1,720,958 research outputs found
Robust fractional-order control using a decoupled pitch and roll actuation strategy for the I-support soft robot
No full textTip control is a current open issue in soft robotics; therefore, it has received a good amount of attention in recent years. The desirable soft characteristics of these robots turn a well-solved problem in classic robotics, like the end-effector kinematics and dynamics, into a challenging problem. The high redundancy condition of these robots hinders classical solutions, resulting in controllers with very high computational costs. In this paper, a simplification is proposed in the actuation setup of the I-Support soft robot, allowing the use of simple strategies for tip inclination control. In order to verify the proposed approach, inclination step input and trajectory-tracking experiments were performed on a single module of the I-Support robot, resulting in zero output error in all cases, including those where the system was exposed to disturbances. The comparative results of the proposed controllers, a proportional integral derivative (PID) and a fractional order robust (FOPI) controller, validate the feasibility of the proposed approach, showing a clear advantage in the use of the fractional robust controller for the tip inclination control of the I-Support robot compared to the integer order controller
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
Variations 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
Appropriate Similarity Measures for Author Cocitation Analysis
Full text linkWe provide a number of new insights into the methodological discussion about author cocitation analysis. We first argue that the use of the Pearson correlation for measuring the similarity between authors’ cocitation profiles is not very satisfactory. We then discuss what kind of similarity measures may be used as an alternative to the Pearson correlation. We consider three similarity measures in particular. One is the well-known cosine. The other two similarity measures have not been used before in the bibliometric literature. Finally, we show by means of an example that our findings have a high practical relevance.information science;Pearson correlation;cosine;similarity measure;author cocitation analysis
Controlling Soft Robotic Arms Using Continual Learning
No full textLearning-based modeling and control of soft robots is advantageous due to neural network's ability to capture complex dynamical effects with low computational cost. Continual Learning techniques add further value to these methods by allowing networks to learn from continuously available data without incurring into catastrophic forgetting. In the context of soft robotic control, such capability can be exploited to design controllers able to continuously adapt to changes in robot dynamics, frequently due to material degradation or external interactions. This should be done without forgetting the control under normal working conditions which can be recovered as soon as the external interactions return to normal. In this paper elastic weight consolidation is used to continuously re-tune a neural network-based controller while changing the external loading of a soft robot. We demonstrate experimentally on a soft robot arm that this method outperforms plain stochastic gradient descent in tracking tasks, in the context of a continuously changing loading condition. We also show that the proposed control architecture can improve its performances when exposed to loading conditions already experienced. This paper represents a first step towards the introduction of continual learning methods in the soft robot control field
Dispelling the Myths Behind First-author Citation Counts
Full text linkWe conducted a full-scale evaluative citation analysis study of scholars in the XML research field to explore just how different from each other author rankings resulting from different citation counting methods actually are, and to demonstrate the capability of emerging data and tools on the Web in supporting more realistic citation counting methods. Our results contest some common arguments for the continued
use of first-author citation counts in the evaluation of scholars, such as high correlations between author rankings by first-author citation counts and other citation
counting methods, and high costs of using more realistic citation counting methods that are not well-supported by the ISI databases. It is argued that increasingly available digital full text research papers make it possible for citation analysis studies to go beyond what the ISI databases have directly supported and to employ more
sophisticated methods
Ochre-based pigments in the tablinum of the house of the bicentenary (Herculaneum, Italy) between decorative technology and natural disasters
Full text linkOchre-based pigments have been employed since the first artistic expressions of mankind, with widespread diffusion during the Roman civilization. Such prominent use influenced their technological development, focused on functional and aesthetic optimization through complex manufacturing procedures. Furthermore, their appearance is also influenced by degradation processes, sometimes driven by natural disasters such as the eruption of Mount Vesuvius in 79 AD, in which yellow ochres of Vesuvian sites were sometimes converted to red by thermal alteration. In this contribution, a multi-analytical approach was adopted based on preliminary non-invasive investigations complemented by laboratory analyses to characterize the painted surfaces of the tablinum of the House of the Bicentenary (Herculaneum) with a particular focus on the ochre-based monochrome backgrounds. The study was aimed at (a) reconstructing the original color scheme of the walls and (b) deciphering the complex decorative techniques adopted by Roman craftsmen. The analytical results allowed testing and defining analytical procedures for the discrimination between the original and converted red pigments. Furthermore, these studies indicated that specific decorative technologies were adopted according to aesthetic, functional, and economic purposes, including the utilization of various qualities of ochre with different compositional and textural properties, and the mixture of ochre pigments with other compounds
koamabayili/VECTRON-author-checklist: VECTRON author checklist
No full textWe have done our best to complete the author checklist relating to the use of animals in the hut study. Note that the objective for the hut study was to evaluate the IRS treatment applications for residual efficacy against Anopheles mosquitoes, including the local An. coluzzii mosquito population. Cows were only used to attract mosquitoes into the huts and no tests were carried out directly on the cows. The author checklist is intended for use with studies where experiments are carried out on animals, which is why we have had such difficulty in completing this for the hut study, as many of the questions do not relate to how the cows were used
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