Position Values Research Articles

Utilization of iPad Pro LiDAR and Low-Cost GNSS Ublox F9R for Data Collection of Road Assets in the Form of 3D Models

The development of mapping survey equipment technology products is growing very rapidly. These products include Global Navigation Satellite System (GNSS) and Light Detection and Ranging (LiDAR) technology. The current development of GNSS receivers can be seen in terms of accuracy and price. The GNSS receiver has very high accuracy, especially with the integration with the inertial measurement unit (IMU). This integration system can provide benefits such as estimation of GNSS position data and GNSS data stability. One of the GNSS receiver products that has been integrated with IMU, has an accuracy below 1 meter, and at an economical price is the low-cost GNSS receiver U-blox F9R series. This receiver has a positional accuracy of 0.01 + 1 ppm. LiDAR products are commonly used for the manufacture of 3D objects and distance determination on Autonomous Vehicles, however, in 2020 the company Apple inc. has made a smartphone device that is integrated with LiDAR technology. One of the goals of using this integration system is to visualize 2D objects into 3D Augmented Reality (AR). In this study, iPad Pro LiDAR technology was used to create a 3D road model. This activity continues from previous studies that have used the iPad Pro LiDAR for making 3D buildings and measuring tree diameters. In research related to the manufacture of 3D buildings, the iPad Pro LiDAR has been analyzed and it is stated that it has an accuracy of 2 cm. However, this observation using the iPad Pro LiDAR still does not provide actual position information. One way to get the true position value is to use position data from the GNSS receiver. In this study, the GNSS observation method receiver used is Real Time Kinematic Networked Transported of RTCM via Internet Protocol (RTK-NTRIP). This method utilizes the Global System for Mobile Communications (GSM) network to transmit corrections from several nearby Continuously Operating Reference Stations (CORS) in Radio Technical Commission for Maritime Services (RTCM) format to the user’s receiver. This activity aims to create a database of road assets in 3D with real positions by utilizing the integration between GNSS, IMU, and iPad Pro LiDAR. From this study, it was found that the volume measurement data using GNSS data has a value of 4,930 m3. Meanwhile, processing using 3D model data from the iPad Pro 2020 resulted in 4,422 m3. The results of the two data have a volume difference of 0.5 m3 or 10% of the validation data.

Every Man Has His Price

Immanuel Kant’s moral philosophy is organized around an exclusive disjunction of dignity or price, equality or equivalence. In his 1797 Doctrine of Right, however, Kant places enslaved black people on the wrong side of this disjunction when he speculates that their status as currency may offer insight into the origins of money. Recent work in black studies has begun to speculate on the link between blackness and money in modernity, and this paper draws attention to Kant’s role as an unlikely and unwitting precursor for monetary theories of blackness. Precisely in his attempt to secure the priceless and unconditional character of freedom and dignity, it argues, Kant ends up demonstrating the positional value of both.

Optimization of Pin Position and Angle for Z-Pin-Reinforced Foam Core Sandwich Structures

Sandwich panels (SP) are very promising components for structures as they ally high levels of specific stiffness and strength. Civil, marine and automotive industries are some examples of the sectors that use SPs frequently. This work demonstrates the potential of manufacturing Z-pin-reinforced foam core SPs, using a design strategy that indicated optimal values for both pin position and angle, keeping the same pin diameter as determined in a previous study. A simple search algorithm was applied to optimize each design, ensuring maximum flexural stiffness. Designs using optimal pin position, optimal pin angle and optimal values for both parameters are herein investigated using numerical and experimental approaches. The optimal pin position yielded an increase in flexural stiffness of around 8.0% when compared to the non-optimized design. In this same comparison, the optimal pin angle by itself increased the flexural stiffness by about 63.0%. Besides, the highest increase in the maximum load was found for those composites, molded with optimized levels of pin position and pin angle, which synergistically contributed to this result. All results were demonstrated with numerical and experimental results and there was a good agreement between them.

