A new rotary actuator capable of rapid motion using an antagonistic cam mechanism

Animals can achieve agile behaviors such as jumping and throwing in addition to flexible behaviors with the same musculoskeletal systems, and those movements can extend the range of their activities. We have been working on actuators capable of rapid and flexible motions learning the musculoskeletal systems. In this paper, we propose a new rotary actuator using a pair of motors, springs, and cams to perform three functions, namely, normal motion, rapid or instantaneous motion, and rigidity control using an antagonistic cam mechanism, and describe the operating principle of the proposed mechanism, the mathematical model of the mechanism during rapid motion, and the design principle of the cam, which is a key mechanical element in this mechanism. Finally, we present an analysis of the error between the theoretical the measurement results during rapid motion

Insects

In this thematic series, engineers and scientists come together to address two interesting interdisciplinary questions in functional morphology and biomechanics: How do the structure and material determine the function of insect body parts? How can insects inspire engineering innovations

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field

Humanoid Robots

For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion

屋外調査用自律移動型ロボットの不整地移動性能

早大学位記番号:新7829早稲田大

A stylistic approach to the God of Small Things written by Arundhati Roy

This thesis presents a creative-analytical hybrid production in relation to the stylistic distinctiveness in The God of Small Things, the debut novel of Arundhati Roy. Roy’s text drew the world’s gaze after winning the Booker Prize in 1997. Many studies have been written on diverse aspects of the book, and much has been said regarding the writer’s style. However, those studies rarely focus on the minutiae of Roy’s writing and this thesis provides a greater degree of detailed analysis. The objective is to achieve a deeper understanding of the relationship between style and literary aesthetics in The God of Small Things by studying the stylistic patterns behind Roy’s resonating poetic prose. The stylistic study is carried out adopting two approaches: the corpus-based approach (Part A) and the empirical-creative approach (Part B). The first section provides a stylistic analysis concentrating on the most significant stylistic features of the novel. The study is based on the list of style markers rendered by Leech and Short, Style in Fiction (1981) and elaborated according to the following key aspects that were extracted from the repertoire using my intuitive observation of the novel. These chosen style markers taken together represent key aspects of Roy’s style: (1) Lexis—Roy’s very frequent and particular utilization of adjectives; (2) Grammar—the high concentration of minor sentences and the listing of noun phrases in the text; (3) Figures of Speech— repetition and neologism. The second section presents a self-written pastiche which aims at imitating Roy’s style in literary prose and adapting its approach to a Chinese context. The creative process serves as an experiment on taking pastiche writing as an “experiential” approach to stylistics. In addition, since the resemblance of the pastiche to Roy’s style should not be the only value of the piece, some key themes in the original text are also reproduced. The analysis in Part A illustrates patterns of Roy’s stylistic choices. On the use of adjectives, Roy tends to arrange adjectival elements in sequence, construct a fixed “like” sentence structure, and adopt combining word forms and affective adjectives. On minor sentences, Roy chooses to separate adverbial phrases, sentence fragments starting with “like”, “as though”, and clauses beginning with “that”, “which”, “and”, “but”, “or”. As for repetitions, there is repeated use of set phrases, sentence patterns and recurrent appearance of certain lines and images. Lastly, on neologisms, Roy’s patterns of creating new words include hyphenation, direct merging, and prefix/suffix building. The pastiche is entitled Hong Kong Locust Stand I. By juxtaposing with the original, it is found that many stylistic features in The God of Small Things, are present in the pastiche, though with variation. While stylistic elements cannot totally be independent from the theme, the atmosphere, character and plot of the pastiche also demonstrate qualities representing those in Roy’s novel. The pastiche presents an innovative and respectful way to come to terms with Roy’s style through selective imitation and creative adaptation. In conclusion, it is hoped that this study opens the way for further hybrid studies of style that incorporate both analytical and creative approaches

Nyau Philosophy: Contemporary Art and the Problematic of the Gift – a Panegyric

Societies in Southern Africa remain largely gift economies, their art conceived as an infrastructure within everyday life, and yet art from the region continues to be read within the values of mimetic art where art is conceived as part of the superstructure of restricted Western economic and social thinking. My research on how the problematic of the gift and Bataille’s theory of the gift, the ‘general economy’, animates various aspects of my art praxis has set out to correct this discrepancy. It includes a re-examination of the general economy of the modern African society, which Achille Mbembe has described as the ‘postcolony’, and how it has impacted on the development of my work as an artist. My research is reflexive and practice-led. The specific praxis considered has included a body of work – published novels, films, installations, multimedia artwork and personal experiences – stretching back to 2000, when I made my first conceptual work of art, as a professional artist in Malawi. The problematic of the gift within my work has been explored alongside contemporary African art with a focus on Meschac Gaba’s Museum of Contemporary African Art, and contemporary art at large with a focus on Situationist theory and praxis. I grew up in Malawi, a Chewa, and my research identifies the aesthetic sensibility in my art praxis as being directly influenced by the Nyau gift giving tradition which manifests in Chewa everyday life through play and a robust masquerading tradition, Gule Wamkulu, now a UNESCO Intangible Cultural Heritage of Humanity. This thesis compares aspects of the animastic and all-encompassing Chewa Nyau philosophy to Situationism as rooted in Dada and Surrealism. In light of the recent marginalisation of Gule Wamkulu in modern Chewa society, my research identifies the contemporary artist after Situationism as the new creative elite, Gule, akin to Gule Wamkulu in the heyday of Chewa prestation society. In my praxis, Nyau philosophy identifies the ‘cinema of attractions’ (manifest in the Malawi of my childoood as ‘Nyau Cinema’), the internet and the internet bureau, as new bwalo, arenas, to orchestrate play and invariably gift giving within the liminal spaces of modern spectacular cultures and commercial networks in what Negri and Hardt have described as the age of Empire. My thesis is presented as a ‘general writing’, a form of gift giving described by Derrida, and is communicated through an intellectual panegyric with an extensive appendix documenting the nature of my art and research as praxis. The appendix includes a detourned Facebook timeline (2011-16) and legal documents from a Venetian court regarding my installation Sanguinetti Breakout Area at the Venice Biennale 2015. The panegyric is what has united the theoretical and practice components of my research into one on-going inquiry into the problematic of the gift within everyday life