1,212 research outputs found

    A Bio-Inspired Tensegrity Manipulator with Multi-DOF, Structurally Compliant Joints

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    Most traditional robotic mechanisms feature inelastic joints that are unable to robustly handle large deformations and off-axis moments. As a result, the applied loads are transferred rigidly throughout the entire structure. The disadvantage of this approach is that the exerted leverage is magnified at each subsequent joint possibly damaging the mechanism. In this paper, we present two lightweight, elastic, bio-inspired tensegrity robotics arms which mitigate this danger while improving their mechanism's functionality. Our solutions feature modular tensegrity structures that function similarly to the human elbow and the human shoulder when connected. Like their biological counterparts, the proposed robotic joints are flexible and comply with unanticipated forces. Both proposed structures have multiple passive degrees of freedom and four active degrees of freedom (two from the shoulder and two from the elbow). The structural advantages demonstrated by the joints in these manipulators illustrate a solution to the fundamental issue of elegantly handling off-axis compliance.Comment: IROS 201

    Dissolved oxygen dynamics during a phytoplankton bloom in the Ross Sea polynya

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    The Ross Sea polynya is one of the most productive regions in the Southern Ocean. However, limited access and high spatio-temporal variability of physical and biological processes limit the use of conventional oceanographic methods to measure early season primary productivity. High-resolution observations from two Seagliders provide insights into the timing of a bloom in the southern Ross Sea polynya in December 2010. Changes in chlorophyll and oxygen concentrations are used to assess bloom dynamics. Using a ratio of dissolved oxygen to carbon, net primary production is estimated over the duration of the bloom showing a sensitive balance between net autotrophy and heterotrophy. The two gliders, observing spatially distinct regions during the same period, found net community production rates of -0.9±0.7 and 0.7±0.4 g C m-2 d-1. The difference highlights the spatial variability of biological processes and is probably caused by observing different stages of the bloom. The challenge of obtaining accurate primary productivity estimates highlights the need for increased observational efforts, particularly focusing on subsurface processes not resolved using surface or remote observations. Without an increased observational effort and the involvement of emerging technologies, it will not be possible to determine the seasonal trophic balance of the Ross Sea polynya and quantify the shelf's importance in carbon export

    Representing Authority in Ancient Knowledge Texts

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    In this paper we would like to discuss some questions concerning authority and knowledge with obvious relevance to our research group Personal and apersonal authorization (B-5). After briefly summarizing how the phenomenon of ‘authority’ is viewed in general, this paper takes up the specific case of authority and tradition. We then consider text as a special case of tradition, and finally knowledge texts as a special case of texts. The most significant section of the paper is the second half, where we sketch out two complementary methods of constructing or representing authority in such texts, one personal and one non-personal. Ancient Greek, religious studies, theology, church history, ancient history and Chinese studies are our areas of expertise, so most of the examples we have chosen come from those fields. But our intention is to draw broad conclusions that could also apply to other traditions as well

    Electronic governance with an infrastructure reporting platform: The case of Züri wie neu.

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    This master thesis researches how the interaction between the administration of the city of Zurich and users of the infrastructure reporting platform Züri wie neu (ZWN) is mediated. The thesis is a case study of an internet and communication solution adopted in state-led digitized governance structures often understood under the moniker of e-governance in so-called smart cities. Like characterizations found in literature on smart cities, literature on comparable infrastructure reporting platforms and ZWN specifically sees those platforms as a bottom-up tool to increase participation while fostering more accountability of governments, govern more transparently and efficiently. With the help of a heuristic platform walkthrough, semi-structured interviews with officials of the city of Zurich involved in the management and maintenance of ZWN and a spatial analysis of the openly available data this thesis questions some of the fundamental promises of digitized governance such as increased efficiency and accountability, foster active participation and provide improved services. The interaction through ZWN is mediated in ways that protect the administration from stirring up wrong expectations by creating distance between the administration and users through a standardized, nudged, and one-sided communication, allowing them to deal better with time consuming users, ‘naggers’ and prevent political discussion the administration is unable to deal with due to a structural problem. Further, ZWN appears as an isolated tool within the organization of the city of Zurich with limited benefits for the efficiency of the administration in providing infrastructure maintenance services which is already extensively managed apart from the usage of the platform. Simultaneously, the platform serves as an image caretaker showcasing the performance of the administration. Lastly, compared to other studies on infrastructure reporting platforms from the US, UK and Belgium no apparent differences over space in report contribution to the platform have been found
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