Investigation of energy efficiency of hexapod robot locomotion

Disertacijoje nagrinėjamos vaikščiojančių robotų energijos sąnaudų problemos jiems judant lygiu ir nelygiu paviršiumi. Pagrindinis tyrimo objektas yra vaikščiojančio roboto valdymo, aplinkos atpažinimo bei kliūčių išvengimo žinomoje aplinkoje metodas. Energijos sąnaudų minimizavimas leistų praplėsti vaikščiojančių robotų pritaikymą ir veikimo laiką. Pagrindinis darbo tikslas – sukurti energijos sąnaudų minimizavimo metodus vaikščiojantiems robotams ir sukurti aplinkos atpažinimo ir klasifikavimo metodus bei ištirti šešiakojo roboto energijos sąnaudas jiems judant žinomoje aplinkoje. Šie metodai gali būti taikomi vaikščiojantiems daugiakojams robotams. Darbe sprendžiami šie uždaviniai: šešiakojo roboto eisenos parinkimas atsižvelgiant į energijos sąnaudas, paviršiaus kliūčių aptikimo ir perlipimo metodų sudarymas ir jų efektyvumo palyginimas. Taip pat sprendžiami uždaviniai, kurie siejasi su pėdų trajektorijos generavimo metodo kūrimu bei kliūčių dydžio ir tankio įtaka roboto energijos sąnaudoms. Disertaciją sudaro įvadas, trys skyriai, bendrosios išvados, naudotos literatūros ir autoriaus publikacijų disertacijos tema sąrašai. Įvade aptariama tiriamoji problema, darbo aktualumas, aprašomas tyrimų objektas, formuluojamas darbo tikslas bei uždaviniai, aprašoma tyrimų metodika, darbo mokslinis naujumas, darbo rezultatų praktinė reikšmė, ginamieji teiginiai. Įvado pabaigoje pristatomos disertacijos tema autoriaus paskelbtos publikacijos ir pranešimai konferencijose bei disertacijos struktūra. Pirmasis skyrius skirtas literatūros apžvalgai. Jame pateikta mobiliųjų robotų energetinio efektyvumo bei energijos sąnaudų matavimo, skaičiavimo ir optimizavimo metodų analizė. Antrajame skyriuje pateiktas energetiškai efektyvaus judėjimo metodikos sudarymas vaikščiojantiems robotams. Šiame skyriuje pateiktas šešiakojo roboto matematinio ir fizinio modelių sudarymas, nelygaus paviršiaus klasifikavimo modelio sudarymas bei taktilinio kliūčių aptikimo bei perlipimo metodų sudarymas. Skyriaus gale pateikiamos išvados. Trečiajame skyriuje tiriamos energijos sąnaudų priklausomybės nuo roboto eisenos bei judėjimo parametrų, kliūčių aptikimo ir perlipimo tikslumas priklausomai nuo kliūčių skaičiaus roboto kelyje, taip pat kliūčių dydžio ir tankio įtaka roboto energijos sąnaudoms. Disertacijos tema paskelbti 9 straipsniai: keturi – Clarivate Analytics Web of Science duomenų bazės leidiniuose, turinčiuose citavimo rodiklį, trys – Clarivate Analytics Web of Science duomenų bazės „Conference Proceedings“ leidiniuose ir du – kituose recenzuojamuose mokslo leidiniuose. Disertacijos tema perskaityti 7 pranešimai konferencijose Lietuvoje bei kitose šalyse

