Symplectic Integration for Multivariate Dynamic Spline-Based Model of Deformable Linear Objects

Deformable Linear Objects (DLOs) such as ropes, cables, and surgical sutures have a wide variety of uses in automotive engineering, surgery, and electromechanical industries. Therefore, modeling of DLOs as well as a computationally efficient way to predict the DLO behavior are of great importance, in particular to enable robotic manipulation of DLOs. The main motivation of this work is to enable efficient pre- diction of the DLO behavior during robotic manipulation. In this paper, the DLO is modeled by a multivariate dynamic spline, while a symplectic integration method is used to solve the model iteratively by interpolating the DLO shape during the manipulation process. Comparisons between the symplectic, Runge-Kutta and Zhai integrators are reported. The presented results show the capabilities of the symplectic integrator to overcome other integration methods in predicting the DLO behavior. Moreover, the results obtained with different sets of model parameters integrated by means of the symplectic method are reported to show how they influence the DLO behavior estimation.

Nonprehensile Manipulation of Parts on a Horizontal Circularly Oscillating Platform with Dynamic Dry Friction Control

This paper presents a novel method for nonprehensile manipulation of parts on a circularly oscillating platform when the effective coefficient of dry friction between the part and the platform is being dynamically controlled. Theoretical and experimental analyses have been performed to validate the proposed method and to determine the control parameters that define the characteristics of the part’s motion. A mathematical model of the manipulation process with dynamic dry friction control was developed and solved. The modeling showed that by changing the phase shift between the function for dynamic dry friction control and the function defining the circular motion of the platform, the part can be moved in any direction as the angle of displacement can be controlled in a full range from 0 to 2π. The nature of the trajectory and the mean displacement velocity of the part mainly depend on the width of the rectangular function for dynamic dry friction control. To verify the theoretical findings, an experimental setup was developed, and experiments of manipulation were carried out. The experimental results qualitatively confirmed the theoretical findings. The presented analysis enriches the classical theories of nonprehensile manipulation on oscillating platforms, and the presented findings are relevant for mechatronics, robotics, mechanics, electronics, medical, and other industries.

A Manipulation Game Based on Machiavellian Strategies

This paper suggests a manipulation game based on Machiavellianism, which is characterized by three concepts: views, tactics, and immorality. We consider a framework where manipulating players can partially control manipulated players’ information and affect both manipulated players’ information and their allocations. The parties involved are constrained both by adverse selection and moral hazard (immorality) restricted to a class of ergodic Bayesian–Markov problems. We investigate a mechanism that maximize the probability that the manipulated players accept the proposal of the manipulators. We show that a mechanism exists and can be found by solving a nonlinear programming problem for a set of constraints. The mechanism is obtained by introducing an auxiliary variable in the nonlinear programming problem and we develop the relations needed to derive the variables of interest. For the manipulation process, players learn their behavior through a sequence of interactions in a repeated game. The manipulators possess and benefit from some commitment power, which describes the distinctive nature of a manipulation game (views). Then, we represent the game using a Stackelberg model. We also compute the Stackelberg equilibrium (tactics) for our game of incomplete information. This novel perspective is of interest for the Bayesian manipulation and persuasion literature. A simulation and analysis over an example for manipulating emotions in negotiation verify the applicability of proposed model.

Students Abstract Thinking Abilities in terms of Mathematical Disposition

This research aims to describe students abstract thinking abilities in the probability theory course in terms of mathematical disposition. The research method used is descriptive research with a qualitative approach. The research subjects were 5th-semester students who took probability theory courses. Determination of subjects using purposive sampling techniques. Instruments used include test results of mathematical abstract thinking abilities, disposition questionnaires, interview guidelines, and researchers as the key instruments. Analysis data using the Miles model and Huberman includes data reduction, display data and conclusion drawing/verification. The research results are, Subject 1 (S1) is in the high mathematical disposition category, fulfills three indicators of abstract thinking abilities, namely transforming problems into symbols, manipulation process of abstract mathematical objects, and the formation of mathematical concepts related to other concepts. Subject 2 (S2) is in the medium mathematical disposition category, fulfilling two indicators of abstract thinking abilities, namely transforming problems into symbols and the manipulation process of abstract mathematical objects, the formation of mathematical concepts related to other concepts. Subject 3 (S3) is in the low mathematical disposition category, it only fulfills one indicator of the abstract thinking abilities, namely transforming problems into symbols.

