Trajectory computational techniques emphasizing existence, uniqueness, and construction of solutions to boundary problems for ordinary differential equations Final report

Trajectory computational techniques emphasizing existence, uniqueness, and construction of solutions to boundary problems for ordinary differential equation

Effects of irrigation applied at different growth stages on chickpea yield

ArticleThis study was conducted over the experimental fields of Erciyes University in 2016 to investigate the effects of irrigations applied at different growth stages on chickpea yields. Experiments were conducted in randomized blocks design with 3 replications. There were 7 irrigation treatments as of I1: rainfed, I2: pre-bloom single irrigation, I3: single irrigation at the beginning of blooming, I4: single irrigation at 50% pod set, I5: two irrigations at 50% bloom and 50% pod-set, I6: two irrigations at pre-bloom and 50% pod-set, I7: full irrigation. The amount of applied irrigation water varied between 85.6–323 mm. Plant water consumptions varied between 262 – 569 mm. The greatest yield was obtained from I4 treatment with 273 kg da-1 and the lowest yield was obtained from I1 treatments with 146 kg da-1. It was concluded for chickpea cultivation under deficit water resources conditions that water deficits may be applied at different growth stages except for 50% pod-set period

Nazarbayev University multigrasp hand with bidirectional tendon actuation

Robotic hands are being used in various areas such as industrial automation, medical robotics, and defense. In this work, we are presenting the Nazarbayev University Multigrasp Robot Hand with an integrated RGB-Depth camera for intelligent object manipulation. The novelty ofthe project is seen in the creation of an end effector system which obtains higher level autonomy from the base manipulator, being able to recognize target objects, generate approach trajectories and apply corresponding grasping patterns to capture the object

Inertial motion capture based teleoperation of a mobile robot manipulator with a multigrasp hand

Autonomous mobile robots are still not reliable enough for performing complex tasks such as search and rescue, space or undersea exploration and explosive ordnance disposal. Human intelligence is frequently employed for high-level robot decision making and control. Moreover, for most of the cases low-weight and dexterous end-effectors are required for performing delicate tasks efficiently

Inertial motion capture based teleoperation of a mobile robot manipulator with a multigrasp hand

Autonomous mobile robots are still not reliable enough for performing complex tasks such as search and rescue, space or undersea exploration and explosive ordnance disposal. Human intelligence is frequently employed for high-level robot decision making and control. Moreover, for most of the cases low-weight and dexterous end-effectors are required for performing delicate tasks efficiently

Locomotion strategy selection for a legged wheeled hybrid quadruped using depth images

Three fundamental locomotion configurations recognized commonly are legged, wheeled, and articulated mechanisms using which a mobile robot can navigate terrains. Hybrid configurations enable execution of different locomotion types separately and in combinations. Such advantage usually implies complexity and necessity in a robust supervisory controller capable of terrain recognition and locomotion strategy selection. We developed the Nazarbayev University (NU) Hybrid Quadruped (Fig. 1) - mobile robot with four legs and wheels. Project's major novelty is the implementation of the supervisory controller which selects a locomotion mode associated with particular terrain types based on its terrain recognizer input data

Numerical modelling of high strength steel beams at elevated temperature

High strength steels are increasingly common in structural engineering applications owing to their favourable strength to weight ratio, excellent sustainability credentials and attractive physical and mechanical properties. However, these grades are under-used in structures owing to a lack of reliable information relating to their structural performance, particularly at elevated temperature. This paper presents a review of high strength steels in structural applications including the key design considerations. Particular focus is given to the lateral torsional buckling response of laterally unrestrained beams. A finite element model is developed to investigate this behaviour at ambient and elevated temperature. A series of beams between 500 and 4500 mm in length are studied in order to develop buckling curves which are comparable with current design provisions. At ambient temperature, it is shown that all of the buckling curves currently included in Eurocode 3 Part 1-1 give unsatisfactory and potentially unsafe predictions. In elevated temperature conditions, the buckling curves presented in Eurocode 3 Part 1–2 depict the behaviour reasonably well but, at relatively high slenderness values, the standard does not always provide a safe prediction. Revised bucking curves are proposed for high strength steel beams for laterally unrestrained beams made from high strength steel

Problem representation for refinement

In this paper we attempt to develop a problem representation technique which enables the decomposition of a problem into subproblems such that their solution in sequence constitutes a strategy for solving the problem. An important issue here is that the subproblems generated should be easier than the main problem. We propose to represent a set of problem states by a statement which is true for all the members of the set. A statement itself is just a set of atomic statements which are binary predicates on state variables. Then, the statement representing the set of goal states can be partitioned into its subsets each of which becomes a subgoal of the resulting strategy. The techniques involved in partitioning a goal into its subgoals are presented with examples

Coplanar Asymmetric Angles and Symmetric Energy Sharing Triple Differential Cross Sections for 200 EV Electron-Impact Ionization of Ar (3p)

We have measured triple differential cross sections (TDCSs) for electron-impact ionization of the 3p shell of Ar at 200 eV incident electron energy. The experiments have been performed in coplanar asymmetric energy sharing geometry. The experimental results are compared with the theoretical models of three body distorted wave (3DW) and distorted wave Born approximation (DWBA)