4,250 research outputs found
Tele-operated climbing and mobile service robots for remote inspection and maintenance in nuclear industry
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Intelligent legged climbing service robot for remote inspection and maintenance in hazardous environments
No full textFigs 1–6 in Stick insects of the genus Interphasma Chen et He, 2008 (Phasmida: Phasmatidae) from China
No full textFigs 1–6. Interphasma huayingshanense sp. n.: 1, 3 – female (holotype); 2, 5 – malePublished as part of Li, B.L., Shi, F.M. & Wang, H.J., 2021, Stick insects of the genus Interphasma Chen et He, 2008 (Phasmida: Phasmatidae) from China, pp. 24-32 in Far Eastern Entomologist 422 on page 27, DOI: 10.25221/fee.422.3, http://zenodo.org/record/716634
Combined genetic algorithm optimization and regularized orthogonal least squares learning for radial basis function networks
No full textThe paper presents a two-level learning method for radial basis function (RBF) networks. A regularized orthogonal least squares (ROLS) algorithm is employed at the lower level to construct RBF networks while the two key learning parameters, the regularization parameter and the RBF width, are optimized using a genetic algorithm (GA) at the upper level. Nonlinear time series modeling and prediction is used as an example to demonstrate the effectiveness of this hierarchical learning approach
Intelligent legged climbing service robot for remote maintenance applications in hazardous environments
No full textWalking and climbing service robots for safety inspection of nuclear reactor pressure vessels
Full text linkInspection and maintenance are essential in the nuclear industry. Failure to carry out proper maintenance could increase the chance of accidents which could result in severe casualties not only inside the nuclear plant but also in the nearby community. However, it is not easy to carry out such maintenance tasks since the environments are usually highly radioactive and unsafe for humans to workin. The usual way of carrying out inspection and maintenance tasks in these hazardous environments is by using long-reach fixed base manipulators. However, these manipulators suffer from low payload capacity and relatively large end-point deflections. Also, the installation and the storage of these long manipulators could be costly. An alternative solution is to use walking-climbing robots, which overcome the problems encountered by the long-reach manipulators.Over the years, a number of climbing robots have been developed for various applications [1-15]. However, most of these robots are only engineering prototypes and have not been used for any extensive inspection and maintenance operations. In this paper, we describe a number of teleoperated walking-climbing robots developed by the authors, which includeNERO series and SADIE series. These robots have been designed for remote inspection and maintenance applications, especially for the nuclear industry. All of these robots have been applied successfully in practical applications
The life and works of James Miller, 1704-1744, with particular reference to the satiric content of his poetry and plays.
No full textPhDJames Miller was born the son of a Dorset rector in 1704. He
was himself ordained, but acquired no benefice until just before his
early death, probably because of a scathing portrayal of the Bishop
of London in one of his verse satires. At Oxford he wrote a vivacious
comedy of humours, set in the University. Its production in 1730
began his dramatic career, at a time when the number of London
theatres had just doubled, and new dramatic forms were being invented.
In 1731 his poem Harlequin-Horace, a witty inversion of
the Ars Poetica, attacked pantomime and opera, but also painted a
lively portrait of the entire theatrical world, in the tradition of
the Dunciad.
After collaborating in a translation of Moliere's works Miller
wrote two plays based on this author. Of all his dramatic works
these were the most successful with his contemporaries, and were
followed by a modernisation of Much Ado, and a ballad-opera adapted
from an afterpiece by Jean-Baptiste Rousseau, and rendered highly
topical. Miller made similar use of a recent French comedy showing
a Red Indian's reactions to civilisation, a satiric "fable" by Walsh
and Voltaire's Mahomet. A large quantity of original material was
incorporated into most of these, and this is generally satirical in
nature. The Indian is made to voice almost egalitarian sentiments.
An afterpiece, "The Camp Visitants", satirised military inaction
in the war, and was apparently banned. The manuscripts of the six
plays produced after the Licensing Act bear the examiner's deletions,
and illustrate the nature of the censorship at this time.
Miller's greatest strength is probably his flexible, vigorously
colloquial dialogue. His political satire is mostly contained in
the poetry, which attacks Walpole's administration with increasing
vehemence through the seventeen-thirties, until its fall. In 1740
two poems that used Pope in symbolic contrast to Walpole caused a
sensation. In both poetry and plays Miller is also a social satirist,
who lays unusually strong emphasis on false taste and the deterioration
of culture
Using genetic algorithms to establish efficient walking gaits for an eight-legged robot
No full textIn the design and development of a legged robot, many factors need to be considered. As a consequence, creating a legged robot that can efficiently and autonomously negotiate a wide range of terrain is a challenging task. Many researchers working in the area of legged robotics have traditionally looked towards the natural world for inspiration and solutions, reasoning that these evolutionary solutions are appropriate and effective because they have passed the hard tests for survival over time and generations. This paper reports the use of genetically inspired learning strategies, commonly referred to as genetic algorithms, as an evolutionary design tool for improving the design and performance of an algorithm for controlling the leg stepping sequences of a walking robot. The paper presents a specific case of finding optimal walking gaits for an 8-legged robot called Robug IV and simulated results are provided
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