changes in sea surface temperatures (SST) are calculated using diatom and foraminiferal transfer functions. A new core top calibration for the Southern Ocean allows an extension of the method developed in the North Atlantic to estimate paleosalinities (Duplessy et al., 1991). The age scale is built using accelerator mass spectrometry (AMS) 14C dating of N. pachyderma s. for the last 35 kyr, and an astronomical age scale beyond. Changes in surface temperature and salinity clearly lead (by 3 to 7 kyr) deep water variations. Thus changes in deep water circulation are not the cause of the early response of the surface Southern Ocean to climatic changes. We suggest that the early warming and cooling of the Southern Ocean result from at least two processes acting in different orbital bands and latitudes: (1) seasonality modulated by obliquity affects the high-latitude ocean surface albedo (sea ice coverage) and heat transfer to and from the atmosphere; (2) low-latitude insolation modulated by precession influences directly the atmosphere dynamic and related precipitation/ evaporation changes, which may significantly change heat transfer to the high southern latitudes, through their control on latitudinal distribution of the major frontal zones and on the conditions of intermediate and deep water formation.

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Changes in concentration levels and speciation of heavy metals during sedimentation on example of a typical semi-closed bay, where bottom sediments have formed due to river run-off, are under consideration. It is shown that due to desorption of mobile manganese, zinc and copper entered the bay with river suspended matter, their total contents in bottom sediments decrease and percentages of lithogenic forms increase. Contents and speciation of iron in bottom sediments are determined by its participation in coagulation of river colloids in the mixing zone and by mechanical differentiation of sedimentary material.

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Changes in concentration levels and speciation of heavy metals during sedimentation on example of a typical semi-closed bay, where bottom sediments have formed due to river run-off, are under consideration. It is shown that due to desorption of mobile manganese, zinc and copper entered the bay with river suspended matter, their total contents in bottom sediments decrease and percentages of lithogenic forms increase. Contents and speciation of iron in bottom sediments are determined by its participation in coagulation of river colloids in the mixing zone and by mechanical differentiation of sedimentary material.

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Microzooplankton (the 20 to 200 µm size class of zooplankton) is recognised as an important part of marine pelagic ecosystems. In terms of biomass and abundance pelagic ciliates are one of the important groups of organism in microzooplankton. However, their rates - grazing and growth - , feeding behaviour and prey preferences are poorly known and understood. A set of data was assembled in order to derive a better understanding of pelagic ciliates rates, in response to parameters such as prey concentration, prey type (size and species), temperature and their own size. With these objectives, literature was searched for laboratory experiments with information on one or more of these parameters effect studied. The criteria for selection and inclusion in the database included: (i) controlled laboratory experiment with a known ciliates feeding on a known prey; (ii) presence of ancillary information about experimental conditions, used organisms - cell volume, cell dimensions, and carbon content. Rates and ancillary information were measured in units that meet the experimenter need, creating a need to harmonize the data units after collection. In addition different units can link to different mechanisms (carbon to nutritive quality of the prey, volume to size limits). As a result, grazing rates are thus available as pg C/(ciliate*h), µm**3/(ciliate*h) and prey cell/(ciliate*h); clearance rate was calculated if not given and growth rate is expressed as the growth rate per day.

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In the IT industry, there has been a remarkable increase in the demand for system LSI. A system LSI must be tailor-designed for each electrical appliance, and then produced. It is said that in recent years, this production method has made the IC cycle ambiguous. It can be sought that the choice of whether the economy pursues a development path centering on technology which is tradable or technology which is embodied in labor, depends on the historical background. In this paper, the economic background is explained in order to analyze and capture movements in the IT industry and technology. Then, an econometric model for Hungary has been constructed to estimate the effect of technological progress on the economy.

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FDI in the garment sector has been the single case of large-scale manufacturing investment in African low-income countries since the 1990s. While FDI has triggered the development of local industries in many developing countries, it has not yet been realized in Africa. This paper describes the spillover process in the Kenyan garment industry and investigates the background of local firms' behavior through firm interviews and simulation of expected profits in export market. It shows that credit constraint, rather than absorptive capacity, is a primary source of inactive participation in export opportunity. Only firms which afford additional production facilities without sacrificing stable domestic supply may be motivated to start exporting. However, in comparison with successful Asian exporters, those firms were not as motivated as Asian firms due to the large gap in expected profits.

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Pb17Li is today a reference breeder material in diverse fusion R&D programs worldwide. Extracting dynamic and structural properties of liquid LiPb mixtures via molecular dynamics simulations, represent a crucial step for multiscale modeling efforts in order to understand the suitability of this compound for future Nuclear Fusion technologies. At present a Li-Pb cross potential is not available in the literature. Here we present our first results on the validation of two semi-empirical potentials for Li and Pb in liquid phase. Our results represent the establishment of a solid base as a previous but crucial step to implement a LiPb cross potential. Structural and thermodynamical analyses confirm that the implemented potentials for Li and Pb are realistic to simulate both elements in the liquid phase.

