Underwater dual manipulators-Part I: Hydrodynamics analysis and computation

1098-1103This paper introduces two 4-DOF underwater manipulators mounted on autonomous underwater vehicle (AUV) with grasping claws, such that the AUV can accomplish the underwater task by using dual manipulators. Mechanical design of the manipulator is briefly presented and the feature of the simple structure of dual manipulators is simulated by using Solid Works. In addition, the hydrodynamics of the manipulator is analyzed, considering drag force, added mass and buoyancy. Then, hydrodynamic simulations of the manipulator are conducted by using 3-D model with Adams software, from which the torque of each joint is calculated. This paper presents an integrated result of computed torques by combining the theoretical calculation and simulation results, which is instrumental in determining the driving torque of the manipulators

The Relationship Between Stroke Patients Characteristics and Family Support with Compliance Rehabilitation

Stroke is a cerebrovascular disease, it is brain function disorders associated with the disease of the blood vessels that supply the brain. The impact of stroke is paralysis. Family support is things that are needed to be considered in the treatment of stroke patients. It is very involved in the compliance rehabilitation of patients to prevent the re-occurrence of stroke. Characteristics of stroke patients may also affect the compliance rehabilitation. The purpose of this research is to determine the relationship between stroke patients characteristics and family support to compliance rehabilitation at the Medical Rehabilitation Unit RSU Haji Surabaya. This research was an analytic observational research with cross sectional design. The subjects of this research are taken using total population technique. The independent variables in this research is family support. The dependent variable is compliance rehabilitation. The results of this research are presented in the form of frequency distributions and calculate the strength of the relationship with Phi coefficient. The result of this research shows that there is a strong relationship between family support and compliance rehabilitation (r=0.582). There are weak relationship between ages (r=-0,027), gender (r=0,092), level of education (r= -0,295), work (r=0,098), and marital status (r=0,319). The conclusion is family support may affect compliance rehabilitation of stroke patients. It is recommended for health workers to provide counseling to improve family support in curing stroke patients

Towards a Muon Collider

A muon collider would enable the big jump ahead in energy reach that is needed for a fruitful exploration of fundamental interactions. The challenges of producing muon collisions at high luminosity and 10 TeV centre of mass energy are being investigated by the recently-formed International Muon Collider Collaboration. This Review summarises the status and the recent advances on muon colliders design, physics and detector studies. The aim is to provide a global perspective of the field and to outline directions for future work.Comment: 118 pages, 103 figure

Towards a muon collider

A muon collider would enable the big jump ahead in energy reach that is needed for a fruitful exploration of fundamental interactions. The challenges of producing muon collisions at high luminosity and 10 TeV centre of mass energy are being investigated by the recently-formed International Muon Collider Collaboration. This Review summarises the status and the recent advances on muon colliders design, physics and detector studies. The aim is to provide a global perspective of the field and to outline directions for future work

Design and baseline characteristics of the finerenone in reducing cardiovascular mortality and morbidity in diabetic kidney disease trial

Background: Among people with diabetes, those with kidney disease have exceptionally high rates of cardiovascular (CV) morbidity and mortality and progression of their underlying kidney disease. Finerenone is a novel, nonsteroidal, selective mineralocorticoid receptor antagonist that has shown to reduce albuminuria in type 2 diabetes (T2D) patients with chronic kidney disease (CKD) while revealing only a low risk of hyperkalemia. However, the effect of finerenone on CV and renal outcomes has not yet been investigated in long-term trials. Patients and Methods: The Finerenone in Reducing CV Mortality and Morbidity in Diabetic Kidney Disease (FIGARO-DKD) trial aims to assess the efficacy and safety of finerenone compared to placebo at reducing clinically important CV and renal outcomes in T2D patients with CKD. FIGARO-DKD is a randomized, double-blind, placebo-controlled, parallel-group, event-driven trial running in 47 countries with an expected duration of approximately 6 years. FIGARO-DKD randomized 7,437 patients with an estimated glomerular filtration rate >= 25 mL/min/1.73 m(2) and albuminuria (urinary albumin-to-creatinine ratio >= 30 to <= 5,000 mg/g). The study has at least 90% power to detect a 20% reduction in the risk of the primary outcome (overall two-sided significance level alpha = 0.05), the composite of time to first occurrence of CV death, nonfatal myocardial infarction, nonfatal stroke, or hospitalization for heart failure. Conclusions: FIGARO-DKD will determine whether an optimally treated cohort of T2D patients with CKD at high risk of CV and renal events will experience cardiorenal benefits with the addition of finerenone to their treatment regimen. Trial Registration: EudraCT number: 2015-000950-39; ClinicalTrials.gov identifier: NCT02545049

Towards a muon collider

A muon collider would enable the big jump ahead in energy reach that is needed for a fruitful exploration of fundamental interactions. The challenges of producing muon collisions at high luminosity and 10 TeV centre of mass energy are being investigated by the recently-formed International Muon Collider Collaboration. This Review summarises the status and the recent advances on muon colliders design, physics and detector studies. The aim is to provide a global perspective of the field and to outline directions for future work

Erratum: Towards a muon collider

The original online version of this article was revised: The additional reference [139] has been added. Tao Han’s ORICD ID has been incorrectly assigned to Chengcheng Han and Chengcheng Han’s ORCID ID to Tao Han. Yang Ma’s ORCID ID has been incorrectly assigned to Lianliang Ma, and Lianliang Ma’s ORCID ID to Yang Ma. The original article has been corrected

Analysis and Validation of ZY-3 02 Satellite Laser Altimetry Data

ZY-3 02 satellite loaded with Chinese first earth observing satellite laser altimeter,and has been launched successfully on 30th May,2016. In this paper,the theoretical accuracy of the laser altimeter is analyzed,and several experimental areas are used to verify the actual accuracy. At the same time,the application of the laser altimetry data in the field of space-borne photogrammetry is tested. The laser altimetry theoretical accuracy of ZY-3 02 satellite in the flat area (slope less than 2 degrees) is about 0.85 m and 14.2 m in the elevation and planimetry direction,respectively. The effective laser altimetry data account for about 23.89%,and near the calibration field the elevation accuracy is 0.89 m,and planimetry accuracy is about 14.76 m. Moreover,the verified elevation accuracy is 1.09 m in the North China by high precision DSM terrain data,and laser footprint points accuracy on the surface of the Bohai inland sea is about 0.47 m. When the laser foot print point is used as elevation control point,the elevation accuracy of the ZY-3 02 satellite stereo images in Shaanxi Weinan can be increased from 11.54 m to 1.90 m without GCPs. Although ZY3-02 satellite laser altimeter is just a test,the results proved that the domestic satellite laser altimetry data can effectively improve the stereo images without GCPs,which will be valuable in the global mapping project. It is suggest that operational laser altimeter equip on the next satellite of ZY-3 serials

Deformation Prediction of Plate Line Rolling Forming Based on Inherent Strain Method

Inherent strain method has been widely used as a forecasting and computing method for welding deformation of large complicated structures and further applied to the research of line heating forming. Mechanical forming is a common ship-hull plate forming method, for which deformation prediction still depends mainly on elastoplastic finite element method. This paper researched the application of inherent strain method to plate line rolling forming, a common mechanical forming method, and then compared the results of inherent strain method and elastoplastic finite element method, proving the applicability of inherent strain method, providing a method for fast, accurate forecasting of distortion in plate line rolling and formation of automation equipment