Freedom System Research Articles

Perjanjian Kredit Jual Beli Kepemilikan Rumah Ditinjau Dari Kitab Undang-Undang Hukum Perdata

The presence of a home ownership credit system is really needed by people with low, small and medium incomes. The provision of credit by the Bank to customers to pay for house purchases is based on trust and confidence that the customer who will receive the credit is able and willing to return the credit they have received. From the description and background above, the problems arise as follows: 1. How does the Civil Code regulate the sale and purchase of home ownership through credit agreements? 2. What are the rights and obligations of the parties in a home ownership credit agreement? The method used in this research is a normative approach and an empirical approach. The data type consists of primary data and secondary data. Secondary data sources, primary data tertiary data. Data collection using library studies and field studies. Data processing is carried out by means of data selection. data classification and data analysis. The results of the research and discussion show that buying and selling using an installment system is not specifically regulated in the Civil Code, but this practice is permitted considering Article 1338 of the Civil Code which adheres to a system of freedom of contract. Meanwhile, the rights and obligations of the parties in the home ownership credit agreement. The Debtor has binding obligations towards the Creditor, as a form of responsibility for the interests that have been agreed upon in the Bank's internal regulations in accordance with the agreement in the home ownership credit agreement.

Learning periodic skills for robotic manipulation: Insights on orientation and impedance

Many daily tasks exhibit a periodic nature, necessitating that robots possess the ability to execute them either alone or in collaboration with humans. A widely used approach to encode and learn such periodic patterns from human demonstrations is through periodic Dynamic Movement Primitives (DMPs). Periodic DMPs encode cyclic data independently across multiple dimensions of multi-degree of freedom systems. This method is effective for simple data, like Cartesian or joint position trajectories. However, it cannot account for various geometric constraints imposed by more complex data, such as orientation and stiffness. To bridge this gap, we propose a novel periodic DMP formulation that enables the encoding of periodic orientation trajectories and varying stiffness matrices while considering their geometric constraints. Our geometry-aware approach exploits the properties of the Riemannian manifold and Lie group to directly encode such periodic data while respecting its inherent geometric constraints. We initially employed simulation to validate the technical aspects of the proposed method thoroughly. Subsequently, we conducted experiments with two different real-world robots performing daily tasks involving periodic changes in orientation and/or stiffness, i.e., operating a drilling machine using a rotary handle and facilitating collaborative human–robot sawing.

Rotational state-to-state transition rate coefficients for H2O + H2O collisions at nonequilibrium conditions

The goal is to develop a database of rate coefficients for rotational state-to-state transitions in H$_ $O + H$_ $O collisions that is suitable for the modeling of energy transfer in nonequilibrium conditions, in which the distribution of rotational states of H$_ $O deviates from local thermodynamic equilibrium. A two-temperature model was employed that assumed that although there is no equilibrium between all possible degrees of freedom in the system, the translational and rotational degrees of freedom can be expected to achieve their own equilibria independently, and that they can be approximately characterized by Boltzmann distributions at two different temperatures, $T_ kin $ and $T_ rot Upon introducing our new parameterization of the collisional rates, taking into account their dependence on both $T_ kin $ and $T_ rot $, we find a change of up to 20<!PCT!> in the H$_ $O rotational level populations for both ortho and para-H$_ $O for the part of the cometary coma where the nonequilibrium regime occurs.

A practical optimisation method for friction tuned mass dampers in multi-storey buildings subjected to earthquake excitations