On Experimental Confirmation of Quantum Physics

In 1935, Einstein, Podolsky, and Rosen (EPR) argued that (then new) quantum mechanics was incomplete. At the heart of EPR’s paradox was the strange non-local nature of an entangled state which allowed EPR to simultaneously assign local values for position and momentum of a particle. In 1964, John Bell proposed an inequality (Bell’s inequality) that must be satisfied by any local realistic theory. The experimental confirmation of quantum physics, i.e., the experimental test of Bell’s inequality, required a pair of particles in an entangled state. The experiments first performed in the early 1970s, followed by a series of experiments until now, have confirmed the violation of Bell’s inequality, strongly implying that local realistic descriptions of nature are not consistent with experimental observations. The early simplistic view of entanglement has now been significantly expanded to include mixed states and multiple particles. Moreover, theoretical and experimental studies on the nature of entanglement have led to quantum information science where entanglement is an essential resource. In this article, we briefly review the early experiments on Bell’s inequality and experimental attempts to close “loopholes” as well as some key experiments on quantum information.

Quantum and classical study of prime numbers, prime gaps and their dynamics

A wave function constructed from prime counting function is employed to study the properties of primes using quantum dynamics. The prime gaps are calculated from the expectation values of position and a formula for maximal gaps is proposed. In an analogous nonlinear system, the trajectories, associated nodes with their stability condition and the bifurcation dynamics are studied using classical dynamics. It is interesting to note that the Lambert W functions appear as a natural solution for the fixed points as functions of energy. The derived potential with the divergence resembles the effective potential experienced by a particle near a massive spherical object in general theory of relativity. The coordinate time and proper time corresponding to a black hole serendipitously find their analogy in the solution of the nonlinear dynamics representing primes. The stereographic projection obtained from quantum dynamics on unit circle in the $$(\theta ,p_{\theta })$$ phase space of the real numbers present along x-axis in general and prime numbers in particular provides a simple way to calculate a formula for upper bounds on the prime gaps. The estimated prime gaps is found to be significantly better than that of Cramer’s predicted values.

Static Modeling of a Class of Stiffness-Adjustable Snake-like Robots with Gravity Compensation

Stiffness-adjustable snake-like robots have been proposed for various applications, including minimally invasive surgery. Based on a variable neutral-line mechanism, previous works proposed a class of snake-like robots that can adjust their stiffness by changing the driving cables’ tensions. A constant curvature hypothesis was used to formulate such robots’ kinematics and was further verified by our previous work via rigorous force analysis and ADAMS simulations. However, all these models and analyses have ignored the effect of the robot links’ gravity, resulting in significant errors in real systems. In this paper, a static model considering gravity compensation is proposed for the stiffness-adjustable snake-like robots. The proposed model adopts a nonlinear Gauss–Seidel iteration scheme and consists of two parts: gravity update and pose estimation. In each iteration, the former updates the payload of each link caused by gravity, and the latter estimates the pose of the robot by refreshing the angle and position values. This iteration stops when the change in the tip position is less than a pre-set error ϵ. During the above process, the only dependent information is each cable’s tension. Simulations and experiments are carried out to verify the effectiveness of the proposed model. The impact of gravity is found to increase with growing material densities in the simulations. The experimental results further indicate that compared with a model without gravity compensation, our model reduces the tip estimation error by 91.5% on average.

Two-stage treatment of extremity deformities associated with thrombocytopenia-absent radius syndrome.

The aim of this study was to evaluate the results of 2-stage treatment of upper and lower extremity deformities in patients with thrombocytopenia absent radius syndrome. Four patients (3 female, 1 male) with a mean age of 1.8 years (range 1-4) were included in the study. The patients were followed up for an average of 5.5 years. All 4 patients had bilateral radial longitudinal deficiency, whereas only 2 patients had bilateral fixed knee contractures. A 2-stage surgical procedure was implemented. The surgical procedure performed for radial longitudinal deficiency consisted of distraction with an Ilizarov frame in the first stage, followed by centralization performed in the second stage. Knee contractures were first treated using an Ilizarov frame, followed by a hamstring tendon transfer in the second procedure. Radiological evaluation of the radial longitudinal deficiency was done by measuring hand-forearm angle, hand-forearm position, and ulnar bowing preoperatively and at postoperative follow-ups. Knee contracture was evaluated by measuring the angle preoperatively and at postoperative follow-ups. The mean hand-forearm angle values of patients at preoperative assessment, early postoperative period, and at the last follow-ups were 82.60, 5,80, and 11.10, respectively (P < .001). The hand-forearm position values were -14.25 mm, +11, and +7.1 mm, respectively (P < .001). The ulnar bowing values were 7.3°, 4.5°, and 2.9°, respectively (P < .001). Recurrence of the radial longitudinal deficiency deformity requiring surgery occurred in 1 patient. In the other 3 patients, some deformity recurred but did not require surgical intervention. In addition, 1 patient with knee flexion contracture had a recurrence of the contracture that did not require surgical intervention. There was no circulatory disorder or skin necrosis in the lower or upper extremities of the patients. This study has shown us that two-stage treatment is a reliable method for lower and upper extremity deformities accompanying thrombocytopenia absent radius syndrome. However, recurrence is still a major problem. Level IV, Therapeutic Study.

