Trajectory control based on discrete full-range dynamics

There has been an increasing interest in the use of mechanical dynamics, (e.g., assive, Elastic, And viscous dynamics) for energy efficient and agile control of robotic systems. Despite the impressive demonstrations of behavioural performance, The mechanical dynamics of this class of robotic systems is still very limited as compared to those of biological systems. For example, Passive dynamic walkers are not capable of generating joint torques to compensate for disturbances from complex environments. In order to tackle such a discrepancy between biological and artificial systems, We present the concept and design of an adaptive clutch mechanism that discretely covers the full-range of dynamics. As a result, The system is capable of a large variety of joint operations, including dynamic switching among passive, actuated and rigid modes. The main innovation of this paper is the framework and algorithm developed for controlling the trajectory of such joint. We present different control strategies that exploit passive dynamics. Simulation results demonstrate a significant improvement in motion control with respect to the speed of motion and energy efficiency. The actuator is implemented in a simple pendulum platform to quantitatively evaluate this novel approach.

Modeling for performance analysis of electromagnetic zero-sequence suppressor

The purpose of this work is to present a frequency domain model to demonstrate the operation of an electromagnetic arrangement for controlling the injection of zero-sequence currents in the electrical system. Considering the diversity of sequential distribution of harmonic components of a current, the device proposed can be used in the process of mitigation of zero-sequence components. This device, here called electromagnetic suppressor, consists of a blocker and filter both electromagnetic, whose joint operation can provide paths of high and low impedances that can be conveniently adjusted in order to search for a desired performance. This study presents physical considerations, mathematical modeling and computer simulations that clearly demonstrate the viability of this application as a more viable alternative in the conception of filtering systems. The performance analysis is based on the frequency response of harmonic transmittances. The efficacy of this technique in direct actions to maximize the harmonic mitigation process is demonstrated. ©2010 IEEE.

Frontex and the respect of fundamental rights: from better protection to full responsibility. EPC Policy Brief, 3 June 2014

The European Agency for the Management of Operational Cooperation at the External Borders of the Member States of the European Union (Frontex) was created to improve border management cooperation between Member States. Seen from its inception as a security-oriented body, tools and rules have been gradually developed to enhance the human rights dimension and protection regarding Frontex activities. However, this step has not been accompanied with the explicit recognition of Frontex’s legal responsibility regarding violations of human rights occurring during joint operations it coordinates. Despite Frontex position rejecting such a responsibility, it is no longer clear whether this position can be maintained, as Yves Pascouau and Pascal Schumacher demonstrate in this Policy Brief.

The PLA at home and abroad : assessing the operational capabilities of China's military /

The chapters presented in this volume have demonstrated first, Chinese and PLA leaders have a strong sense of mission and concern for China's security and well-being. Second, the PLA is committed to the transformation in military affairs with Chinese characteristics. Third, the PLA is eager to learn from the U.S. military to expand and improve its operational capabilities. Finally, the PLA has made progress in its transformation and operational capabilities. For a long time, American leaders have been surprised with the PLA's advances. This volume (and many of the previous volumes from past PLA conferences) show that these advances did not come out of the blue. Although much of the learning and many of the improvements are still far from what is desired (from Chinese expectations and American critiques), and some of the learning has even created contradictions for the PLA, these persistent and diligent learning practices will eventually bring the PLA to a higher level of proficiency in its capabilities. The emergence of a much more sophisticated PLA in the coming years should not be a surprise.

Information Processing in a Cognitive Model of NLP

A model of the cognitive process of natural language processing has been developed using the formalism of generalized nets. Following this stage-simulating model, the treatment of information inevitably includes phases, which require joint operations in two knowledge spaces – language and semantics. In order to examine and formalize the relations between the language and the semantic levels of treatment, the language is presented as an information system, conceived on the bases of human cognitive resources, semantic primitives, semantic operators and language rules and data. This approach is applied for modeling a specific grammatical rule – the secondary predication in Russian. Grammatical rules of the language space are expressed as operators in the semantic space. Examples from the linguistics domain are treated and several conclusions for the semantics of the modeled rule are made. The results of applying the information system approach to the language turn up to be consistent with the stages of treatment modeled with the generalized net.