To reduce lateral drifts, the parameters of friction tuned mass dampers (FTMDs) need to be “tuned up” during the design process, which can be a challenging task for multi-storey buildings subjected to real ground motions. To address this issue, this article proposes a practical particle swarm optimisation (PSO) algorithm to optimise simultaneously the parameters (frequency ratio and friction ratio) of FTMDs fitted on multi-degree of freedom (MDOF) systems and frames subjected to real seismic records. First, elastic MDOF systems with FTMDs were modelled in OpenSees software considering different number of storeys (5, 10 or 20), periods and stiffness distributions. Optimised frequency ratios and friction coefficients of FTMDs and the main structure response were then derived using an objective function that minimised the structures’ maximum average roof displacement. FTMDs with optimised parameters proved very effective at reducing average roof displacements of the examined MDOF structures by up to 39 %, but the magnitude of the reduction depended on the period of the structure. Subsequently, the effectiveness of FTMDs at controlling the response of inelastic steel moment-resisting frames (MRFs) was examined. For the examined structures and seismic records, the use of optimised TMDs led to marginally smaller (2 %) roof displacements when compared to FTMDs. Therefore, FTMDs can be as effective as TMDs devices but with added advantages of less susceptibility to aging and temperature variations. It is also shown that higher mode effects experienced by real MRFs can be captured accurately by equivalent MDOF systems (difference in responses <4 %), which can therefore simplify the design.

Local cochlear mechanical responses revealed through outer hair cell receptor potential measurements

Sensory hair cells, including the sensorimotor outer hair cells, which enable the sensitive, sharply tuned responses of the mammalian cochlea, are excited by radial shear between the organ of Corti and the overlying tectorial membrane. It is not currently possible to measure directly in vivo mechanical responses in the narrow cleft between the tectorial membrane and organ of Corti over a wide range of stimulus frequencies and intensities. The mechanical responses can, however, be derived by measuring hair cell receptor potentials. We demonstrate that the seemingly complex frequency- and intensity-dependent behavior of outer hair cell receptor potentials could be qualitatively explained by a two degrees of freedom system with local cochlear partition and tectorial membrane resonances strongly coupled by the outer hair cell stereocilia. A local minimum in the receptor potential below the characteristic frequency should always be observed at a frequency where the tectorial membrane mechanical impedance is minimal, i.e., at the presumed tectorial membrane resonance frequency. The tectorial membrane resonance frequency might, however, shift with stimulus intensity in accordance with a shift in the maximum of the tectorial membrane radial mechanical responses to lower frequencies, as observed in experiments.

What is finiteness in Dagaare?

Abstract Although the notion of finiteness has been much debated from different theoretical perspectives, little is known beyond Indo-European languages. The present study examines finiteness in the Lobr dialect of Dagaare (Niger-Congo: Mabia) from a systemic functional typological point of view. The study contributes to debates on whether finiteness is a discrete system or a cline. The study first distinguishes between semantic and grammatical finiteness. The analysis then show that Dagaare has a grammaticalised binary system of finiteness in the verbal group, encoded by four kinds of finiteness markers: (i) tense-mood-polarity, (ii) modality, (iii) habitual tense, and (iv) remoteness particles. Also, the Dagaare verbal group embodies disassociated systems of tense, comprising futurity, habituality, and remoteness and choices from each of these systems result in multiple Finite elements in the verbal group. On the other hand, clausal finiteness in Dagaare is a semantic cline that depends on the system of freedom. Specifically, a clause is finite or less finite depending on whether it combines a finite verbal group with clause final negotiation or information focus. The article provides finer criteria for distinguishing between semantic and grammatical finiteness that can be used for the description and typology of finiteness across languages.

Hayek, Buchanan and the justification of the market

AbstractThis paper discusses the work of two twentieth‐century liberal economists, Friedrich Hayek and James Buchanan, who have made lasting contributions to our understanding of the role of the market in a free society. I argue that they offer significantly different but complementary visions of the value of the market as a system of individual freedom. Hayek's vision is of the price system as a marvel of spontaneous order which solves a fundamental economic problem – that of making efficient use of a totality of knowledge that is divided between individuals. Buchanan's vision is of the market as a space in which individuals are free to make voluntary exchanges. In his words, ‘this is all that there is to it’: the market is not a solution to any collective problem. These visions have a common blind spot. Both writers recognise the need for programmes of social insurance and consider how they should structured so as to be as compatible as possible with the workings of a market economy and a liberal democracy. But, I argue, neither sees the full importance of social insurance in a justification of the market system.

