Compliance Control Research Articles

High‐Performance and High Bandwidth Electroadhesive Clutch Enabled by Fracture Mechanics and a Dielectric Nanoparticle‐Based High‐k Composite

AbstractClutches are integral components in robotic systems, enabling programming of system stiffness and precise control over a wide range of motion types. While different types of clutches exist, electroadhesive (EA) clutches present several key advantages, such as flexibility, low mass, low power consumption, simplicity, and fast response. Achieving high EA stress in EA clutches has remained a challenge, however, necessitating high voltage input or a large contact area to achieve the desired force. In this work, an EA clutch is proposed with a high EA stress achieved by taking fracture mechanics into account and using a high dielectric composite layer while still maintaining a comparable high switching speed to other dielectric‐based EA clutches. The maximum EA stress is observed to be 108.8 N cm−2, which is four times larger than what has been reported previously among dielectric‐based EA clutches at room temperature. This high EA stress clutch can facilitate miniaturization and lower the operating voltage as well as extend to high load capacity applications. The proposed approach holds promise for advancements in various domains, including haptics (both kinesthetic and cutaneous), exoskeletons, walking robots, and other systems that require compliance, low mass, and precise force control.

Control of compliance with norms of international humanitarian law when using weapons controlled by artificial intelligence

Control of compliance with norms of international humanitarian law when using weapons controlled by artificial intelligence

Mammalian and avian species quantification in homogenized foods: real time PCR and digital PCR as tools for label compliance controls

Currently food fraud and authenticity of products composition are topics of great concern; ingredients quantification could allow to identify small amounts of contaminats or voluntary addition of improper components. Many molecular methods are available for species identification in foodstuffs but, for a better application, they should not be affected by the interference of other ingredients. The main purpose of this work was to verify the Real Time PCR and the Digital PCR (dPCR) quantification performances on baby food samples, specifically selected for their high miscibility to limit variability; chicken was selected as target to verify the performance of quantification of methods after having spiked the same quantity in different baby foods. The other aims were: (1) to verify a constant genome copies ratio existence between mammalian and avian species (2) to verify the dPCR performance, set up on housekeeping, to quantify mammalian and avian species in commercial products. Digital PCR showed fewer differences respect to Real Time PCR, at the same 15% w/w chicken spiking level. Despite the constant difference between mammalian and avian genome copies, in samples with the same spiking weight, the confidence intervals increasing towards the extreme values, made impossible to use genome copies ratio as a sort of correction factor between species. Finally, the dPCR system using the myostatin housekeeping gene to determine the chicken content seemed reliable to verify the labelling compliance in meat-based commercial products.

Landscaping as an object of administrative and legal protection in the Russian Empire in the XVIII century

The object of the study is the improvement of urban space in the prism of its administrative and legal protection by the state. The subject of the study is the changes in the content of the term "landscaping" during the eighteenth century. The author examines in detail such aspects of the topic as the jurisdiction of the supervisory function for offenses in the field of landscaping, as well as the varieties of these violations themselves. The analysis of normative legal acts issued by the Russian rulers makes it possible to determine which elements of public life they included in the concept of landscaping, which persons were responsible for the execution and control of compliance with established requirements. Approaches to the organization of landscaping in the capital and provincial cities of the Russian Empire are being studied. The author examines the continuity in the organization of urban planning and landscaping activities during the XVIII century. Both general scientific and special scientific research methods were used in the preparation of the work. Among the general scientific methods, analysis and synthesis were most widely used. Among the special scientific methods, the historical and legal method is of key importance, since the subject of the study involves the study of historical documents published in the Russian Empire in the XVIII century. The main conclusions of the study are the provisions that it was in the XVIII century that the origin and formation of landscaping as an object of administrative and legal protection took place. Started as a struggle with the population who did not want to accept the new realities of urban life, landscaping activities were gradually transformed into an obligatory element of the implementation of state government on an equal footing with the administration of justice and tax collection. The novelty of the research lies in looking at the history of the development of the Russian state in the XVIII century through the prism of urban amenities. With the modernization of Russian society, the cities in which this community lived changed at the same time. A sharp increase in the population led to the emergence of new and aggravation of existing problems. Epidemics and fires in densely populated cities had much more devastating consequences, therefore, in order to prevent them, it was necessary to bring urban amenities to a new level.

