398 research outputs found
Kinematic Synthesis Of Tendon-Driven Robotic Manipulators using Singular Value Decomposition
No full textKinematic synthesis of a four-link mechanism with rolling contacts for motion and function generation
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On the Mechanism Design of Tendon-Driven Manipulators with Fail-Safe Characteristics
No full text近年來腱驅動機構已成功的應用到機器人輔助醫療手術，這種機械需要較高的安全性，且必需具有故障安全特性。故障安全特性可以從增加感測器、防止軟體失效、防止硬體失效、使用緊急關斷按鈕等各種不同的方向加強。本文所採用的是使用多餘的腱驅動機構來加強硬體失效時的故障安全特性。多餘的腱還可以提供額外的設計彈性，例如可以讓性能最佳化、降低各腱的負荷並提供更高的容錯能力等等。本文先以公式及構造矩陣的零空間的觀念，推導出腱驅動機構在斷掉任何一條驅動腱的情況下，仍能維持在可控制狀態，不致產生嚴重損害的條件。然後分別以幾何法及最佳化方法，來設計出滿足這些限制條件的腱驅動機構。使用幾何法可以很快的得到一些可行的機構，將這些可行的機構再做為使用最佳化方法合成時的初始估計值，即可找到最佳的解。在本文中，最佳化方法的目標是要找出滿足限制條件且具有最低條件數的機構；這種多餘腱驅動機構中各腱的負荷最為平均，也較節省成本。Tendon-driven manipulators have been widely used in many applications. Recently, tendon-driven manipulators have successfully been used for some robot-assisted medical surgery. Fail-safe design features should be incorporated into such manipulators to increase safety. There are many safety features to be concerned, e.g., fail-safe design of hazard detectors, protection against software/hardware failures, intrusion monitoring, or use of panic buttons. In this paper, a tendon-driven manipulator with redundant tendons is used to increase fail-safe feature in the event of hardware failure. A tendon-driven manipulator having redundant tendons may also possess additional flexibility in operation such as capable of optimizing the performance of tendons, reducing the burden of each tendon, and allowing fault tolerance for actuation. The purpose of this paper is to develop a methodology for synthesizing tendon-driven manipulators with redundant tendons and fail-safe features, and to optimize the distribution of tendons force of the system. Characteristics of tendon-driven manipulators and fail-safe features are briefly discussed. Criteria for the tendon-driven manipulator with fail-safe features are derived from the null space of the structure matrix. With these constraints, manipulators can remain controllable when any of the tendons fails to function. Finally, procedures for determining the structure of the tendon-driven manipulator are developed via geometric method and optimization-based numerical method. Solutions found by geometric method can be used for the initial estimate of optimization method. The objective of optimization method is to even the burden of each tendon and to reduce cost
Linear trinuclear three-centred metal–metal multiple bonds: synthesis and crystal structure of [M3(dpa)4Cl2][M = RuII or RhII, dpa = bis(2-pyridyl)amidoanion]
No full textVariations of Channel Conductance in AlGaN/GaN Structure with Sub-Bandgap Laser Light and Above-Bandgap Illuminations
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RELASI JINN DAN AL-INS DALAM AL-QUR’AN: Kajian Semantik Toshihiko Izutsu
Full text linkThe Qur’an often calls the word jinn coupled with the word al-ins as God’s creatures in different forms. Based on that, the author tried to unravel the problem by studying basically the words jinn and al-ins in the Qur’an and then linking both of them in Toshihiko Izutsu’s semantic theory. The study begins by searching for the basic meaning and relational meaning as the foundation for finding welthansauung or worldview of the word jinn and al-ins in the Qur'an. The study found that the word jinn in the Qur'an has a closed meaning, similar to the root of majnūn, jannah, and janīn. Likewise, the relational meaning of the jinn described in the Qur'an both relating to the ancients before the coming of Islam, the jinns are shaitan, ifrit, angels, superhuman beings, worshiped beings, demons, and the maker of misfortune someone. As for the basic meaning of the word al-ins, the same as insān, basyar, the sons of adam, ‘abd Allah, even al-ins as the representative word of man in the Qur'an can be interpreted shaitan as in surah al-nās which states that shaitan derived from the genie and the human race. The discussion of the ontological and communicative relations between jinn and al-ins in the Qur’an, it is mentioned that jinn and humans are truly God’s creatures created from different elements. These two creatures can establish communication because there is an explanation in the Qur’an, as it did in the time of Adam, Sulayman and Prophet Muhammad saw.Al-Qur’an kerap menyebut kata jinn bersanding dengan kata al-ins sebagai makhluk Allah yang berbeda wujud. Berangkat dari itu, peneliti mencoba mengurai permasalahannya dengan cara mengkaji secara dasar kata jinn dan al-ins dalam al-Qur’an dan kemudian mengkaitkan keduannya menggunakan teori semantik Toshihiko Izutsu. Kajian dimulai dengan mencari makna dasar dan makna relasional sebagai dasar menemukan welthansauung atau pandangan dunia terhadap kata jinn dan al-ins dalam