Development of Modification Coefficient for Nonlinear Single Degree of Freedom System Considering Plasticity Range for Structures Subjected to Blast Loads

Development of Modification Coefficient for Nonlinear Single Degree of Freedom System Considering Plasticity Range for Structures Subjected to Blast Loads

Computed Torque-NN-GWO Dynamic Hybrid Control of Manipulator Robotic Arm

Robotics involves designing, simulating, and controlling robots for various industries and daily tasks. Manipulator arm robots are precisionoriented industrial robots designed for one-plane movement. Planar robotic manipulators are used in cargo loading, assembly lines, handling radioactive materials, and military applications. In this study theoretical analysis of manipulator robot kinematics using Denavit-Hartenberg notation and the Euler-Lagrange method for a three-degree of freedom (3-DOF) system, requiring an advanced controller for accurate control. A new hybrid controller, Computed Torque Control-Neural-Network -Grey Wolf Optimization (CTC-NNGWO), is proposed for path planning of 3-DOF MR. It uses kinematics and dynamic models, computes torque magnitudes of stepper motors, and denormalizes output values from NN. MATLAB programming is used for the simulation of the theoretical result. A comparison study of CTC-NN-GWO and CTC-PSO found that CTC-NN-GWO outperforms CTC-PSO in minimizing path planning errors, the maximal value of the error of joint angular position 𝑒𝜃1 is (0.29 rad), whereas 𝑒𝜃2 and 𝑒𝜃3 are approximately (0.15 rad) and (0.07 rad), respectively, also, reducing torque magnitudes, improving the performance of 3-DOF MR. Index Terms— Manipulator robotic, Grey wolf, Neural network, Path planning, Computed torque.

Performance of Single Degree of Freedom (SDOF) Systems Subjected to The Near-Fault Earthquakes

This paper aims to assess the structures' seismic response with a system of Single-degree-of-freedom exposed to near-fault earthquakes, taking into account the effect of pulse period, shear wave velocity (VS30), and fault mechanism. Strong ground motion data were taken for different events in different places around the world and the prism software program is used for the analysis of seismic response for structures recognized as single-degree-of-freedom systems. Results show that the ground motion with a higher value of (VS30) provides an acceleration response higher than that of the lower value of (VS30). However, the findings revealed that the peak displacement requirements are observed in a nearby of the pulse period limits. In addition, it is noticed that there is an obvious increase in spectrum demand with longer pulse periods. Finally, results show at short vibration periods (T? 0.6sec) for both types (strike slip and dip slip) comparable results while an increment is observed in the results of the strike-slip for vibration periods more than (0.6sec) of the acceleration response spectrum. Nonetheless, for the velocity response spectrum dip-slip continuous in flocculating with a significant increase.

Social Sciences (Miscellaneous) Public-Private Partnership in The Field of Public Control

This article is devoted to the analysis of the current state and development of the institution of public-private partnership in the field of public control. The work analyzes the system of legal guarantees that ensure the implementation, protection and protection in the Russian Federation of the system of constitutional rights and freedoms of man and citizen, the rights and legitimate interests of public associations and other non-governmental non-profit organizations. The role and place of the institution of public control in the system of these legal guarantees has been studied. The main problems that impede the preservation and development of this institution of civil society in Russia are formalized and explored. It is substantiated that the key of these problems is the lack of certainty in the functioning of the institution of public-private partnership in the sphere of public control in the Russian Federation. The work develops and substantiates the author's definition of the concept of public-private partnership in general, as well as its most important variety in the field of public control. The authors formalized and analyzed the main problems associated with the functioning of public-private partnerships in the field of public control, in particular, the lack of: formalization of this institution of civil society in the Russian Constitution; consolidating the concept and content of the institution of public-private partnership in the legislation on public control; a unified approach in the legal framework and scientific legal doctrine to understanding the essence and limits of public-private partnership in the field of public control; a systematic approach in Russia to the analysis, adaptation and use of positive foreign experience in this area of functioning of civil society; proper use of modern digital technologies in this area of interaction between subjects of public control and individuals and legal entities. The work has developed and justified a system of measures to resolve these problems, in particular, by: incorporating the institution of public control into the Basic Law of the Russian Federation, and the institution of public-private partnership into the legislation on public control (with details in it of the concept, essence and limits of implementation the specified institution of public-private partnership in the specified area, taking into account foreign experience and modern digital technologies.); instructions to the Government of Russia, with the support of the Public Chamber of Russia, of the processes of analysis, adaptation and implementation into legislation and the scientific legal doctrine of the institution.

