scholarly journals Interval Analysis for Certified Numerical Solution of Problems in Robotics

2009 ◽  
Vol 19 (3) ◽  
pp. 399-412 ◽  
Author(s):  
Jean-Pierre Merlet
Keyword(s):  
Numerical Solution ◽  
Interval Analysis ◽  
Finite Domain ◽  
Physical Parameters ◽  
Mathematical Tool ◽  
Space Robotics ◽  
Basic Principles ◽  
Manufacturing Tolerances ◽  
System Properties ◽  
The Right

Interval Analysis for Certified Numerical Solution of Problems in RoboticsInterval analysis is a relatively new mathematical tool that allows one to deal with problems that may have to be solved numerically with a computer. Examples of such problems are system solving and global optimization, but numerous other problems may be addressed as well. This approach has the following general advantages: (a) it allows to find solutions of a problem only within some finite domain which make sense as soon as the unknowns in the problem are physical parameters; (b) numerical computer round-off errors are taken into account so that the solutions are guaranteed; (c) it allows one to take into account the uncertainties that are inherent to a physical system. Properties (a) and (c) are of special interest in robotics problems, in which many of the variables are parameters that are measured (i.e., known only up to some bounded errors) while the modeling of the robot is based on parameters that are submitted to uncertainties (e.g., because of manufacturing tolerances). Taking into account these uncertainties is essential for many robotics applications such as medical or space robotics for which safety is a crucial issue. A further inherent property of interval analysis that is of interest for robotics problems is that this approach allows one to deal with theuncertaintiesthat are unavoidable in robotics. Although the basic principles of interval analysis are easy to understand and to implement, this approach will be efficient only if the right heuristics are used and if the problem at hand is formulated appropriately. In this paper we will emphasize various robotics problems that have been solved with interval analysis, many of which are currently beyond the reach of other mathematical approaches.

Intentions and their Effects on the Legality of Dispositions and Contracts

2002 ◽  
Vol 4 (1) ◽  
pp. 130-141
Author(s):  
Abdullah Muhammad al-Shami
Keyword(s):  
Basic Principle ◽  
Islamic Law ◽  
Human Action ◽  
Basic Principles ◽  
Human Actions ◽  
Special Place ◽  
Legal Contract ◽  
Islamic Jurisprudence ◽  
Legal Opinions ◽  
The Right

In Islamic law judgements on any human action are usually evaluated in terms of the intention involved. Accordingly, the rules of substantive issues have to be accommodated under the basic principles of Islamic jurisprudence. The understanding of these principles by the juristic scholar is highly rewarding because it will lead the muftī to the right path in deriving legal opinions from the original sources. The basic principle of Islamic jurisprudence, which stipulates that ‘all actions depend on intentions,’ has played an important role in the construction of Islamic jurisprudence. Moreover, this rule has a special place in the theory of Islamic legal contract. So what is the effect of intention in the validity of human actions and legal contracts? It is known that pure intention has significant effects on spiritual worship and legal contracts of transaction. It also gives guidance for earning rewards from Almighty Allah. This article concentrates on the effect of intention in perpetual worship, the concept of action and intention in Islamic legal works, the kind of contract with all its components, and the jurists' views on the effects of intention in human action and legal contract along with their discussion and counter-arguments.

scholarly journals Identical Limb Dynamics for Unilateral Impairments through Biomechanical Equivalence

Symmetry ◽  
2021 ◽  
Vol 13 (4) ◽  
pp. 705
Author(s):  
Fatemeh Rasouli ◽  
Kyle B. Reed
Keyword(s):  
Mathematical Model ◽  
Numerical Solution ◽  
Dynamic Models ◽  
Assistive Devices ◽  
Assistive Device ◽  
Human Walking ◽  
Physical Parameters ◽  
Gait Rehabilitation ◽  
And Performance ◽  
Two Sides

Dynamic models, such as double pendulums, can generate similar dynamics as human limbs. They are versatile tools for simulating and analyzing the human walking cycle and performance under various conditions. They include multiple links, hinges, and masses that represent physical parameters of a limb or an assistive device. This study develops a mathematical model of dissimilar double pendulums that mimics human walking with unilateral gait impairment and establishes identical dynamics between asymmetric limbs. It introduces new coefficients that create biomechanical equivalence between two sides of an asymmetric gait. The numerical solution demonstrates that dissimilar double pendulums can have symmetric kinematic and kinetic outcomes. Parallel solutions with different physical parameters but similar biomechanical coefficients enable interchangeable designs that could be incorporated into gait rehabilitation treatments or alternative prosthetic and ambulatory assistive devices.