Research on force-controlled polishing system for robotic arm based on compliance control

This thesis enhances robotic arm control in intricate polishing environments by using impedance control for consistent force regulation between the arm and workpiece. An adaptive impedance control algorithm accommodates contact force variations, boosting system robustness. The PSO-BP variable impedance controller integrates particle swarm optimization and BP neural network for real-time optimization, overcoming limitations of fixed-parameter impedance control on surfaces with curvature changes. Experimental results show a significant reduction in polishing force fluctuations and improved force tracking. These findings support efficient robotic arm utilization in polishing tasks.

Anti-Corruption and Compliance Control: Identifying and Evaluating Corruption Risks and preventing them in State Governance

In the interconnected world, corruption is the pervasive threat that has been resulting in dire consequences in terms of boosting the economy, development, public infrastructure, and transparency, just to name a few. This article provides first-hand information about many states that have been suffering from the catastrophic effects of corruption-based practices that are being committed by people who hold special entrusted power in a particular position. This means that more violations came about due to the people who abuse entrusted power in state governance across the globe. Furthermore, the given article gives insights into the hands-on practice and pragmatic approaches of developed countries where there is a low corruption-based crime rate. Additionally, this article emphasizes the importance of raising legal literacy among individuals and offers the practical approaches of the aforementioned countries to prevent, identify, and evaluate corruption risks in state governance.

Calcium Homeostasis Abnormalities in Patients Taking Chronic Anticonvulsants Therapy – A Cross-sectional Study

Introduction: Epilepsy is a well-known disease entity that is responsible for a significant amount of morbidity. The purpose of this research is to determine the frequency of calcium homeostasis abnormalities in patients who are taking chronic anticonvulsant medication and to analyze the levels of Vitamin D in the serum of patients who are taking chronic anticonvulsant medication. Materials and Methods: The SVRRGGH general medicine department in Tirupati conducted this cross-sectional single-centered prevalence study. The study included outpatients, inpatients, and acute medical care (AMC) patients. After applying the inclusion and exclusion criteria, the study randomly selected 100 seizure disorder patients from the SVRRGH in Tirupati. Epilepsy patients who participated in the study were asked about medication, compliance, and seizure control. Anticonvulsant usage and duration were recorded. Serum calcium, Vitamin D, alkaline phosphatase (ALP), and parathormone were measured. Hypoalbuminemia caused calcium adjustments. Liver and renal function tests ruled out other major causes of hypovitaminosis D. Results: In this study, 36% were hypocalcemic and 64% were normocalcemic. There was a significant association between a number of drugs, duration of up to 12 months, normal Vitamin D levels, and good seizure levels with hypocalcemia ( P < 0.001). Around 25% had high ALP levels and 75% had normal ALP levels. High ALP levels were significantly associated with hypocalcemia ( P < 0.001). Conclusion: Chronic anticonvulsant therapy is associated with significant hypocalcemia and hypovitaminemia D, and our findings suggest that calcium and Vitamin D supplementation might be beneficial for patients experiencing these conditions.

Mapping and Integrating Security and Risk Standards: a Systematic Literature Review

Organizations are under increasing pressure to comply with various rules, standards, and policies in today’s regulatory environment. Compliance controls are put in place to avoid legal or regulatory violations, which could lead to severe penalties, loss of reputation, and financial damages. However, these controls may have similar scopes and objectives, resulting in duplicated work and unnecessary costs for the organizations. To address this issue, researchers carry out the mapping and integration of these standards to avoid duplication, streamline compliance efforts, and identify best practices. Our work aims to improve the State-of-the-Art by exploring the main benefits and problems resulting from these processes, as well as identifying methods or artifacts that can be reused in the future. We focus on the fields of Risk, Security, and Business Continuity, as these are critical areas where compliance is crucial for organizations. Through our research, we have found that current methods of generating mapping artifacts are not only cumbersome to execute but also ineffective, as they output a single artifact without the reasoning behind it.