Nonlinear Normal Modes of Vibrating Mechanical Systems: 10 Years of Progress

Abstract This paper contains a review of the theory and applications of nonlinear normal modes, which have been developed during last decade. This review has more than 200 references. It is a continuation of two previous review papers by the same authors. The following theoretical issues of nonlinear normal modes are treated: basic concepts and definitions; application of the normal form theory for nonlinear modes construction; nonlinear modes in finite degrees-of-freedom systems; resonances and bifurcations; reduced-order modeling; nonlinear modes in stochastic dynamical systems; numerical methods; identification of mechanical systems using nonlinear modes. The following applied issues of this theory are treated in this review: experimental measurement of nonlinear modes; nonlinear modes in continuous systems; engineering applications (aerospace engineering, power engineering, piecewise-linear systems and structures with dry friction); nonlinear modes in nanostructures and physical systems; targeted energy transfer and absorption problem.

Assessment of a Simplified Methodology for Preliminary Blast-Resistant Design of Insulated Precast Concrete Wall Panels

Abstract A Blast loading history can be represented by the peak pressure value and the impulse. Combinations of pressure and impulse of various blast loading scenarios can be collected to draw a pressure-impulse (P-I) curve that corresponds to a level of damage of a blast-resistant structural component. The P-I curve is typically used for a preliminary design or assessment of blast resistance structural components. Generating a P I curve for a given structural component and level of protection requires repeatedly ru nning a single degree of freedom system (SDOF) model, which can be tedious for early design stages. Hence, a simplified approach (i.e., the normalization approach) was utilized to promptly generate the P- I curve for insulated precast concrete wall panels, which relies on shifting a control P I curve using normalization factors. The generated P-I curves using the normalization approach are validated with the traditional SDOF approach curves; 95% of the examined insulted panel configurations have an error between +/-7%. As a result of the reached low error percentages, a spreadsheet- design tool was developed using this approach. The tool can further enable rapid evaluation of the performance of insulated precast concrete panels under blast loading during the preliminary design phase.

Fluid Structure Interaction Analyses of Elevated Storage Tank under Seismic Load

Elevated storage tanks are used to store fresh and waste water, cereal, oil and petrochemical materials. Therefore they serve in a wide area of utilization in this day and age. Analysis of a half full with water elevated storage tank is performed in the scope of this study. The structure is composed of a steel circular storage tank and frame typed steel stager. The structure is under the effect of earthquake loads as well as operational ones. Numerical model is generated by Finite Elements Analysis (FEA) software including fluid and structure parts. The interaction of the parts is provided by Coupled Eulerian Lagrangian (CEL) technique. While the structure constitutes the Lagrangian part, the fluid constitutes the Eulerian part. Interaction of Eulerian and Lagrangian parts are provided by general contact algorithms. Free surface movement of the water, maximum displacements and natural frequency values with related mode shapes of the structure are obtained after numerical analysis. Numerical results are verified by semi-analytical model, where the structure is modelled as single degree of freedom system. The accordance between results is numerically and visually obtained. The turbulent movement of water under the influence of an earthquake is modelled by utilizing the CEL technique. So, the effect of the dynamic pressure induced by the turbulence on the tank and the structural system has been taken into consideration.

On Some Issues of Modeling the Economic Efficiency of Measures Implemented by Subjects of Public Control as a Criterion for Evaluating the Effectiveness of Their Activities

