Agility Advantage Research Articles

Design and Development of a Continuum Robot with Switching-Stiffness.

Continuum robots have the advantages of agility and adaptability. However, existing continuum robots have limitations of low stiffness and complex motion modes, and the existing variable stiffness methods cannot achieve a wide range of stiffness changes and fast switching stiffness simultaneously. A continuum robot structure, switching stiffness method, and motion principle are proposed in this article. The continuum robot is made up of three segments connected in series. Each segment comprises multiple spherical joints connected in series, and the joints can be locked by their respective airbag. A valve controls each airbag, quickly switching the segment between rigidity and flexibility. The motion of the segments is driven by three cables that run through the robot. The segment steers only when it is unlocked. When a segment becomes locked, it acts as a rigid body. As a result, by locking and unlocking each segment in sequence, the cables can alternately drive all the segments. The stiffness variation and movement of the continuum robot were tested. The segment's stiffness varies from 36.89 to 1300.95 N/m and the stiffness switching time is 0.25-0.48 s. The time-sharing control mode of segment stiffness and motion is validated by establishing a specific test platform and a mathematical model. The continuum robot's flexibility is demonstrated by controlling the fast bending of different segments sequentially.

Employing optical microscopy technique to determine the tissue action of Hamamelis virginianaL. (Hamamelidaceae), Maytenus ilicifoliaMart. ex Reissek (Celastraceae) and Casearia sylvestris Sw. (Salicaceae) tinctures on skin-fixed histological sections of Wistar rats

Objective: In this study, we aimed to determine the action of the tinctures of Hamamelis virginiana, Maytenus ilicifolia, and Casearia sylvestris on tissues. For this, we investigated the histological sections of fixed skin tissue of Wistar rats for the changes in collagen and elastic fibers, epithelial cells, conjunctive cells, epidermal attachments, pigments, and granules using the optical microscopy technique. Since in the literature and published articles, the use of in vivo models, such as Wistar rats, is predominant to evaluate the healing action of herbal medicines. Methods: The tinctures of Hamamelis virginiana, Maytenus ilicifolia, and Casearia sylvestris, and ethanol 70% (blank) were used. The tinctures were obtained at 10% (w/v) through percolation using 70% ethanol (v/v) as the extraction liquid. This study was conducted in duplicate for each tincture and different incubation times (4, 24, and 48 h) at 37 °C in an oven. The slides used in this study (Wistar rat skin) were previously processed at the histology laboratory since the waste material was donated to conduct this experiment. The Research Ethics Committee approved the use of animals of the Life Sciences Center of the Pontifical Catholic University of Campinas (PUC-CAMPINAS) under the protocol approval number 367/08. Before initiating the staining process, the slides were removed from the oven, and the tincture deposited on the slides was removed. Weigert staining was performed subsequently. For semi-quantitative analysis, the histological sections were carefully observed, and the number of collagen and elastic fibers was evaluated based on the following scale: (+) normal fiber presence, (−) slight decrease, (− −) moderate decrease, and (− − −) intense decrease. The images were digitally captured to obtain the results using a photomicroscope. Results: The degradation of collagen fibers was best evidenced upon using Hamamelis virginiana tincture, which is concordant with the existing reports in the literature on its healing action via the precipitation of dermal proteins. Maytenus ilicifolia and Casearia sylvestris tinctures exhibited low proteolytic capacity as they only caused degradation of elastic fibers that are more delicate and very different from collagen in their constitution. Therefore, the application of the latter two as healing agents (which acts through precipitating proteins) is limited. Conclusions: This experimental histological model using the optical microscopy technique exhibits the advantage of agility and high efficiency as a simple and powerful approach.

An Energy Efficient Design of Computation Offloading Enabled by UAV.

