Multi-Objective Design Optimization of the Leg Mechanism for a Piping Inspection Robot

This paper addresses the dimensional synthesis of an adaptive mechanism of contact points ie a leg mechanism of a piping inspection robot operating in an irradiated area as a nuclear power plant. This studied mechanism is the leading part of the robot sub-system responsible of the locomotion. Firstly, three architectures are chosen from the literature and their properties are described. Then, a method using a multi-objective optimization is proposed to determine the best architecture and the optimal geometric parameters of a leg taking into account environmental and design constraints. In this context, the objective functions are the minimization of the mechanism size and the maximization of the transmission force factor. Representations of the Pareto front versus the objective functions and the design parameters are given. Finally, the CAD model of several solutions located on the Pareto front are presented and discussed.Comment: Proceedings of the ASME 2014 International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference, Buffalo : United States (2014

POREZ NA DOHODAK U REPUBLICI HRVATSKOJ

Ovaj članak obrađuje porez na dohodak kao neposredni (izravni) porez u poreznom sustavu Republike Hrvatske kojim su obuhvaćeni fizičke osobe, obveznici poreza na dohodak. Definiranje i pojašnjenje vrste dohodaka s obzirom na izvor dohotka i to: dohodak od nesamostalnog rada, dohodak od samostalne djelatnosti, dohodak od imovine i imovinskih prava, dohodak od kapitala, dohodak od osiguranja, drugi dohodak, te metodologija utvrđivanja porezne obveze i poreznih stopa i utvrđivanje poreznog razdoblja. Navedeni su primici koji se ne smatraju dohotkom, što je to porezni gubitak te osobni odbitak kao neoporezivi dio dohotka

Dvostruko oporezivanje

Pojmovni

Action-Perception Trade-Offs for Anguilliform Swimming Robotic Platforms with an Electric Sense

International audienceThe work presented addresses the combination of anguilliform swimming-based propulsion with the use of an electric sensing modality for a class of unmanned underwater vehicles, and in particular investigates the relative influence of adjustments to the swimming gait on the platform's displacement speed and on sensing performance. This influence is quantified, for a relevant range of swimming gaits, using experimental data recordings of displacement speeds, and a boundary element method-based numerical simulation tool allowing to reconstruct electric measures. Results show that swimming gaits providing greater movement speeds tend to degrade sensing performance. Conversely, gaits yielding accurate sensing tend to prove slower. To reconcile opposing tendencies, a simple action-perception cost function is designed, with the purpose of adjusting an anguilliform swimmer's gait shape, in accordance with respective importance afforded to action (i.e. movement speed) and perception

Discrete Cosserat Approach for Multi-Section Soft Robots Dynamics

In spite of recent progress, soft robotics still suffers from a lack of unified modeling framework. Nowadays, the most adopted model for the design and control of soft robots is the piece-wise constant curvature model, with its consolidated benefits and drawbacks. In this work, an alternative model for multisection soft robots dynamics is presented based on a discrete Cosserat approach, which, not only takes into account shear and torsional deformations, essentials to cope with out-of-plane external loads, but also inherits the geometrical and mechanical properties of the continuous Cosserat model, making it the natural soft robotics counterpart of the traditional rigid robotics dynamics model. The soundness of the model is demonstrated through extensive simulation and experimental results for both plane and out-of-plane motions.Comment: 13 pages, 9 figure

Improved Lighthill fish swimming model for bio-inspired robots - Modelling, computational aspects and experimental comparisons.

International audienceThe best known analytical model of swimming was originally developed by Lighthill and is known as large amplitude elongated body theory (LAEBT). Recently, this theory has been improved and adapted to robotics through a series of studies [Boyer et al., 2008, 2010; Candelier et al., 2011] ranging from hydrodynamic modelling to mobile multibody system dynamics. This article marks a further step towards the Lighthill theory. The LAEBT is ap- plied to one of the best bio-inspired swimming robots yet built: the AmphiBot III, a modular anguilliform swimming robot. To that end, we apply a Newton-Euler modelling approach and focus our attention on the model of hydrodynamic forces. This model is numerically in- tegrated in real time by using an extension of the Newton-Euler recursive forward dynamics algorithm for manipulators to a robot without a fixed base. Simulations and experiments are compared on undulatory gaits and turning manoeuvres for a wide range of parameters. The discrepancies between modelling and reality do not exceed 16% for the swimming speed, while requiring only the one-time calibration of a few hydrodynamic parameters. Since the model can be numerically integrated in real time, it has significantly superior accuracy com- pared with computational speed ratio, and is, to the best of our knowledge, one of the most accurate models that can be used in real-time. It should provide an interesting tool for the design and control of swimming robots. The approach is presented in a self contained manner, with the concern to help the reader not familiar with fluid dynamics to get insight both into the physics of swimming and the mathematical tools that can help its modelling

Important Aspects of Inspection Monitoring the Crafts Considering New Tax Regulations