Electromechanical model for electro-ribbon actuators

The emerging field of soft actuators is anticipated to significantly impact areas that require enhanced adaptability and safe interaction including biomedical robotics. The electro-ribbon actuator, characterised by its compliance, lightweight, high efficiency, extensive scalability, and direct electrical control, emerges as a promising candidate for the future of soft robotics. Although the electro-ribbon actuator demonstrates efficient performance, a comprehensive understanding of its fundamental mechanics remains unexplored. To explain the impact of the actuation mechanism and the design parameters on the performance of the actuator, we have developed a mathematical model grounded in large deformation beam theory. As evidenced by our experimental results, this model accurately predicts the quasi-static behaviour of electro-ribbon actuators. Utilising this model, we establish a strategic road map for the development of electro-ribbon actuators with a range of passive stiffness tailored to achieve required output forces and displacement. This study provides a pivotal foundation for the model-based control and design optimisation of electro-ribbon actuators.

An Investigation of Real-Time Robotic Polishing Motion Planning Using a Dynamical System

When addressing the technical challenges of achieving precise force tracking during the local polishing process of polishing robots, controlling the contact state between the robot and the workpiece surface is essential. To this end, a contact motion-planning strategy based on dynamic systems is designed to generate trajectory routes during local polishing. The trajectory simulation of the local modulation dynamic system is achieved through the employment of the support vector regression (SVR) algorithm with a Gaussian kernel, facilitating the learning process. The feasibility and stability of planning local paths are validated using the local modulation dynamic system. To maintain a constant contact force between the end-effector polishing robot and the workpiece, an integral adaptive impedance control strategy is utilized, enabling the robot’s compliant control. Subsequently, an experimental system for the polishing robot is constructed in order to verify the effectiveness of the motion-planning system. The experimental results demonstrate that the proposed motion-planning approach is applicable in practical polishing processes, ensuring smooth contact and maintaining the desired contact force when scanning nonlinear surfaces, and thus showcasing stability and practicality.

Impedance control for force tracking of a dual-arm cooperative robot based on particle swarm optimization

PurposeThe purpose of this paper aims to investigate the adaptive impedance control and its optimized PSO algorithm for force tracking of a dual-arm cooperative robot. Because the dual-arm robot is directly in contact with external environment, controlling the mutual force between robot and external environment is of great importance. Besides, a high compliance of the robot should be guaranteed.Design/methodology/approachAn impedance control based on Particle Swarm Optimization (PSO) algorithm is designed to track the mutual force and achieve compliance control of the robot end.FindingsThe experimental results show that the impedance control coefficients can be automatically tuned converged by PSO algorithm.Originality/valueThe system can reach a steady state within 0.03 s with overshoot convergence, and the force fluctuation range at the steady state decreases to about ±0.08 N even under the force mutation condition.

Transnational Private Regulation of Environmental Sustainability through Commercial Contracts. Reassessing Contractual Governance in Global Supply Chains

Abstract Sustainability standards are integrated and applied in global supply chains through transnational commercial contracts that have come to play a regulatory function in addition to the conventional exchange task. The design of the architecture of contracting, the coordination among contracts, and the content of sustainability terms along the chain is the result of the cooperation of different actors, led by one or more transnational corporations. The paper describes the distribution of private regulatory power according to the structures of the chains- hierarchical, relational, market -and its impact on the compliance with sustainability standards. It considers the qualification system that regulates entry, exit, and permanence in the chain and the Suppliers codes and General principles of sustainability specified in the general terms and conditions. These represent complementary direct and indirect private regulatory instruments that can be deployed to ensure compliance. The choice of instruments depends on the distribution of regulatory power among the private actors and their exercise. Privity of contract makes it often difficult if not impossible direct regulation by the chain leader and obliges decentralization of regulatory power. The analysis shows that only the complementarity between the two sets of instruments enables control of compliance in complex chains whose actors operate across different jurisdictions with the use of sanctioning and remedial powers. The article analyzes how26 principles of effectiveness, proportionality and dissuasiveness may contribute to a fair and non discriminatory exercise of private regulatory power related to the implementation of sustainability standards through contracts.