AERO|ASTRO Architecture: the hybridizing frontier of emergent industries

Architectural designers often need to strike an uneasy balance between idealism and reality. Under most circumstances, architects are restricted by clients, budgets, and available technologies. However, divorced from traditional constraints, visionary concepts of new dwellings, new cities, and new “worlds” will spark greater forms of innovation and drive creativity for future generations. The exploration of new spatial boundaries and conceptual environments for design will irrevocably alter the human experience while adapting new challenging roles for future architects. Architecture can be understood in part as the art of organizing spaces through the manipulation of materials and forms. Designed spaces are arranged to provide unique sensory reactions for their occupants while emotionally and physically orientating them on Earth. As a catalyst towards the awareness of one’s surroundings, architecture has always had to contend with the many limiting factors imposed by the forces on Earth. These include, but are not limited to, gravity and climate. On Earth, structurally sound construction is limited by the forces of gravity as it influences design capabilities by standardizing forms, functions, and structural elements of architectural spaces. New design challenges and opportunities arrive when we look to create structures outside of Earth’s boundaries. This thesis proposes a futuristic model of an efficient and unique passenger transport system that connects Earth-based hybrid air/space ports with an outer space orbital infrastructural hub. This modern intervention will allow for new outer space industries, such as transit, tourism, and hospitality, which will provide unique opportunities for the future of humanity. Additionally, the thesis studies the positive architectural and experiential potentials for the future living occupancy of outer space. In recognizing the financial and logistical limitations of current space constructions, such as the International Space Station, the thesis looks beyond the limitations of current technologies and towards designs that are driven by the fulfillment of human experiences in space. Life in space, the thesis envisions, will spark new human experiences and rituals while necessitating new forms and designs in architecture. Weightlessness and its related spatial disorientations, in addition to the many other unique conditions in this unfamiliar territory, will inspire a new conceptual language for architecture and human cultures. The thesis will demonstrate that spaces designed for extraterrestrial experiences can be innovatively dynamic as they respond to new cultures and activities that evolve as a reaction to extreme conditions. Introducing humans to the environs of orbital space will be the initial stage in a long-term phasing tactic to colonize and commercialize beyond the expanse of Earth, eventually extending humanity to the remote neighbouring planets of the universe

Investigating key factors influence supply chain collaborative relationship and risk management in Chinese SMEs

A thesis submitted to the University of Bedfordshire, in fulfilment of the requirements for the degree of Doctor of PhilosophyThe sustainability of small and medium-sized enterprises (SMEs) makes a significant contribution to job position and economic growth in China. However, SMEs face various challenges and uncertainties in the Chinese business environment. This study proposes a practical approach for Supply Chain Collaborative Relationship (SCCR) building to mediate adverse impacts from supply chain risks through leveraging partners’ critical resources. The Resource-based View (RBV) and Transaction Cost Economics (TCE) are employed in line with theoretical structure building in this study. Theories of Guanxi, collaborative advantage, and risk management have also been used. A combination of qualitative and quantitative research (Mixed-Method Research) approaches are employed in the study. The investigation starts with a sample of 5 research participants from executives of Chinese SMEs using qualitative research; its results are further elaborated using a subsequent survey of 216 SMEs. Data is analyzed via thematic approach (qualitative results) and the combination of SEM and CFA modeling (quantitative results). Results show the building of SCCR contributes to highly functional and stable alliances in Chinese SMEs, which has significant influences in motivating partners’ willingness to share risks and resources to support supply chain risk management. This study furthermore manifests that building of SCCR should depend on either interpersonal and inter-organizational level interactions, while interpersonal relationships between executives has significant influence to SCCR development

Perspectives of university teaching in Costa Rica in times of digital media

Perspectives of university teaching in Costa Rica in times of digital media examines an educational approach to understand the space of learning that takes place in higher education. For that, a selection of viewpoints of digital media and university teaching are discussed in the light of a tradition: the Journeyman Years. The key research question is: what is a space of learning in higher education from the students and professor's perspectives at the Universidad de Costa Rica? Pertinent to this topic, other sub-questions are: what kind of spaces of learning are being ofered at the Universidad de Costa Rica? How to reconsider the space of learning at a university? Chapter Two introduces the Wanderjahre (Journeyman Years) story, a leading metaphor for this manuscript where an approach to learning in terms of space is presented. Chapter Three examines two diferent knowledge approaches: frst, mechanistic thinking is highlighted in relation to digital media. Humans learn of natural phenomena through rational means, seeking to demystify and unveil a true world. Second, romantic thinking is featured in relation to higher education. Individuals learn about the world by engaging in practice while being social, experiencing directly the world in continuous change. Chapter Four presents an interpretation of the previous theoretical perspectives. After a selection of reviewed concepts, Learning by Wandering is proposed, a structure to analyze the construction of the space of learning in higher education. Chapter Five describes an ethnographic case study of the space of learning at the Universidad de Costa Rica, where 150 students and eight university teachers throughout diferent contexts are studied. Chapter Six features the major relevant fndings in my thesis to analyze university teaching in terms of space. In this chapter, a list of recommendations for the Universidad de Costa Rica is ofered, in order to foster higher education in terms of space

