This paper presents a design tool of impedance controllers for robot manipulators, based on the formulation of Lyapunov functions. The proposed control approach addresses two cha\-llen\-ges: the regulation of the interaction forces, ensured by the impedance error converging to zero, while preserving a suitable path tracking despite constraints imposed by the environment. The asymptotic stability of an equilibrium point of the system, composed by full non\-li\-near robot dynamics and the impedance control, is demonstrated according to Lyapunov's direct method. The system's performance was tested through the real-time experimental implementation of an interaction task involving a two degree-of-freedom, direct-drive robot.
Philosophy of technology was not initially considered a consolidated field of inquiry. However, under the influence of sociology and pragmatist philosophy, something resembling a consensus has emerged in a field previously marked by a lack of agreement amongst its practitioners. This has given the field a greater sense of structure and yielded interesting research. However, the loss of the earlier “messy” state has resulted in a limitation of the field’s scope and methodology that precludes an encompassing view of the problematic issues inherent in the question of technology. It is argued that the heterodox disunity and diversity of earlier philosophy of technology was not a mark of theoretical immaturity but was necessitated by the field’s complex subject matter. It is further argued that philosophy of technology should return to its pluralistic role as a meta-analytical structure linking insights from different fields of research. and Filosofi e techniky nebyla zpočátku považována za ucelenou oblast bádání. Pod vlivem sociologie a pragmatické fi losofi e se však postupně začal utvářet určitý konsensus, který dal fi losofi i techniky větší strukturovanost a nová témata k výzkumů. Ztráta dřívějšího „chaotického“ stavu však vedla k omezení rozsahu a metodiky tohoto oboru a znesnadňuje komplexní pohled, který je pro zkoumání technologie nezbytný. V tomto článku budeme zastávat pozici, že heterodoxní nejednotnost a rozmanitost dřívější fi losofi e techniky nebyla známkou teoretické nezralosti, ale nutným důsledkem složitosti zkoumané oblasti. Filosofi e techniky by se dle nás měla vrátit ke své pluralitní roli metaanalytické struktury, která spojuje poznatky z různých oblastí výzkumu.
Let $(H,\alpha )$ be a monoidal Hom-Hopf algebra and $(A,\beta )$ a right $(H,\alpha )$-Hom-comodule algebra. We first introduce the notion of a relative Hom-Hopf module and prove that the functor $F $ from the category of relative Hom-Hopf modules to the category of right $(A, \beta )$-Hom-modules has a right adjoint. Furthermore, we prove a Maschke type theorem for the category of relative Hom-Hopf modules. In fact, we give necessary and sufficient conditions for the functor that forgets the $(H, \alpha )$-coaction to be separable. This leads to a generalized notion of integrals.
In this paper a model for the recovery of human and economic activities in a region, which underwent a serious disaster, is proposed. The model treats the case that the disaster region has an industrial collaboration with a non-disaster region in the production system and, especially, depends upon each other in technological development. The economic growth model is based on the classical theory of R. M. Solow (1956), and the full model is described as a nonlinear system of ordinary differential equations.
In this paper we show that the measure generated by the indefinite Henstock-Kurzweil integral is $F_{\sigma \delta }$ regular. As a result, we give a shorter proof of the measure-theoretic characterization of the Henstock-Kurzweil integral.
Steroid profiling helps various pathologies to be rapidly
diagnosed. Results from analyses investigating steroidogenic
pathways may be used as a tool for uncovering pathology
causations and proposals of new therapeutic approaches. The
purpose of this study was to address still underutilized application
of the advanced GC-MS/MS platform for the multicomponent
quantification of endogenous steroids. We developed and
validated a GC-MS/MS method for the quantification of
58 unconjugated steroids and 42 polar conjugates of steroids
(after hydrolysis) in human blood. The present method was
validated not only for blood of men and non-pregnant women
but also for blood of pregnant women and for mixed umbilical
cord blood. The spectrum of analytes includes common
hormones operating via nuclear receptors as well as other
bioactive substances like immunomodulatory and neuroactive
steroids. Our present results are comparable with those from our
previously published GC-MS method as well as the results of
others. The present method was extended for corticoids and
17α-hydroxylated 5α/β-reduced pregnanes, which are useful for
the investigation of alternative “backdoor” pathway. When
comparing the analytical characteristics of the present and
previous method, the first exhibit by far higher selectivity, and
generally higher sensitivity and better precision particularly for
17α-hydroxysteroids.
