16,666 research outputs found

    Autonomous Locomotion Mode Transition Simulation of a Track-legged Quadruped Robot Step Negotiation

    Full text link
    Multi-modal locomotion (e.g. terrestrial, aerial, and aquatic) is gaining increasing interest in robotics research as it improves the robots environmental adaptability, locomotion versatility, and operational flexibility. Within the terrestrial multiple locomotion robots, the advantage of hybrid robots stems from their multiple (two or more) locomotion modes, among which robots can select from depending on the encountering terrain conditions. However, there are many challenges in improving the autonomy of the locomotion mode transition between their multiple locomotion modes. This work proposed a method to realize an autonomous locomotion mode transition of a track-legged quadruped robot steps negotiation. The autonomy of the decision-making process was realized by the proposed criterion to comparing energy performances of the rolling and walking locomotion modes. Two climbing gaits were proposed to achieve smooth steps negotiation behaviours for energy evaluation purposes. Simulations showed autonomous locomotion mode transitions were realized for negotiations of steps with different height. The proposed method is generic enough to be utilized to other hybrid robots after some pre-studies of their locomotion energy performances

    Comparing alignment factors in SMEs and large organizations: a planning integration perspective

    Get PDF
    Measurement of the alignment between business strategies and information systems (IS) has demonstrated positive impact for the organizational performance. The factors that have proved relevant when assessing the maturity level of alignment are: communication, competency/value measurement, governance, partnership, architecture & scope, and skills. Existing research, however, has focused on the assessment of these factors on large organizations and has barely explored their impact on Small and Medium Enterprises (SME). This paper uses the data provided by 127 participants from large and SMEs in order to identify whether the aforementioned factors are also relevant for assessing the level of alignment maturity in SMEs. The results from this research suggest that there are not significant differences between large organizations and SMEs when assessing those factors. In addition, this research also explored the relation between different planning integration of alignment (independent, sequential and simultaneous) in order to measure the perceived relevance of the factors. The results suggest that the planning integration identified on SMEs and large organizations has a positive correlation on how these factors are ranked. For both SMEs and large organizations where the formulation is simultaneous, the relevance of the factors is higher perceived than it is for those where the formulation is independent or sequential

    A 3D Printed Toolbox for Opto-Mechanical Components

    Get PDF
    Nowadays is very common to find headlines in the media where it is stated that 3D printing is a technology called to change our lives in the near future. For many authors, we are living in times of a third industrial revolution. Howerver, we are currently in a stage of development where the use of 3D printing is advantageous over other manufacturing technologies only in rare scenarios. Fortunately, scientific research is one of them. Here we present the development of a set of opto-mechanical components that can be built easily using a 3D printer based on Fused Filament Fabrication (FFF) and parts that can be found on any hardware store. The components of the set presented here are highly customizable, low-cost, require a short time to be fabricated and offer a performance that compares favorably with respect to low-end commercial alternatives.Comment: 9 pages, 9 figure

    Tomography of high-redshift clusters with OSIRIS

    Get PDF
    High-redshift clusters of galaxies are amongst the largest cosmic structures. Their properties and evolution are key ingredients to our understanding of cosmology: to study the growth of structure from the inhomogeneities of the cosmic microwave background; the processes of galaxy formation, evolution, and differentiation; and to measure the cosmological parameters (through their interaction with the geometry of the universe, the age estimates of their component galaxies, or the measurement of the amount of matter locked in their potential wells). However, not much is yet known about the properties of clusters at redshifts of cosmological interest. We propose here a radically new method to study large samples of cluster galaxies using microslits to perform spectroscopy of huge numbers of objects in single fields in a narrow spectral range-chosen to fit an emission line at the cluster redshift. Our objective is to obtain spectroscopy in a very restricted wavelength range (~100 A in width) of several thousands of objects for each single 8x8 square arcmin field. Approximately 100 of them will be identified as cluster emission-line objects and will yield basic measurements of the dynamics and the star formation in the cluster (that figure applies to a cluster at z~0.50, and becomes ~40 and ~20 for clusters at z~0.75 and z~1.00 respectively). This is a pioneering approach that, once proven, will be followed in combination with photometric redshift techniques and applied to other astrophysical problems.Comment: 4 pages, 3 figures. Proceedings of "Science with the GTC", Granada (Spain), February 2002, RMxAA in pres

    Ground temperatures, landforms and processes in an Atlantic mountain. Cantabrian Mountains (Northern Spain)

    Get PDF
    This research was supported by the FormaciĂłn de Profesorado Universitario FPU13/05837 (Ministerio de EducaciĂłn Cultura y Deporte) program, by the OAPN 053/2010 (Organismo AutĂłnomo Parques Nacionales, MAGRAMA) project, by the I + D + I CGL2015-68144-R (Ministerio de Economia y Competitividad) project, by the Leverhulme Trust International Network Grant IN-2012-140 and the Royal Geographical Society Dudley Stamp Memorial Award.Peer reviewedPostprin

    Learning roadmaps for Higher Education

    Get PDF
    An integrated platform for the support of teaching activities as been developed and deployed at the Aveiro Norte Polytechnic School of the University of Aveiro. In this paper we present an approach to Learning Roadmaps for Higher Education based on this platform. The aprend.e platform – Electronic Integrated System for Learning and Training - has at its core a Learning Management System with a number of plugins. It represents a new challenge for the University of Aveiro for higher education and is already being at its core is the concept of learning roadmaps that act upon two fundamental axes: education and learning. For the teachers, it aims at becoming a self-supporting tool that stimulates the organization and management of the course materials (lectures, presentations, multimedia content, and evaluation materials, amongst others). For the students, the learning roadmap aims at promoting self-study and supervised study, endowing the pupil with the capabilities to find the relevant information and to capture the concepts in the study materials. The outcome will be a stimulating learning process together with an organized management of those materials
    • 

    corecore