Secure Communication in Disaster Scenarios

Während Naturkatastrophen oder terroristischer Anschläge ist die bestehende Kommunikationsinfrastruktur häufig überlastet oder fällt komplett aus. In diesen Situationen können mobile Geräte mithilfe von drahtloser ad-hoc- und unterbrechungstoleranter Vernetzung miteinander verbunden werden, um ein Notfall-Kommunikationssystem für Zivilisten und Rettungsdienste einzurichten. Falls verfügbar, kann eine Verbindung zu Cloud-Diensten im Internet eine wertvolle Hilfe im Krisen- und Katastrophenmanagement sein. Solche Kommunikationssysteme bergen jedoch ernsthafte Sicherheitsrisiken, da Angreifer versuchen könnten, vertrauliche Daten zu stehlen, gefälschte Benachrichtigungen von Notfalldiensten einzuspeisen oder Denial-of-Service (DoS) Angriffe durchzuführen. Diese Dissertation schlägt neue Ansätze zur Kommunikation in Notfallnetzen von mobilen Geräten vor, die von der Kommunikation zwischen Mobilfunkgeräten bis zu Cloud-Diensten auf Servern im Internet reichen. Durch die Nutzung dieser Ansätze werden die Sicherheit der Geräte-zu-Geräte-Kommunikation, die Sicherheit von Notfall-Apps auf mobilen Geräten und die Sicherheit von Server-Systemen für Cloud-Dienste verbessert

Знание иностранного языка как основной фактор для работы в инновационных условиях

В сборник включены материалы докладов 79-й студенческой научно-технической конференции «Знание иностранного языка как основной фактор для работы в инновационных условиях» по кафедре «Английский язык №1» факультета горного дела и инженерной экологии

Multinational enterprises in regional innovation systems: attraction factors and integration mechanisms = Les entreprises multinationales dans les systèmes régionaux d\u27innovation: facteurs d\u27attraction et mécanismes d\u27intégration

This work explains mutual influences between MNEs and regional innovation networks during innovation processes. An analytical framework integrates different research perspectives and allows analysing the integration of MNEs in regional innovation networks through the identification of attraction factors and interaction mechanisms between regional and organisational learning

Ageing and Technology: Perspectives from the Social Sciences

The booming increase of the senior population has become a social phenomenon and a challenge to our societies, and technological advances have undoubtedly contributed to improve the lives of elderly citizens in numerous aspects. In current debates on technology, however, the "human factor" is often largely ignored. The ageing individual is rather seen as a malfunctioning machine whose deficiencies must be diagnosed or as a set of limitations to be overcome by means of technological devices. This volume aims at focusing on the perspective of human beings deriving from the development and use of technology: this change of perspective - taking the human being and not technology first - may help us to become more sensitive to the ambivalences involved in the interaction between humans and technology, as well as to adapt technologies to the people that created the need for its existence, thus contributing to improve the quality of life of senior citizens

Ageing and Technology

The booming increase of the senior population has become a social phenomenon and a challenge to our societies, and technological advances have undoubtedly contributed to improve the lives of elderly citizens in numerous aspects. In current debates on technology, however, the »human factor« is often largely ignored. The ageing individual is rather seen as a malfunctioning machine whose deficiencies must be diagnosed or as a set of limitations to be overcome by means of technological devices. This volume aims at focusing on the perspective of human beings deriving from the development and use of technology: this change of perspective – taking the human being and not technology first – may help us to become more sensitive to the ambivalences involved in the interaction between humans and technology, as well as to adapt technologies to the people that created the need for its existence, thus contributing to improve the quality of life of senior citizens