EFFECTIVE STEPS ON THE WAY TO MODERNIZATION OF CIVIL SERVICE IN THE SYSTEM OF JUDICIARY BODIES: INTRODUCTION OF ELEMENTS OF GAME THEORY

2018 ◽  
Author(s):  
Olena Hladunova ◽  
Keyword(s):  
Game Theory ◽  
Justice System ◽  
Civil Service ◽  
Civil Servants ◽  
International Standards ◽  
Scientific Article ◽  
Basic Principles ◽  
Conflict Situations ◽  
Definition Of ◽  
The Right

In this scientific article the main elements of game theory are analyzed, the achievements of domestic and foreign scientists devoted to the consideration of such theory are investigated. The expediency of involving in the practical activity of the civil service in the system of judicial authorities effective methods used in the field of business and consisting in the use of game technologies, which have proven their effectiveness in terms of providing quality services. It is focused on the fact that game theory can play a key role in the decision-making process, however, it is important to strictly adhere to the limits of its application. Possible conflict situations in the work of civil servants of the justice system are formulated and it is investigated that in conflict conditions each so-called participant of the game makes his course, i.e. chooses his strategy, as a result of which the relevant conflict situation is outlined and a set of strategies of all players. Some examples of the use of elements of game theory are given and the content of certain types of strategies is revealed. In particular, a strategy is described, which is denoted by the term "screening". Taking into account the definition of ways to modernize the civil service, the need to include in standardized training programs for civil servants of the justice system category "B" training course, which will include the basic principles of game theory for their active use in conflict, skills to compromise in relationships with visitors to the court - recipients of court services, selection of the right strategy, consideration of theoretical and game modeling of personnel management tasks, focusing on the ability to obtain and timely provide the necessary information to create a new civil service in the judiciary that meets international standards.

scholarly journals MULTI CRITERIA DECISION MAKING – RANKING AND PROMOTING EMPLOYEES

2019 ◽  
Vol 31 (5) ◽  
pp. 1235-1241
Author(s):  
Marina Badarovska Mishevska
Keyword(s):  
Decision Making ◽  
Decision Problem ◽  
Decision Makers ◽  
Decision Making Process ◽  
Specific Situation ◽  
Mathematical Tool ◽  
Analytic Hierarchy ◽  
The Right ◽  
Term Performance ◽  
Hierarchy Process

The analytic hierarchy process (AHP) is a structured technique for organizing and analyzing complex decisions, based on mathematics and psychology. The method was developed by Thomas L. Saaty in the 1970s and has been extensively studied and refined since then. It has particular application in group decision making and is used around the world in a wide variety of decision situation. Rather than prescribing a "correct" decision, the AHP helps decision makers choose one that best suits their goal and their understanding of the problem. The technique provides a comprehensive and rational framework for structuring a decision problem, for representing and quantifying its elements, for relating those elements to overall goals, and for evaluating alternative solutions. Decision making is the choice of one alternative, from two or more, to which the course of the activity is directed and the problem is solved. The decision-making process is a rational attempt by the manager to achieve the goals of the organizational unit. The decision-making process can be thought of as a "brain and nervous system" of an enterprise. Decisions are made when a person wants things to be different in the future. Given each specific situation, making the right decisions is probably one of the most difficult challenges for managers. Managers in day-to-day work deliver programmed and unprogrammed decisions that solve simple or complex problems. Simple decisions have an impact on the short-term performance of the enterprise, and complex decisions have an impact on the long-term future and success of the enterprise. Users of the AHP first decompose their decision problem into a hierarchy of more easily comprehended sub-problems, each of which can be analyzed independently. Once the hierarchy is built, the decision makers systematically evaluate its various elements by comparing them to each other two at a time, with respect to their impact on an element above them in the hierarchy. The AHP converts these evaluations to numerical values that can be processed and compared over the entire range of the problem. In this article, it is explained the application of the AHP method in order to evaluate and promote employees in the enterprise "X" with several criteria. The obtained results enable the manager to evaluate the employees in an objective way and make an objective decision for their promotion. Its application for selecting the best among employees, in their assessment and promotion, allows managers to use a specific and mathematical tool to support the decision. This tool not only supports and qualifies decisions, it also allows managers to justify their choice, as well as to simulate possible results.