This paper describes an invented method for direct measurement of coalbed methane content in situ. In contrast to known procedures, this method does not need to place a rock or drilling cuts into an airtight canister, and does not involve sealing of the hole. Moreover, the new method is monitoring methane content in situ continuously and synchronously during drilling the hole not losing any portion of the gas. These positive features are a sequel of new approach based on injection of known portion of neutral gas into the hole. Methane content was determined from concentration of the mixture ‘methane-neutral gas´ at the hole´s mouth. New method is applicable for commercial recovery application of coalbed methane and forecast of dangerous gas and coal bursts. FLAC3D computer simulation helped to investigate dynamics of methane outflow from the hole to account for the effect of drilling speed on the rate of gas emanation.
Text sentiment analysis plays an important role in social network information mining. It is also the theoretical foundation and basis of personalized recommendation, circle of interest classification and public opinion analysis. In view of the existing algorithms for feature extraction and weight calculation, we find that they fail to fully take into account the in fluence of sentiment words. Therefore, this paper proposed a fine-grained short text sentiment analysis method based on machine learning. To improve the calculation method of feature selection and weighting and proposed a more suitable sentiment analysis algorithm for features extraction named N-CHI and weight calculation named W-TF-IDF, increasing the proportion and weight of sentiment words in the feature words Through experimental analysis and comparison, the classification accuracy of this method is obviously improved compared with other methods.
This article reports a method for forecasting an earthquake by synchronous anomalies of optical astronomic time-latitude residuals. The so-called optical astronomic time-latitude residuals for a certain astrometric instrument are the rest after deducting the effects of Earth whole motion from the astronomical time and latitude observations determined by the instrument. Forecasting practice for four earthquakes around the Yunnan Observatory occurring after 2010 shows that it does not generate false forecasts, and also does not miss forecasts of major earthquakes. This forecasting practice proves that the synchronous anomalies of astronomical time-latitude residuals can provide effective warning sign for earthquake occurrence around observatory station, thus deserves attention and further study. and Su Youjin, Gao Yuping, Hu Hui.
Thought experiments are frequently vague and obscure hypothetical scenarios that are difficult to assess. The paper proposes a simple model of thought experiments. In the first part, I introduce two contemporary frameworks for thought experiment analysis: an experimentalist approach that relies on similarities between real and thought experiment, and a reasonist approach focusing on the answers provided by thought experimenting. Further, I articulate a minimalist approach in which thought experiment is considered strictly as doxastic mechanism based on imagination. I introduce the basic analytical tool that allows us to differentiate an experimental core from an attached argumentation. The last section is reserved for discussion. I address several possible questions concerning adequacy of minimalistic definition and analysis., Myšlenkové experimenty jsou často vágní a temné hypotetické scénáře, které je těžké posoudit. Příspěvek navrhuje jednoduchý model myšlenkových experimentů. V první části představuji dva současné rámce pro analýzu myšlenkového experimentu: experimentistický přístup, který se opírá o podobnosti mezi skutečným a myšlenkovým experimentem a přístupem k rozumu, který se zaměřuje na odpovědi poskytované experimentováním s myšlenkami. Dále artikuluje minimalistický přístup, ve kterém je experiment experimentu považován za přísně doxastický mechanismus založený na představivosti. Představuji základní analytický nástroj, který nám umožňuje odlišit experimentální jádro od připojené argumentace. Poslední sekce je vyhrazena k diskusi. Zabývám se několika možnými otázkami týkajícími se přiměřenosti minimalistické definice a analýzy., and Marek Picha