Trust and compliance: Milieu-specific differences in social cohesion during the COVID-19 pandemic in Germany.

As a response to the COVID-19 pandemic, an increase in social cohesion was observed during the first wave and its aftermath. A closer look reveals heterogeneous responses regarding aspects of cohesion-such as trust in others and compliance with containment measures-that differ by individual socioeconomic and cultural characteristics. How these characteristics affect social cohesion in combination is rarely investigated. Therefore, we introduce the concept of social milieus, which addresses the interrelation of socioeconomic and cultural characteristics on the level of social groups, into the international debate. While previous studies have applied this concept to the analysis of social cohesion during the pandemic, they exhibit theoretical and empirical shortcomings. Hence, we develop a new theoretical model of social milieus and an empirical typology using the German sample of the European Social Survey. This typology is matched with data from the Research Institute Social Cohesion (RISC) for a milieu-specific analysis of social cohesion. Results show considerable heterogeneity in social cohesion during the first wave of the pandemic in Germany. Three social milieus with potentially conflicting modes of social cohesion regarding trust and compliance stand out while other milieus are less diverging as presumed in the literature. These modes can be interpreted as emerging from a combination of the milieus' socioeconomic position and basic human values. Thus, the new theoretical model and empirical typology of social milieus contribute to the understanding of how social cohesion has been contested between social milieus early in the pandemic.

Design and optimization of logistics distribution route based on improved ant colony algorithm

To improve the effect of logistics distribution path optimization design, this paper combines the improved ant colony algorithm to study the logistics distribution path design and optimization. The key point of the fusion of genetic algorithm and improved ant colony algorithm is that the path optimal solution is transformed into the initial distribution of pheromone, and the transformed model rules affect the final algorithm effect. In addition, the mutation operator forms new individuals by changing the gene values of certain positions on the individual chromosomes to expand the search space to areas that may not be close to the current population, so that the genetic algorithm has local random search capabilities and accelerates the convergence to the optimal solution. Through the analysis, it can be known that the logistics distribution route optimization design and optimization method based on the improved ant colony algorithm proposed in this paper has good results.

From slogans to frameworks: Embedded values or postdigital positionality?

This article explores ways in which higher education (HE) slogans, together with related frameworks and policies, increasingly invade the personal, cultural and positional values of individual staff and students. After a quick exploration of examples of embedded university values that are expected to be ‘lived’, the article outlines some epistemic implications in areas including epistemic positioning, epistemic injustice, epistemic space, data epistemologies, epistemic dominance and epistemic violence. Concluding that epistemologies are always lived, the article explores slogans at the intersections of biology, information and society using the case of excellence. Finally, the article briefly opens up the question of consent. Slogans, frameworks and policy texts exist as all other data assemblages that are subject to regulation. Should they also need to conform to such, or similar, regulations?

Modeling and Simulation of Torsional Resistance of Hollow Shaft with Small Diameter Based on ABAQUS

Torsional resistance is an important mechanical property of the shaft. The traditional torsional resistance measurement is based on the deformation of the strain gauge, which needs to be attached to the shaft under test. When the inner diameter of the hollow shaft is small, the stress measurement error of the inner wall of the shaft will be very large because the strain gauge has a certain size. To solve this problem and obtain more accurate data, this study adopts the finite element model simulation method to calculate the torsional resistance of a hollow shaft with a small diameter. The 3D finite element model is built and computed on the server. Rich data and colorful nephograms are acquired. The results show that the stress value of the same position increases with the increase of torque. When the torque is 6 kNm, the shaft is plastically deformed, and the maximum Mises stress reaches 432.2 MPa. The maximum Mises stress occurred on the outer surface of the shaft. When plastic deformation occurs on the outer surface, the stress on each part of the shaft increases. Finite element modeling and simulation can obtain rich data and visual nephograms, which is very helpful to the research of torsional resistance of shaft.

Descriptive Analysis of Footplate Position After Myopic Implantable Collamer Lens Implantation Using a Very High-Frequency Ultrasound Robotic Scanner.

