Development of 3D anti-Swing control for hydraulic knuckle boom crane

In this paper, 3D anti-swing control for a hydraulic loader crane is presented. The difference between hydraulic and electric cranes are discussed to show the challenges associated with hydraulic actuation. The hanging load dynamics and relevant kinematics of the crane are derived to model the system and create the 3D anti-swing controller. The anti-swing controller generates a set of tool point velocities which are added to the electro-hydraulic motion controller via feedforward. A dynamic simulation model of the crane is made, and the control system is evaluated in simulations with a path controller in actuator space. Simulation results show significant reduction in the load swing angles during motion using the proposed anti-swing controller in addition to pressure feedback. Experiments are carried out to verify the performance of the anti-swing controller. Results show that the implemented pressure feedback is crucial for reaching stability, and with it the control system yields good suppression of the swing angles in practice.publishedVersio

Reporting radiographers in Europe survey: An overview of the role within the European Federation of Radiographer Society (EFRS) member countries

Introduction Reporting radiographers undertake an important role in healthcare and for the radiographer profession in general. First introduced in the United Kingdom, reporting radiographers are now practicing in several other European countries. Our objective was to investigate the workforce of reporting radiographers across the European Federation of Radiographer Societies (EFRS) community. Method and material A voluntary anonymous 34 item electronic survey was distributed online using social media accounts such as Twitter, Facebook and LinkedIn covering a wide range of topics relating to professional role, advanced practice, education, and seniority. The questionnaire was distributed during a 12-week period in 2022. Result A total of 345 individual responses were received from 15 countries with majorities of respondent from United Kingdom (n = 245, 71%) and Denmark (n = 66, 19%). Mean age was 41.9 (S.D 9.8), similar for females, 42.5 (S.D 9.0) and men 40.9 years (S.D 9.7). Most reporting radiographers worked in public hospitals (90%). The vast majority of the respondents (n = 270, n = 94%) authored and signed their own clinical reports while a minority (n = 18, 6%) stated that their reports were checked by radiologists. Conclusion The survey highlights the scope of practice of reporting radiographers working in Europe. Reporting is becoming a career path for an increasing number of radiographers across Europe and there is assess to academic education and clinical support. Implication for practice Reporting radiographers fulfil an important role within the current demands of healthcare. This demand is likely to increase in the future, and therefore it is vital that there is some form of standardisation in the level of education that this group of healthcare professionals receive

Novel criticality in a model with absorbing states

We study a one-dimensional model which undergoes a transition between an active and an absorbing phase. Monte Carlo simulations supported by some additional arguments prompted as to predict the exact location of the critical point and critical exponents in this model. The exponents $\delta=0.5$ and $z=2$ follows from random-walk-type arguments. The exponents $\beta = \nu_{\perp}$ are found to be non-universal and encoded in the singular part of reactivation probability, as recently discussed by H. Hinrichsen (cond-mat/0008179). A related model with quenched randomness is also studied.Comment: 5 pages, 5 figures, generalized version with the continuously changing exponent bet

The Duchess of Malfi

Last revised 2002

Kinect Depth Sensor Evaluation for Computer Vision Applications

This technical report describes our evaluation of the Kinect depth sensor by Microsoft for Computer Vision applications. The depth sensor is able to return images like an ordinary camera, but instead of color, each pixel value represents the distance to the point. As such, the sensor can be seen as a range- or 3D-camera. We have used the sensor in several different computer vision projects and this document collects our experiences with the sensor. We are only focusing on the depth sensing capabilities of the sensor since this is the real novelty of the product in relation to computer vision. The basic technique of the depth sensor is to emit an infrared light pattern (with an IR laser diode) and calculate depth from the reflection of the light at different positions (using a traditional IR sensitive camera). In this report, we perform an extensive evaluation of the depth sensor and investigate issues such as 3D resolution and precision, structural noise, multi-cam setups and transient response of the sensor. The purpose is to give the reader a well-founded background to choose whether or not the Kinect sensor is applicable to a specific problem

Analytical approximation of the stress-energy tensor of a quantized scalar field in static spherically symmetric spacetimes

Analytical approximations for ${}$ and ${}$ of a quantized scalar field in static spherically symmetric spacetimes are obtained. The field is assumed to be both massive and massless, with an arbitrary coupling $\xi$ to the scalar curvature, and in a zero temperature vacuum state. The expressions for ${}$ and ${}$ are divided into low- and high-frequency parts. The contributions of the high-frequency modes to these quantities are calculated for an arbitrary quantum state. As an example, the low-frequency contributions to ${}$ and ${}$ are calculated in asymptotically flat spacetimes in a quantum state corresponding to the Minkowski vacuum (Boulware quantum state). The limits of the applicability of these approximations are discussed.Comment: revtex4, 17 pages; v2: three references adde

High abundances of small copepods early developmental stages and nauplii strengthen the perception of a non-dormant Arctic winter

The traditional view is that the Arctic polar night is a quiescent period for marine life, but recent reports of high levels of feeding and reproduction in both pelagic and benthic taxa have challenged this. We examined the zooplankton community present in Svalbard fjords, coastal waters, and the shelf break north of Svalbard, during the polar night. We focused on the population structure of abundant copepods (Calanus finmarchicus, Calanus glacialis, Metridia longa, Oithona similis, Pseudocalanus spp., Microcalanus spp., and Microsetella norvegica) sampled using 64-µm mesh nets. Numerically, copepod nauplii (≥ 50%) and the young developmental stages of small copepods (< 2 mm prosome length as adult) dominated the samples. Three main patterns were identified: (1) large Calanus spp. were predominantly older copepodids CIV–CV, while (2) the small harpacticoid M. norvegica were adults. (3) For other species, all copepodid stages were present. Older copepodids and adults dominated populations of O. similis, Pseudocalanus spp. and M. longa. In Microcalanus spp., high proportion of young copepodids CI–CIII indicated active winter recruitment. We discuss the notion of winter as a developing and reproductive period for small copepods in light of observed age structures, presence of nauplii, and previous knowledge about the species. Lower predation risks during winter may, in part, explain why this season could be beneficial as a period for development. Winter may be a key season for development of small, omnivorous copepods in the Arctic, whereas large copepods such as Calanus spp. seems to be reliant on spring and summer for reproduction and development.publishedVersio