Passive Compliance Control of Aerial Manipulators

This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-planar directions of the aerial vehicle which might be required during the interaction to preserve passivity. The controller proposed in this paper guarantees passivity of the manipulator through a proper choice of end-effector coordinates, and that of vehicle fuselage is guaranteed by exploiting time domain passivity technique. Simulation studies validate the proposed approach.Comment: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 201

Fascism as a Mass-Movement: Translator's Introduction

AbstractThis Introduction to Rosenberg’s essay starts with a brief synopsis of his life, then summarises the key arguments of the essay itself before looking briefly at the twin issues of the social base of the fascist parties (wider than just the ‘petty bourgeoisie’) and the passive complicity/compliance of ‘ordinary Germans’, as the literature now terms whole sectors of the civilian population that were defined by their apathy or moral indifference to the horrors of the Nazi state.</jats:sec

University governance and academic research : case studies of research units in Dutch and English universities

The central research question of our study addresses the effects of governing models on the research practices of basic research units in public universities in the fields of medieval history and biotechnology. We have used two organisational theories: resource dependence and neo-institutional theory. They provided a range of possible responses of research units to changes in institutional environments. Based on the work of Oliver (1991) we have distinguished three organisational strategies: passive compliance, symbolic compliance and proactive manipulation. In order to interpret the perceptions, responses of the basic research units and the consequences for their research practices meaningfully, we have taken into account the particular characteristics of the world of research and science. For this purpose, we have used the credibility cycle model of the research organisation that was introduced by Latour and Woolgar (1979). \ud Our analysis has shown that respondents in all cases of our study perceive their institutional environments as changing. All eight basic research units in the two countries respond to their changing institutional environments by attempting to reduce uncertainty as predicated by resource dependence theory and to maintain stability in their core activities as predicted by neo-institutional theory. They also try to maximise their credibility building prospects by either adhering to the rules and norms of their (changing) institutional environments or by actively engaging in a dialogue with their audiences, especially with their major resource providers. In their responses the basic research units are using different strategies from passive and symbolic compliance to pro-active manipulation. All research units prefer to maintain stability in their activities, but not all of them have been equally successful in this respect. This study has shown that shifts in governance influence research practices to a certain extent

Automatic polishing process of plastic injection molds on a 5-axis milling center

The plastic injection mold manufacturing process includes polishing operations when surface roughness is critical or mirror effect is required to produce transparent parts. This polishing operation is mainly carried out manually by skilled workers of subcontractor companies. In this paper, we propose an automatic polishing technique on a 5-axis milling center in order to use the same means of production from machining to polishing and reduce the costs. We develop special algorithms to compute 5-axis cutter locations on free-form cavities in order to imitate the skills of the workers. These are based on both filling curves and trochoidal curves. The polishing force is ensured by the compliance of the passive tool itself and set-up by calibration between displacement and force based on a force sensor. The compliance of the tool helps to avoid kinematical error effects on the part during 5-axis tool movements. The effectiveness of the method in terms of the surface roughness quality and the simplicity of implementation is shown through experiments on a 5-axis machining center with a rotary and tilt table

COCrIP: Compliant OmniCrawler In-pipeline Robot

This paper presents a modular in-pipeline climbing robot with a novel compliant foldable OmniCrawler mechanism. The circular cross-section of the OmniCrawler module enables a holonomic motion to facilitate the alignment of the robot in the direction of bends. Additionally, the crawler mechanism provides a fair amount of traction, even on slippery surfaces. These advantages of crawler modules have been further supplemented by incorporating active compliance in the module itself which helps to negotiate sharp bends in small diameter pipes. The robot has a series of 3 such compliant foldable modules interconnected by the links via passive joints. For the desirable pipe diameter and curvature of the bends, the spring stiffness value for each passive joint is determined by formulating a constrained optimization problem using the quasi-static model of the robot. Moreover, a minimum friction coefficient value between the module-pipe surface which can be vertically climbed by the robot without slipping is estimated. The numerical simulation results have further been validated by experiments on real robot prototype

Wetland-based passive treatment systems for gold ore processing effluents containing residual cyanide, metals and nitrogen species

Gold extraction operations generate a variety of wastes requiring responsible disposal in compliance with current environmental regulations. During recent decades, increased emphasis has been placed on effluent control and treatment, in order to avoid the threat to the environment posed by toxic constituents. In many modern gold mining and ore processing operations, cyanide species are of most immediate concern. Given that natural degradation processes are known to reduce the toxicity of cyanide over time, trials have been made at laboratory and field scales into the feasibility of using wetland-based passive systems as low-cost and environmentally friendly methods for long-term treatment of leachates from closed gold mine tailing disposal facilities. Laboratory experiments on discrete aerobic and anaerobic treatment units supported the development of design parameters for the construction of a field-scale passive system at a gold mine site in northern Spain. An in situ pilot-scale wetland treatment system was designed, constructed and monitored over a nine-month period. Overall, the results suggest that compost-based constructed wetlands are capable of detoxifying cyanidation effluents, removing about 21.6% of dissolved cyanide and 98% of Cu, as well as nitrite and nitrate. Wetland-based passive systems can therefore be considered as a viable technology for removal of residual concentrations of cyanide from leachates emanating from closed gold mine tailing disposal facilities

Regulating Scotland's social landlords: localised resistance to technologies of performance management

Influenced by Foucault's later work on governmentality, this paper explores the regulation of social landlords as a 'technology of performance' concerned with governing the conduct of dispersed welfare agencies and the professionals within them. This is a mode of power that is both voluntary and coercive; it seeks to realise its ambitions not through direct acts of intervention, but by promoting the responsible self-governance of autonomous subjects. Through an analysis of the regulatory framework for social landlords in Scotland, this paper highlights the creation of a performance culture that seeks to mobilise housing organisations to reconcile their local management systems and service provision to external standards, whilst simultaneously wielding punitive interventions for non-compliance. However, housing professionals are not passive in all of this, and indeed, actively challenged and resisted these top-down attempts to govern them at arm's-length