al-Qur’an. Penelitian ini menemukan bahwa kata jinn dalam al-Qur’an mempunyai makna tertutup, sama dengan akar kata dari majnūn, jannah maupun janīn. Begitu juga tentang makna relasional terhadap jin yang dijelaskan dalam al-Qur’an baik yang berkaitan dengan orang-orang dahulu sebelum datangnya Islam, jin adalah syaitan, ifrit, malaikat, makhluk yang mempunyai kekuatan super, makhluk yang disembah, iblis, dan pembuat kesialan seseorang. Adapun makna dasar kata al-ins, sama seperi insān, basyar, bani adam, ‘abd Allah, bahkan al-ins sebagai kata yang mewakili manusia dalam al-Qur’an bisa diartikan syaitan seperti dalam suran al-nās yang menyatakan bahwa syaitan itu berasal dari golongan jin dan manusia. Pembahasaan tentang relasi ontologis dan komunikatif antara jinn dan al-ins dalam al-Qur’an, disebutkan bahwa jin dan manusia adalah benar-benar makhluk Allah yang diciptakan dari unsur yang berbeda. Kedua makhluk ini bisa menjalin komunikasi karena ada penjelasan dalam-al-Qur’an, seperti halnya yang terjadi pada zaman Nabi Adam, Nabi Sulaiman sampai Nabi Muhammad saw
Analisis Persepsi Wisatawan Mengenai Kualitas Daya Tarik Wisata Permandian Di Kelurahan Kumaligon Kecamatan Biau Kabupaten Buol
Full text linkTourist Attractions in Regency There are quite a lot of tourist attractions in Buol Regency, but until now the arrangement or management has not been overall for natural tourism objects in Buol Regency, one of which is the Kumaligon Baths. . Kumaligon Baths is an area located in Kumaligon Village, Biau District, Buol Regency which is famous for its clear, cool water and hilly areas that are so beautiful to look at, and access to a location that is so close to the center of Buol city, especially in the Biau sub-district. . The purpose of our research is to identify and describe the perception of tourists regarding the quality of tourist attraction at the baths in Kumaligon Village, Biau District, Buol Regency. The type of research used in this research is descriptive qualitative. In this study, data collection was carried out using 3 methods, namely Observation, Interview, and Documentation. The data sources used in this study consisted of two kinds, namely primary data and secondary data. This research is to describe and describe the results of research into complete, systematic sentences and carry out discussions to obtain an understanding so that conclusions can be drawn. Based on the results of the research conducted, the author concludes that from the perception of the manager, namely the Youth, Sports, and Tourism Office, the Head of the Kumaligon Village Government and the person in charge of the area, as well as tourists and visitors state the need for special attention to aspects of attractions which include natural tourist attractions and artificial tourist attractions. , Accessibility indicators include access roads and tourist information, and Facilities indicators that include services, security, food stalls, and lodging in Kumaligon bathsDaya tarik wisata di Kabupaten Buol cukup banyak, namun sampai saat ini penataan atau pengelolaannya belum secara keseluruhan bagi objek wisata alam yang ada di kabupaten Buol, salah satunya yaitu permandian Kumaligon. Permandian Kumaligon merupakan wilayah yang terletak di Kelurahan Kumaligon, Kecamatan Biau, Kabupaten Buol yang terkenal dengan airnya yang jernih, sejuk dan daerah perbukitan yang begitu indah untuk di pandang, dan akses lokasi yang begitu dekat dari pusat kota Buol khususnya yang berada di wilayah kecamatan Biau. tujuan pelaksanaan penelitian kami adalah untuk mengetahui dan menggambarkan persepsi wisatawan mengenai kualitas daya tarik wisata pada permandian di Kelurahan Kumaligon, Kecamatan Biau, Kabupaten Buol. Jenis penelitian yang digunakan dalam penelitian bersifat deskriptif kualitatif. Dalam penelitian ini, pengumpulan data dilakukan dengan menggunakan 3 metode, yaitu Observasi, Wawancara dan Dokumentasi. sumber data yang digunakan dalam penelitian ini terdiri dari dua macam yaitu data primer dan data sekunder. Penelitian ini bersifat menggambarkan dan menguraikan hasil penelitian kedalam bentuk kalimat secara lengkap, sistematis dan dilakukan pembahasan untuk memperoleh suatu pengertian sehingga dapat ditarik kesimpulan. Berdasarkan hasil penelitian yang dilakukan, penulis memberikan kesimpulan bahwa dari persepsi pihak pengelola yaitu Dinas Pemuda Olahraga dan Pariwisata, Kepala Pemerintah Kelurahan Kumaligon dan penanggung jawab wilayah, serta wisatawan dan pengunjung menyatakan perlunya perhatian khusus pada aspek Atraksi yang mencakup atraksi wisata alam dan aktraksi wisata buatan, indikator Aksesibilitas mencakup akses jalan masuk serta informasi wisata, dan indikator Fasilitas yang memuat pelayanan, keamanan, warung makan dan penginapan di wisata permandian Kumaligo
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