Enforcement of alternative measures to detention in EU countries: The Italian situation

Enforcement of alternative measures to detention in EU countries: The Italian situation

An all-position type control strategy of the haptic interactive virtual training system based on cable-driven

The virtual microgravity training system based on cable drive usually uses a force-position hybrid control strategy which has following problems: the force control method is sensitive to load disturbances, variable stiffness characteristics of cables reduce the control accuracy of PID controllers, and the expected tension fluctuations are large. These will affect the control accuracy, and further affect the tactile sensation and training effectiveness of astronauts. For the above problems, an all-position type control strategy is proposed to improve the system control accuracy. This strategy uses a compliant control method. In this method, elastic elements are connected in cables, the conversion model of tension and displacement is established, and the tension control is realized by the displacement control which has characteristics of high control accuracy and strong resistance to load disturbance. The PID controller is replaced by the active disturbance rejection controller. In this controller, the tracking differentiator is used to reduce high frequency noises of the input signal, and the extended state observer is used to estimate and compensate the error caused by the change of the cable stiffness. A tension distribution method is designed to make expected cable tensions approach the average tension to reduce the tension fluctuation. The experimental results show that compared with the force-position hybrid control strategy, the all-position type control strategy reduces the tension error and speed error by about 51% and 33% respectively.

COMPLIANCE AND LEGISLATION IN THE FIELD OF INTELLECTUAL PROPERTY

This article is devoted to the study of the institute of compliance, the need to implement compliance procedures in an organization regardless of the form of ownership, type of legal entity, organizational and legal form. This business process has been widely implemented in the financial sector, but due to the spread of the introduction of economic sanctions and threats of secondary sanctions, it has become particularly relevant in Kazakhstan. This article analyzes the issues of the essence of compliance, procedures, goals and objectives, functions of services, types of compliance, negative consequences of non-compliance with legal requirements, corporate norms, ethical standards and internal regulatory documents. In the article, the author substantiates the need to include in the functions of compliance controllers the study of risks in the sphere of intellectual property turnover, which is a necessary measure of compliance with legal norms on intellectual property, not limited only to the introduction of anti-corruption, sanctions or antimonopoly compliance. In practice, these areas are well-established. However, illegal turnover of intellectual property, violations of exclusive rights create serious legal risks and financial consequences. In this regard, the author considers it necessary to implement compliance depending on the type of activity of the company, including for compliance with intellectual property legislation. This position is based on numerous facts of judicial proceedings, criminal and administrative prosecution of offenders who, when applying this type of compliance control, could have prevented violations of intellectual property law in advance. The introduction of compliance control in this area would prevent the onset of legal consequences and financial losses (fines, confiscation).

Research on Compliance Control of Electro-Hydraulic Loading Experimental System

This article discusses the challenges in preventing workpiece damage due to impacts in electro-hydraulic loading systems, especially in unknown environments. We propose an innovative compliance control strategy, synergizing a series elastic actuator with impedance control to significantly mitigate impact forces between the mechanism and test workpieces. The controller consists of two loops: an internal loop and an outer loop. The internal loop integrates a position loop utilizing a radial basis function observer within a backstepping control framework, effectively countering the nonlinear dynamics of hydraulic actuators and ensuring precise trajectory tracking. The outer loop advances traditional impedance control by adaptively modifying the damping coefficient, resulting in a straightforward and easily implementable damping control law. For the unknown environment parameters, our system employs a parameter estimation law to estimate the unknown environmental stiffness and position parameters. The effectiveness of this strategy has been verified through comparative simulation with traditional impedance control, indicating that the proposed method can not only effectively reduce contact shock in unknown environments, improve response speed, and reduce overshoot, but also improve steady-state accuracy. We provided a feasible control scheme for similar systems to ensure precise and safe operation.