Os processos de normalização e desenvolvimento da doutrina militar combinada nas Forças Armadas Portuguesas

O emprego das Forças Armadas Portuguesas em Operações Conjuntas e Combinadas faz-se no âmbito do quadro de alianças de que Portugal faz parte, das quais destacamos a Organização do Tratado do Atlântico Norte. No sentido de melhorar a eficácia operacional, a normalização assume um papel fundamental para que se possa atingir a interoperabilidade entre as forças da Aliança. Assim, este trabalho teve como objetivo principal, analisar e sintetizar os processos de normalização e desenvolvimento de doutrina Militar Conjunta e Combinada nas Forças Armadas Portuguesas. Tem ainda como finalidade, identificar lacunas nos processos nacionais, de forma a contribuir para uma melhor integração e harmonização da doutrina da Aliança, tendo em consideração a doutrina nacional e os interesses nacionais. A nossa investigação baseou-se num raciocínio hipotético-dedutivo, apoiado por uma estratégia qualitativa. O modelo de análise desenvolvido teve por hipóteses, que foram deduzidas de questões derivadas da questão central. Neste processo analítico, identificámos indicadores que permitiram a validação das hipóteses, para este efeito, recorremos a dois estudos de caso e uma análise SWOT. O desenvolvimento de um plano de ação que permita a integração dos processos analisados constitui o principal contributo desta investigação. A necessidade de criar uma Estrutura Coordenadora de Normalização, primordial para agilizar os procedimentos de normalização entre o Ministério da Defesa Nacional, o Estado-Maior General das Forças Armadas e os Ramos, juntamente, com a criação de um Conselho Superior de Doutrina nas Forças Armadas, que defina as prioridades e orientações gerais para o desenvolvimento de doutrina, constituem os principais resultados desta investigação. Abstract: The use of the Portuguese Armed Forces in Combined and Joint Operations is made within the framework of alliances that Portugal is a member, of which we highlight the North Atlantic Treaty Organization. In order to improve the operational efficiency, standardization plays a key role in achieving the interoperability between the forces of the Alliance. The aim of this study is to analyse and synthesize the standardization and development processes of Combined and Joint Military Doctrine in the Portuguese Armed Forces. Identify gaps in national processes, in order to contribute to a better integration and harmonization of the Alliance Doctrine, taking into account the national doctrine and national interests. Our research was based on a hypothetical-deductive argument, supported by a qualitative strategy. The analysis model developed based on assumptions, deducted from derivatives questions of the central question. In this analytical process, we identify indicators that allowed the validation of hypotheses, to achieve this purpose we used two case studies and resort to a SWOT analysis. The development of an action plan that allows the integration of the analysed processes is the main contribution of this research. The need to create a Standardization Coordination Structure it´s crucial to streamline the procedures of normalization between the Ministry of Defence, the Armed Forces General Joint Staff and the Services, along with the establishment of a Doctrine Supreme Council in the Armed Forces, which set the priorities and guidelines for the development of doctrine. This are the main outputs of this research.

Incidencia de la gestión de Frontex y el gobierno italiano en la acentuación de la crisis humanitaria de la Isla de Lampedusa entre 2011 y 2015

El presente estudio de caso busca examinar la incidencia de las medidas migratorias de control fronterizo implementadas por el Frontex y el gobierno Italiano en las condiciones mínimas de supervivencia de los migrantes irregulares, económicos y solicitantes de asilo en la Isla de Lampedusa, en el periodo 2011-2015. De esta manera, se identifican las medidas migratorias de control fronterizo implementadas por Frontex y el gobierno Italiano. Se examina la situación de la seguridad humana en la crisis migratoria de la Isla, y se analiza la relación entre las medidas migratorias de control fronterizo y las condiciones mínimas de supervivencia de los migrantes. El resultado de la investigación permite plasmar, las consecuencias negativas que han tenido las medidas migratorias en cuanto a las condiciones mínimas de supervivencia, lo que ha desembocado en una crisis humanitaria.

Observations de chirurgie, avec des remarques : l'on y a joint la préparation & les effets de l'agaric de Chêne dans les Hémorrhagies des grandes operations /

Mode of access: Internet.