Annotation. This article is devoted to the analysis of the need to model a system for assessing the economic efficiency of activities implemented by subjects of public control. In the modern world, the existence and development of individual independent and sovereign states is determined by the level of democracy in the organization and functioning of the apparatus of public power, which in its activities must take into account the interests and needs of the entire population of a particular country, or its overwhelming majority. In this regard, the role and importance of the entire set of civil society institutions in ensuring democratic regimes in individual national states is increasing. In the Russian Federation, the most important institution of civil society at the present stage is the institution of public control. The work substantiates the place and role of this institution of civil society as a legal guarantee of the system of constitutional rights, freedoms and legitimate interests of individuals and legal entities, the rights and legitimate interests of certain categories of legal entities. The authors formalized and analyzed the main factors influencing the effectiveness of the processes of organizing and conducting public control events. The work examines the main problems and prospects for increasing the performance of subjects of public control in the Russian Federation. It is substantiated that one of the main conditions for increasing the effectiveness of the functioning of the institution of public control is the need to assess the effectiveness of the activities of the entire system of subjects of public control in Russia. The work has developed and substantiated the author’s definition of the concepts "effectiveness of activities of subjects of public control", "model for assessing the economic efficiency of activities implemented by subjects of public control". The main features of these concepts, their essence and content are investigated and analyzed. The article formulates and substantiates a model for assessing the economic efficiency of activities implemented by subjects of public control (since it is the most important criterion for assessing the performance of subjects of public control in particular, as well as the institution of public control itself in general), which is a systemic set of quantitative and qualitative criteria.

Controlling the fold: proprioceptive feedback in a soft origami robot.

We demonstrate proprioceptive feedback control of a one degree of freedom soft, pneumatically actuated origami robot and an assembly of two robots into a two degree of freedom system. The base unit of the robot is a 41 mm long, 3-D printed Kresling-inspired structure with six sets of sidewall folds and one degree of freedom. Pneumatic actuation, provided by negative fluidic pressure, causes the robot to contract. Capacitive sensors patterned onto the robot provide position estimation and serve as input to a feedback controller. Using a finite element approach, the electrode shapes are optimized for sensitivity at larger (more obtuse) fold angles to improve control across the actuation range. We demonstrate stable position control through discrete-time proportional-integral-derivative (PID) control on a single unit Kresling robot via a series of static set points to 17 mm, dynamic set point stepping, and sinusoidal signal following, with error under 3 mm up to 10 mm contraction. We also demonstrate a two-unit Kresling robot with two degree of freedom extension and rotation control, which has error of 1.7 mm and 6.1°. This work contributes optimized capacitive electrode design and the demonstration of closed-loop feedback position control without visual tracking as an input. This approach to capacitance sensing and modeling constitutes a major step towards proprioceptive state estimation and feedback control in soft origami robotics.

Structural and non‐structural numerical blind prediction of shaking table experimental tests on fixed‐base and base‐isolated hospitals

AbstractBase‐isolated hospitals are frequently preferred to fixed‐base ones because of their improved seismic structural performance. Despite this, the question remains open on the advisability of using this modern seismic protection technology in preference to other conventional solutions, on the grounds of a holistic approach based on limiting non‐structural damage as well as continuity of service to the community in the aftermath of an earthquake. Two full‐scale four‐storey (fixed‐base) and three‐storey (base‐isolated) hospital buildings have been recently built and subjected to three‐dimensional shaking table tests at the National Research Institute for Earth Science and Disaster Prevention (Japan), with particular attention to evaluating and classifying functionality of non‐structural components and vital medical equipment. A two‐phase experimental campaign was carried out considering two earthquakes scaled at different intensity levels and applied along the horizontal and vertical directions. The current study aims to provide results of a numerical structural and non‐structural blind prediction of these hospital settings. A homemade numerical code is developed to account for lumped plasticity modelling of steel frame members and variability of the friction coefficient of spherical sliding bearings. Moreover, three non‐structural components are modelled in the fixed‐base structure: that is, elastic single degree of freedom systems representing two tanks filled with sand at the top floor; elastic beam elements for piping at the third floor; five‐element macro‐model for the in‐plane‐out‐of‐plane nonlinear response of partition walls at the first floor. The identification of predominant vibration periods of the fixed‐base structure is carried out using a homemade numerical code based on the continuous wavelet transforms in combination with the complex Morlet wavelet. Finally, the sliding and rocking motion of three items of medical equipment (i.e., incubator at third floor, dialysis machine at second floor and surgical bed at first floor) are analysed by means of a homemade numerical code, considering acceleration time histories of selected structural nodes of the fixed‐base structure.