An Eigenfrequency-Constrained Topology Optimization Method with Design Variable Reduction

The dynamic response of structures heavily relies on eigenfrequency, so the optimization of eigenfrequency is valuable in various working conditions. The bi-directional evolutionary structural optimization (BESO) method has been widely applied due to its ability to eliminate grayscale elements. Based upon BESO, this paper introduces a topology optimization method that incorporates eigenfrequency constraints and reduces the number of design variables. In this method, the optimization objective was to minimize compliance. The Lagrange multiplier was used to introduce eigenfrequency constraints, allowing for coordinated control of compliance and eigenfrequency. To prevent oscillation during the optimization process, the sensitivity was normalized. Additionally, to achieve faster convergence, the variables were reduced after meeting volume constraints. The numerical examples demonstrate the effectiveness of this method in increasing the eigenfrequency of the structure and avoiding resonance.

Peculiarities of the legal regulation of supervision and control over compliance with labor legislation

In the field of labor law, the peculiarities of legal regulation in the field of supervision and control over compliance with labor legislation are investigated. It is emphasized that regulation in the field of supervision and control of compliance with labor legislation is characterized by appropriate measures, which, in addition to measures to detect unregistered labor relations, are carried out in accordance with current legislation. Measures of state control over compliance with labor legislation on identifying undocumented labor relations are carried out in the form of inspection visits conducted by labor inspectors of the State Labor Service and its territorial bodies. Reasons for inspection visits are important.
 The peculiarity of the legal regulation of labor relations is that the control measures or the decision of the labor inspector on control of the employer are subject to notification registration by the State Labor Service or its territorial body before the start of their implementation. It is emphasized that an act is drawn up as a result of the control, and in the case of violations of labor law requirements, the employer receives an order to eliminate them and a warning about liability for labor law violations.
 Thus, the legal regulation of labor relations regarding the supervision and control of compliance with labor legislation must first of all meet European standards and reflect the requirements of current labor legislation. State bodies should strengthen measures to detect undocumented labor relations, illegal employment and be carried out in accordance with the requirements of the Law of Ukraine «On the Basic Principles of State Supervision (Control) in the Field of Economic Activity.» The legal regulation of labor relations in the field of supervision and control of compliance with labor legislation certifies that measures of state influence on the detection of informal labor relations and illegal employment are carried out in the form of inspection visits carried out by labor inspectors of the State Labor and its territorial bodies.

Adaptive patient-cooperative compliant control of lower limb rehabilitation robot

With the increase in the number of stroke patients, there is a growing demand for rehabilitation training. Robot-assisted training is expected to play a crucial role in meeting this demand. To ensure the safety and comfort of patients during rehabilitation training, it is important to have a patient-cooperative compliant control system for rehabilitation robots. In order to enhance the motion compliance of patients during rehabilitation training, a hierarchical adaptive patient-cooperative compliant control strategy that includes patient-passive exercise and patient-cooperative exercise is proposed. A low-level adaptive backstepping position controller is selected to ensure accurate tracking of the desired trajectory. At the high-level, an adaptive admittance controller is employed to plan the desired trajectory based on the interaction force between the patient and the robot. The results of the patient–robot cooperation experiment on a rehabilitation robot show a significant improvement in tracking trajectory, with a decrease of 76.45% in the dimensionless squared jerk (DSJ) and a decrease of 15.38% in the normalized root mean square deviation (NRMSD) when using the adaptive admittance controller. The proposed adaptive patient-cooperative control strategy effectively enhances the compliance of robot movements, thereby ensuring the safety and comfort of patients during rehabilitation training.

Compliant Control Technology of Manipulator

With continuous advancements in science and technology, manipulators have been widely used in human–computer interactions and other fields. However, they are limited by their insufficient flexible interaction ability and the inability of the control algorithm to adapt to changeable task scenarios. In this study, the flexible control technology of a manipulator was investigated to overcome these shortcomings and improve the intelligent level of the manipulator. Specifically, the basic principles and related technologies were applied in developing a dynamic model and analyzing the impedance control technology. Next, the effects of different impedance parameters on the system response characteristics were analyzed. Finally, the simulation experiment was conducted. The results showed that within 15–35 s, the manipulator returned to the target trajectory and continued to complete two rotations of circular trajectory, and the position control was accurate. This study demonstrates the feasibility of rheostatic control of fuzzy impedance in improving the compliance strength of the manipulator