Application of the Concave Arc Surface Collision Detection Method to Virtual Assembly

Exact location calculation between each part of a parallel groove clamp when connecting a power line with a jumper is addressed in this paper. The relative location between a concave clamp and convex power line cannot be measured directly in live-line manipulation. We propose a concave arc surface collision detection method embedded in motion simulation. The relative location between irregular concave parts in the manipulation process can be obtained. The method is found to be computationally less expensive than convex partitioning collision detection techniques. This research provides a foundation for further study on robot hand manipulation with irregular assembly.

Simulation of metal microcomponents picking up by electrochemical based on ABAQUS

The development of micromanipulation technology has an important impact on the research in the microfield, which mainly focuses on the preparation and assembly of microcomponents, in which the microcomponent picking technology is used. The existing picking methods mainly use manipulation tools to clamp or adsorb components, which may destroy or fail to pick objects in the process of manipulation, and the efficiency is relatively low. In order to solve the problems in the existing manipulation methods, a new metal microcomponent picking method based on electrochemistry is proposed, which mainly uses the electrochemical principle to produce metal deposition, connect the manipulation tool and the object, and indirectly control the object by moving the manipulation tool. In this paper, the simulation software ABAQUS is used to pick up the microcopper wires with the length of 100, 200 and 300 [Formula: see text]m by using a pipette with a nozzle diameter of 15 [Formula: see text]m. The force curve between the tool and the object during the manipulation process is obtained. The feasibility of the method is verified by theoretical analysis and simulation experiments.

LAJU PERTUMBUHAN, KELANGSUNGAN HIDUP DAN KOMPOSISI KIMIA IKAN NILA (Oreochromis niloticus) HASIL REKAYASA DARI AIR TAWAR KE AIR LAUT

Tilapia (Oreochromis niloticus) is one of the most popular fish species and has high economic value. Increased demand for this type of fish must be matched by cultivation efforts. Limited land for cultivation ponds, so it is necessary to look for alternatives, one of which is cultivation in seawater floating marine cages. This study aims to determine the manipulation process of freshwater tilapia into seawater, the rate of growth and survival, and analysis of its chemical composition. The research used was an experimental method. The results of measuring water quality including salinity increased by 3 ppt per day, temperatures ranged from 27-30 OC, DO was between 7.0-7.5 mg/L, pH between 7,2-7,6. The absolute weight and length were 408.5 g and 26 cm, respectively, the growth rate was 2.27%, and the survival rate was 85-90%. The chemical composition values ​​include moisture content of 71.59%, ash 1.54%, fat 4.74%, 21.3% protein, and 0.83% carbohydrates. The results showed that freshwater tilapia can be manipulated to live in seawater and have a good growth and survival rate and have a high chemical composition, especially protein and fat.

Integer Representation of Floating-Point Manipulation with Float Twice

In the programming world, understanding floating point is not easy, especially if there are floating point and bit-level interactions. Although there are currently many libraries to simplify the computation process, still many programmers today who do not really understand how the floating point manipulation process. Therefore, this paper aims to provide insight into how to manipulate IEEE-754 32-bit floating point with different representation of results, which are integers and code rules of float twice. The method used is a literature review, adopting a float-twice prototype using C programming. The results of this study are applications that can be used to represent integers of floating-point manipulation by adopting a float-twice prototype. Using the application programmers make it easy for programmers to determine the type of program data to be developed, especially those running on 32 bits floating point (Single Precision).

A Piezoelectric Force Sensing Glove For Acupuncture Quantification

In order to quantify the manipulation process of acupuncture, in this article, a piezoelectric glove based wearable stress sensing system is presented. Served as the sensitive element with small volume and high tensile resistance, PVDF greatly meet the need of quantitative analysis. Through piezoelectric force sensing glove, the system is capable of detecting both perpendicular stress as well as shear stress. Besides, key parameters including peak stress at needle are detected and extracted, potentially allowing for a higher learning efficiency hence advancing the development of acupuncture.

A Piezoelectric Force Sensing Glove For Acupuncture Quantification

In order to quantify the manipulation process of acupuncture, in this article, a piezoelectric glove based wearable stress sensing system is presented. Served as the sensitive element with small volume and high tensile resistance, PVDF greatly meet the need of quantitative analysis. Through piezoelectric force sensing glove, the system is capable of detecting both perpendicular stress as well as shear stress. Besides, key parameters including peak stress at needle are detected and extracted, potentially allowing for a higher learning efficiency hence advancing the development of acupuncture.