Posebni porez (trošarina) na plovila, sukladno Zakonu o posebnim porezima na osobne automobile, ostala motorna vozila, plovila i zrakoplove (NN, br. 139/97., 105/99., 55/00., 127/00., 107/01. i 95/04.), do 8. kolovoza 2009. plaćao se u fiksnom iznosu ovisno o duljini plovila, kada je stupio na snagu Zakon o izmjenama Zakona o posebnim porezima na osobne automobile, ostala motorna vozila, plovila i zrakoplove (NN, br. 94/09.). Tako su kriteriji za oporezivanje plovila bili izjednačeni s oporezivanjem osobnih automobila i motocikla, pa se porezna osnovica za sve naznačene proizvode od tada utvrđivala prema njihovoj vrijednosti. To znači da se posebni porez na osobne automobile i motocikle te na plovila i zrakoplove plaćao u fiksnom iznosu utvrđenome prema pripadnosti predmeta oporezivanja pojedinome od cjenovnih razreda (osnovica), koji su Zakonom prošireni dodavanjem povećanih vrijednosti i propisanog postotka na iznos vrijednosti (cijene) predmeta oporezivanja koji prelazi donju granicu određenoga cjenovnog razreda. Važnost novina u Zakonu o izmjenama Zakona o posebnim porezima na osobne automobile, ostala motorna vozila, plovila i zrakoplove (NN, br. 21/10.), koji je stupio na snagu 15. veljače 2010., sastoje se u tome da se visina posebnoga poreza na osobne automobile i motocikle nije promijenila, ali je uvedena nova visina posebnog poreza na plovila i zrakoplove. Sukladno tim izmjenama posebni porez na plovila plaća se i dalje prema vrijednosti plovila, ali su uvedeni novi cjenovni razredi s drugačijom visinom posebnog poreza u odnosu prema osobnim automobilima i motociklima, čime se želi postići veći stupanj oporezivanja ekonomski snažnijih obveznika. To znači da bi kupci skup(lj)ih plovila i u relativnom i u apsolutnom iznosu, snosili veći porezni teret.Specific tax (excise) on vessels consistent with the specific tax law on passenger cars, other motor vehicles, crafts and aircraft (NN no. 139/97,...) used to be paid in the fixed amount depending on the length of the craft until 8th August 2009. Then the law, about some changes of the law on passenger cars, other motor vehicles, crafts and aircrafts came into force (NN no. 94/09). So, since then the criteria of taxation the crafts were equalized with taxation the passenger cars and motorcycles and the tax base for the all mentioned products was defined considering their values. That means that specific tax on passenger cars and motor cycles, crafts and aircrafts was paid in the fixed amount defined in accordance with belonging the items (to be taxed) to one particular price sections (base): There are extended by the staled law by adding the increased values and regulated percentage to the amount of value (price) of the item to be taxed which exceeds the lower limit of definite price section. The importance of innovations in the law on supplementary law about specific taxes on passenger cars and other motor vehicle, crafts and aircrafts which came into force on 15th February 2010. consists of not changing the rate of specific tax on passenger cars and motorcycles, but a new specific tax rate on crafts and aircrafts was introduced. Following these changes, specific tax on crafts has been kept on paying according to the values of crafts, but new price sections have been introduced with different specific tax rate in relation to passenger cars and motorcycles. The aim of this is to achieve a higher rate of taxation of economically more powerful taxpayers. That means that buyers of (more) expensive crafts would bear the brunt of higher tax both in relative and absolute amount

Simulations of propelling and energy harvesting articulated bodies via vortex particle-mesh methods

The emergence and understanding of new design paradigms that exploit flow induced mechanical instabilities for propulsion or energy harvesting demands robust and accurate flow structure interaction numerical models. In this context, we develop a novel two dimensional algorithm that combines a Vortex Particle-Mesh (VPM) method and a Multi-Body System (MBS) solver for the simulation of passive and actuated structures in fluids. The hydrodynamic forces and torques are recovered through an innovative approach which crucially complements and extends the projection and penalization approach of Coquerelle et al. and Gazzola et al. The resulting method avoids time consuming computation of the stresses at the wall to recover the force distribution on the surface of complex deforming shapes. This feature distinguishes the proposed approach from other VPM formulations. The methodology was verified against a number of benchmark results ranging from the sedimentation of a 2D cylinder to a passive three segmented structure in the wake of a cylinder. We then showcase the capabilities of this method through the study of an energy harvesting structure where the stocking process is modeled by the use of damping elements

Poincaré-Cosserat equations for Lighthill three-dimensional dynamic model of a self propelled eel devoted to Robotics

International audienceIn this article, we propose a dynamic model of the three-dimensional eel swim. This model is analytical and suited to the on-line control of eel-like robots. The proposed solution is based on the Large Amplitude Elongated Body Theory of Lighthill and a working frame recently proposed in [1] for the dynamic modeling of hyper-redundant robots. This working frame was named "macro-continuous" since at this macroscopic scale, the robot (or the animal) is considered as a Cosserat beam internally (and continuously) actuated. This article proposes new results in two directions. Firstly, it achieves an extension of the Lighthill theory to the case of a self propelled body swimming in three dimensions, while including a model of the internal control torque. Secondly, this generalization of the Lighthill model is achieved due to a new set of equations which is also derived in this article. These equations generalize the Poincaré equations of a Cosserat beam to the case of an open system containing a fluid stratified around the slender beam