The right to education in the system of constitutional rights and freedoms of a person and a citizen

It was established that, despite the universal recognition of the right to education as one of the fundamental human rights enshrined in international documents and the constitutions of many states, there are a number of significant challenges in the implementation of this right at the national and global levels, including unequal access to quality education, limitations of opportunities for individual social groups, as well as the need to adapt educational systems to the rapidly changing conditions of the modern world. It is emphasized that the right to education is one of the fundamental human rights, enshrined in the constitutions of many countries of the world and international documents and is recognized not only as an important individual freedom, but also as a necessary condition for the development of democracy, the rule of law and social progress. It is noted that the right to education, as an important component of the system of human rights and freedoms, is characterized by a number of main features: universality - the right to education belongs to every person without any exceptions or restrictions based on gender, race, nationality, language, religious beliefs, social origin, state of health, beliefs or any other characteristics; every person has equal opportunities for access to education at all levels, in particular, it is also about overcoming gender inequality, as well as inequality related to physical or mental limitations, socio-economic status or place of residence; accessibility for all, which means the absence of any barriers that can prevent a person from getting an education (both financial barriers and barriers related to the place of residence, social status or special needs of a person); the quality of the process of realizing the right to education, which includes not only access to educational institutions, but also the guarantee of obtaining a quality education that contributes to the full development of the human personality; adaptability - the education system should be flexible and adapted to the needs of different population groups, including persons with special educational needs, migrants, national minorities and other vulnerable groups. In summary, the right to education is an integral part of the system of constitutional rights and freedoms of a person and a citizen and is at the basis of the development of a fair and free society, providing every person with the opportunity to realize their potential and actively participate in society. Ensuring access to quality education for everyone without exception is a key task of the state and the international community on the way to achieving sustainable development and strengthening human rights.

Identification of Damping of Spruce Wood (Picea abies) under Various Levels of Moisture Content Using Time-Scale Decomposition.

The damping of spruce wood is analysed at different moisture content levels for the first three vibration modes of tangentially and radially vibrating samples. Two methods were used to determine the damping. The first was the vibration envelope fitting as an improved version of the well-known logarithmic decrement, and the second was the newer and recently increasingly used wavelet transform. Both methods showed that the damping of spruce wood first decreases and then increases with moisture content, with the damping in the first vibration mode being about 9% higher in the radial direction than in the tangential direction. In the second and third vibration modes, the damping in the tangential direction was higher than in the radial direction by about 10% and 8.8%, respectively. The measured damping factors from the envelope fitting had, on average, 15.9% higher values than those from the wavelet transform. It can be concluded from the results that the wavelet transform is more accurate for determining the damping factor, as it enables the decoupling of multi-degree of freedom systems if mode coupling is present.

Dynamics of bridges during proof load tests and determination of mass-normalized mode shapes from OMA

Modal shapes derived from Operational Modal Analysis (OMA) lack normalization with respect to masses, hindering direct estimation of effective mass or modal participation factors. The mass-change method is suitable to solve this issue since it proposes an experimental derivation of scaling factors for modes based on OMA results in different load conditions. However, in the case of bridges, the method application is challenging, as significant static masses are required on the deck for OMA in loaded conditions. To address this challenge, trucks can be used as added masses during standard static proof load tests for bridges, making the mass-change method feasible. However, the presence of trucks introduces dynamic coupling effects among bridge and vehicles, potentially complicating the dynamic identification. This paper proposes a methodology to exploit data obtained from OMA on bridges loaded with stationed trucks within the framework of the mass-change method in order to get the modal scaling factors for the mass normalisation of mode shapes and taking into account possible effects of the dynamic coupling between the two systems. To this purpose, the bridge dynamics with added stationed trucks is studied by introducing a finite element model to address the bridge-vehicles dynamic coupling. Then, a simple but effective 2-degree of freedom system is introduced to develop a parametric investigation in a non-dimensional manner in order to provide a practical tool for engineers to account for the bridge-truck dynamic coupling effects. Finally, numerical applications are proposed to derive some conclusions about the effectiveness of the proposed procedure and its suitability in real applications.