Numerical and Statistical Analysis of Dissipative and Heat Absorbing Graphene Maxwell Nanofluid Flow Over a Stretching Sheet

2021 ◽  
Vol 10 (4) ◽  
pp. 600-607
Author(s):  
A. Bhattacharyya ◽  
R. Sharma ◽  
M. K. Mishra ◽  
Ali J. Chamkha ◽  
E. Mamatha
Keyword(s):  
Magnetic Field ◽  
Nusselt Number ◽  
Numerical Solution ◽  
Physical Parameters ◽  
Nonlinear Mathematical Model ◽  
Nanofluid Flow ◽  
Maxwell Nanofluid ◽  
Highly Nonlinear ◽  
Numeric Data ◽  
The Magnetic Field

This paper is basically devoted to carry out an investigation regarding the unsteady flow of dissipative and heat absorbing hydromagnetic graphene Maxwell nanofluid over a linearly stretched sheet taking momentum and thermal slip conditions into account. Ethylene glycol is selected as a base fluid while graphene particles are considered as nanoparticles. The highly nonlinear mathematical model of the problem is converted into a set of nonlinear coupled differential equations by means of fitting similarity variables. Further, Runge-Kutta Fehlberg algorithms along with the shooting scheme are instigated to analyse the numerical solution. The variations in graphene Maxwell nanofluid velocity and temperature owing to different physical parameters have been demonstrated via numerous graphs whereas Nusselt number and skin friction coefficients are illustrated in numeric data form and are reported in different tables. In addition, a statistical method is implemented for multiple quadratic regression estimation analysis on the numerical figures of wall velocity gradient and local Nusselt number to establish the connection among heat transfer rate and physical parameters. Our numerical findings reveal that the magnetic field, unsteadiness, inclination angle of magnetic field and porosity parameters boost the graphene Maxwell nanofluid velocity while Maxwell parameter has a reversal impact on it. The regression analysis confers that Nusselt number is more prone to heat absorption parameter as compared to Eckert number. Finally, the numerical findings are compared with those of earlier published articles under restricted conditions to validate the numerical solution. The comparison of numerical findings shows an excellent conformity among the results.

Core concepts in palliative care

2021 ◽  
pp. 44-54
Author(s):  
Nathan I. Cherny ◽  
Russell K. Portenoy
Keyword(s):  
Palliative Care ◽  
Core Values ◽  
Frame Of Reference ◽  
Good Death ◽  
Clear Understanding ◽  
Life Care ◽  
Basic Principles ◽  
The Core ◽  
Core Concepts ◽  
The Right

Having a clear understanding of why we do what we do in palliative care is one of the factors that mitigates against burnout. This chapter explores some of the core values and central concepts in palliative care. The chapter focuses on underlying basic principles including, care, compassion, and empathy and how they influence the right to effective palliative care. Other less commonly addressed core concepts such as resilience, humility, audacity, and sensitivity to differences are discussed. The chapter then explores the issues around goal-focused care and how it is applied in palliative care and the contentious issues as to what constitutes a good death. It is the hope of the editors that this new contribution will provides a frame of reference that can assist clinicians as we navigate many of the challenges confronted in the delivery of palliative and end of life care.

Sources and the Legitimate Authority of International Law

2018 ◽  
Author(s):  
José Luis Martí
Keyword(s):  
Political Philosophy ◽  
International Law ◽  
International Institutions ◽  
Current System ◽  
Democratic Legitimacy ◽  
Legitimate Authority ◽  
Basic Principles ◽  
Democratic Equality ◽  
International Laws ◽  
The Right

This chapter considers that political philosophers in recent years are paying growing attention to the legitimacy of international law and international institutions and are asking who has the right to rule and adequate standing to create international laws, and how. It attempts to contribute to this debate in normative political philosophy through the more specific lens of democratic legitimacy. After presenting certain conceptual clarifications, the chapter identifies three basic principles of democratic legitimacy: the principle of ultimate popular control, the principle of democratic equality, and the principle of deliberative contestability, which can be instantiated in six more concrete requirements. The chapter continues by exploring the limitations of two influential views on the democratic legitimacy of international law. Finally, the chapter concludes by expressing some scepticism about the degree to which the current system of sources of international law is democratically legitimate.

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