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Control Performance Simulation of a Space Robotic Joint by Estimation of Motor Fast Shaft Position and Speed via a Seven-State Nonlinear Kalman Filter
No full textThis paper presents the results of a control performance simulation for a robotic joint, sized for space applications, via a seven-state nonlinear Kalman Filter. This leads to better estimation of joint mechanical state and in particular the motor fast shaft position and speed which are directly used for the commutation and speed control functions. In the presented simulation the sensor information assumed available to the Kalman Filter are the ones normally available in the drive electronics, like currents and voltages, motor windings temperatures and speed information of the joint output shaft, downstream the reducer, derived from an output shaft absolute position sensor. The general technique to utilize a Kalman Filter estimator to support the reconstruction of the motor shaft mechanical state have been already proposed in di erent variants and could be considered for robotic applications in hostile environments where active electronics, inclusive hall sensors, installed in the robotic arm should be reduced to the minimum and where the need to keep the arm design as light and as simple as possible suggests to reduce the number of components into the joint to the minimum. Possible scenarios are represented by Moon and Mars robotic exploration where the extreme environmental conditions of certain areas and the convenience to keep the mass of the robotic arm as low as possible suggest the use of techniques similar to the one discussed
Going Beyond Counting First Authors in Author Co-citation Analysis
Full text linkThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
L'applicazione della disciplina antitrust nei settori speciali: banche, assicurazioni e mass media. Questioni procedurali e sostanziali alla luce dell'art. 20
No full textL'applicazione della disciplina antitrust nei settori speciali: banche, assicurazioni e mass media. Questioni procedurali e sostanziali alla luce dell'art. 20
No full textVariations on the Author
Full text link“Variations on the Author” discusses two of Eduardo Coutinho’s recent films (Um Dia na Vida, from 2010, and Últimas Conversas, posthumously released in 2015) and their contribution to the general question of documentary authorship. The director’s filmography is characterized by a consistent yet self-effacing form of authorial self-inscription: Coutinho often features as an interviewer that rather than express opinions propels discourses; an interviewer that is good at listening. This mode of self-inscription characterizes him as an author who is not expressive but who is nonetheless markedly present on the screen. In Um Dia na Vida, however, Coutinho is completely absent form the image, while Últimas Conversas, on the contrary, includes a confessional prologue that moves the director from the margins to the center of his films. This article examines the ways in which these works stand out in the filmography of a director who offers new insights into the notion of cinematic authorship
Experiment Proposal for the Detection of Possible Photons Trajectory Perturbation Caused by Maxwellian Fields
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