The data volume is exploding due to various newly-developing applications that call for stringent communication requirements towards 5th generation wireless systems. Fortunately, mobile edge computing makes it possible to relieve the heavy computation pressure of ground users and decrease the latency and energy consumption. What is more, the unmanned aerial vehicle has the advantages of agility and easy deployment, which gives the unmanned aerial vehicle enabled mobile edge computing system opportunities to fly towards areas with communication demand, such as hotspot areas. However, the limited endurance time of unmanned aerial vehicle affects the performance of mobile edge computing services, which results in the incomplete mobile edge computing services under the time limit. Consequently, this paper concerns the energy-efficient scheme design of the unmanned aerial vehicle while providing high-quality offloading services for ground users, particularly in the regions where the ground communication infrastructures are overloaded or damaged after natural disasters. Firstly, the model of energy-efficient design of the unmanned aerial vehicle is set up taking the constraints of the energy limitation of the unmanned aerial vehicle, the data causality, and the speed of the unmanned aerial vehicle into account. Subsequently, aiming at maximizing the energy efficiency of the unmanned aerial vehicle in the unmanned aerial vehicle enabled mobile edge computing system, the bits allocation in each time slot and the trajectory of the unmanned aerial vehicle are jointly optimized. Secondly, a successive convex approximation based alternating algorithm is brought forward to deal with the non-convex energy efficiency maximization problem. Finally, it is proved that the proposed energy efficient scheme design of the unmanned aerial vehicle is superior to other benchmark schemes by the simulation results. Besides, how the performance of proposed scheme design change under different parameters is discussed.

A study of the diffusion of agility and cluster competitiveness in the oil and gas supply chains

In the oil and gas industry, pressures persist on organisations to master and profit from the energy and allied environmental challenges facing the world. This can be achieved through enhanced operational efficiency, responsiveness, resilience and reliability characteristic of an agile organisation. These issues as well as the role of clusters as a strategy for economic exploitation of oil and gas resources are explored in this paper. Further, the paper looks at the diffusion of agility in the oil and gas industry and examines, empirically, the agility advantage, competitiveness gain and performance benefits of cluster members over non-members. Our results suggest that clusters enhance and enable higher levels of agile practices. However, whilst prior studies seem to suggest that clusters have positive impacts on competitiveness and performance, our findings indicate that there is no strong empirical basis to make a direct link between clusters and competitiveness, at least in the oil and gas industry. It follows from this that the universality of the attribution of competitiveness to clusters as espoused by the proponents of cluster theory is questionable and empirical evidence certainly does not support their position in the context of the oil and gas clusters.

Design and Control of a Piezo-Based Fast Tool Servo System for Precision Diamond Turning

A novel fast tool servo driven by piezoelectric actuator for precision diamond turning is designed in this paper. To overcome the inherent hysteresis and drift nonlinearity effect of the piezoelectric actuator, a closed-loop control system is established using strain gauge integrated in the actuator for position feedback, which has compact structure and can avoid interference in the machining. Furthermore, a fuzzy PI control algorithm is presented. It has not only the advantages of agility and adaptability of fuzzy control, but the characteristics of high accuracy of PI arithmetic. At last, experiments are carried out and the results show that the fuzzy PI control provides significantly better tracking accuracy and robustness against hysteresis and drift effects.

Time-Varying Linear Pursuit-Evasion Game Models with Bounded Controls

Future end game interception scenarios of autonomous uncrewed e ying vehicles are expected to be characterized by variable velocities and lateral acceleration limits. A time-varying linear pursuit ‐evasion game model with bounded controls is presented that can be used to analyze such scenarios. The usefulness of this model is demonstrated by simulations of a realistic ballistic missile defense scenario, as an example. It is shown that a differential game guidance law derived using this time-varying model provides a signie cant improvement in the homing accuracy compared to a guidance law based on a model with constant velocities and lateral acceleration limits. Moreover, the time-varying linear model provides a much more accurate prediction of the miss distance, cone rming its validity. Also a general review of possible structures of the game space decomposition is presented. Oneofthese structuresimpliesthateven ifthepursuerdoesnot havea maneuverability advantage overtheevader, but has an agility advantage, a zero miss distance can still be achieved for some initial conditions.