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Pb17Li is today a reference breeder material in diverse fusion R&D programs worldwide. Extracting dynamic and structural properties of liquid LiPb mixtures via molecular dynamics simulations, represent a crucial step for multiscale modeling efforts in order to understand the suitability of this compound for future Nuclear Fusion technologies. At present a Li-Pb cross potential is not available in the literature. Here we present our first results on the validation of two semi-empirical potentials for Li and Pb in liquid phase. Our results represent the establishment of a solid base as a previous but crucial step to implement a LiPb cross potential. Structural and thermodynamical analyses confirm that the implemented potentials for Li and Pb are realistic to simulate both elements in the liquid phase.

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The complexity in the execution of cooperative tasks is high due to the fact that a robot team requires movement coordination at the beginning of the mission and continuous coordination during the execution of the task. A variety of techniques have been proposed to give a solution to this problem assuming standard mobile robots. This work focuses on presenting the execution of a cooperative task by a modular robot team. The complexity of the task execution increases due to the fact that each robot is composed of modules which have to be coordinated in a proper way to successfully work. A combined tight and loose cooperation strategy is presented and a bar-pushing example is used as a cooperative task to show the performance of this type of system.

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A number of thrombectomy devices using a variety of methods have now been developed to facilitate clot removal. We present research involving one such experimental device recently developed in the UK, called a ‘GP’ Thrombus Aspiration Device (GPTAD). This device has the potential to bring about the extraction of a thrombus. Although the device is at a relatively early stage of development, the results look encouraging. In this work, we present an analysis and modeling of the GPTAD by means of the bond graph technique; it seems to be a highly effective method of simulating the device under a variety of conditions. Such modeling is useful in optimizing the GPTAD and predicting the result of clot extraction. The aim of this simulation model is to obtain the minimum pressure necessary to extract the clot and to verify that both the pressure and the time required to complete the clot extraction are realistic for use in clinical situations, and are consistent with any experimentally obtained data. We therefore consider aspects of rheology and mechanics in our modeling.

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The fragmented condition of our everyday brings us closer to the risks of hyper-expression. Against it two positions unfold to help us face a world that escapes our capacities: familiarity and poetic recognition. In the latter it is crucial the role of the insignificant as dynamic and relational instigator of a conscious threading of reality through the actions of the Poeta Faber and his careful look onto the world. / The production of the common as the material and symbolic fabric of the city, unstable reality in a perpetual becoming, leads us to a new and much needed reconsideration of the public/private division born from the modern state. Immersed in the confusion between public and common, we have not perceived that through the expropriation of the first we have been prepared for the willing surrendering of the second. / From insignificance to rebellion as affirmative going into action related to the idea of minor architecture as common and intensely political production, born from the inside of a society that has no more outsides.

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The Agent-Based Modelling and simulation (ABM) is a rather new approach for studying complex systems withinteracting autonomous agents that has lately undergone great growth in various fields such as biology, physics, social science, economics and business. Efforts to model and simulate the highly complex cement hydration process have been made over the past 40 years, with the aim of predicting the performance of concrete and designing innovative and enhanced cementitious materials. The ABM presented here - based on previous work - focuses on the early stages of cement hydration by modelling the physical-chemical processes at the particle level. The model considers the cement hydration process as a time and 3D space system, involving multiple diffusing and reacting species of spherical particles. Chemical reactions are simulated by adaptively selecting discrete stochastic simulation for the appropriate reaction, whenever that is necessary. Interactions between particles are also considered. The model has been inspired by reported cellular automata?s approach which provides detailed predictions of cement microstructure at the expense of significant computational difficulty. The ABM approach herein seeks to bring about an optimal balance between accuracy and computational efficiency.

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The challenge to properly feed a world population of 9.2 billion by 2050, that must be achieved on essentially currently cropped area, requires that food production be increased by 70%. This large increase can only be achieved by combinations of greater crop yields and more intensive cropping adapted to local conditions and availability of inputs. Farming systems are dynamic and continuously adapt to changing ecological, environmental and social conditions, while achieving greater production and resource-use efficiency by application of science and technology. This article argues that the solution to feed and green the world in 2050 is to support this evolution more strongly by providing farmers with necessary information, inputs, and recognition. There is no revolutionary alternative. Proposals to transform agriculture to low-input and organic systems would, because of low productiv- ity, exacerbate the challenge if applied in small part, and ensure failure if applied more widely. The challenge is, however, great. Irrigation, necessary to increase cropping intensity in many areas cannot be extended much more widely than at present, and it is uncertain if the current rate of crop yield increase can be maintained. Society needs greater recognition of the food-supply problem and must increase funding and support for agricultural research while it attends to issues of food waste and over consumption that can make valuable reductions to food demand from agriculture