To assess the position of the haptics of the implantable collamer lens (ICL) in myopic eyes using a high-frequency ultrasound robotic scanner. This was a prospective, single-arm, observational study carried out at the Instituto Zaldivar SA (Mendoza, Argentina) in a sample of 52 eyes who have been submitted to successful ICL implantation prior to enrollment. Images of the eyes were obtained using a very-high frequency digital ultrasound robotic scanner (VHFDU) to establish the position of the ICL in the posterior chamber and its relation to the ciliary sulcus. New parameters for lens position analysis were also described. In 81% of cases (42 eyes), the ICL rests on the ciliary body (CB) in both temporal and nasal sides, being slightly lower than 6% (3 eyes) those that rest on the sulcus in both sides, with significant correlations between ICL position and vault values (p<0.05). Cases in which the ICL position was CB-CB yielded central vault values across the whole range determined within the sample, but most of the eyes where the ICL rests on both the sulcus in one side and the CB in the other yield greater central vault values. Correlation was significant between ICL position and retroposition distance on the temporal side (Spearman's rho -0.487, p<0.001). A significant but weaker correlation was also found between ICL position and retroiridian space (p<0.05). ICL for myopia footplates tend to locate outside of the sulcus in a significant percentage of patients after successful implantation. VHFDU assessment in eyes implanted with an ICL to properly study the lens footplate position and posterior anatomical relations provides important additional information besides post-surgery vault.

Correction and pointer reading recognition of circular pointer meter

For the meter images collected in an actual environment, there is the possibility of tilt and rotation. This paper presents a method to calibrate the circular pointer-type meter based on YOLOv5s network. The convolutional neural network framework is used to detect the scale value in the meter panel as the key point. The position information and value information of the detected scale value are used to fit the elliptic equation of the position of the scale value with the least square method for perspective correction and rotation correction of the meter, and the corrected meter image is used to obtain the meter pointer reading. This paper proposes the weighted angle method to read the meter reading. After multiple transformations, the accumulated error of the meter image is eliminated. Finally, comparing the pointer detection method of this paper with the traditional pointer detection method, the error of this detection method is smaller; comparing the meter reading results before and after correction, the meter reading error after correction is 50% less than before correction. Comparing the method in this paper with other mainstream methods, it proves the effectiveness of the our method.

Evolutionary history of genus Coptis and its dynamic changes in the potential suitable distribution area.

The genus Coptis belongs to the Ranunculaceae family, containing 15 recognized species highly diverse in morphology. It is a conspicuous taxon with special evolutionary position, distribution pattern and medicinal value, which makes it to be of great research and conservation significance. In order to better understand the evolutionary dynamics of Coptis and promote more practical conservation measures, we performed plastome sequencing and used the sequencing data in combination with worldwide occurrence data of Coptis to estimate genetic diversity and divergence times, rebuild biogeographic history and predict its potential suitable distribution area. The average nucleotide diversity of Coptis was 0.0067 and the hotspot regions with the highest hypermutation levels were located in the ycf1 gene. Coptis is most likely to have originated in North America and Japanese archipelago and has a typical Eastern Asian and North American disjunct distribution pattern, while the species diversity center is located in Mid-West China and Japan. The crown age of the genus is estimated at around 8.49 Mya. The most suitable climatic conditions for Coptis were as follows: precipitation of driest quarter > 25.5mm, annual precipitation > 844.9mm and annual mean temperature -3.1 to 19 °C. The global and China suitable area shows an upward trend in the future when emission of greenhouse gases is well controlled, but the area, especially in China, decreases significantly without greenhouse gas policy interventions. The results of this study provide a comprehensive insight into the Coptis evolutionary dynamics and will facilitate future conservation efforts.

Research on automatic control algorithms for the motion of redundant robotic arms of industrial robots

AbstractThe development of intelligent technology has led to the more frequent use of robots in industrial production, but the control problems in the redundant robotic arms of industrial robots have hindered their normal development. Therefore, in the study, in order to achieve automatic control of the redundant robotic arm of industrial robots, a multi‐objective redundant robotic arm automatic control algorithm based on improved generalized weighted least squares and multi‐objective feedback teaching and learning optimization algorithm is proposed. In the results, it is shown that the multi‐objective optimization algorithm is effective for the control of the redundant robotic arm, and from the rectification results it is shown that the speed and position errors are only manifested at 0.005 s after time and there is no difference between its speed and position values. The above results show that for the automatic control of redundant robotic arms of industrial robots, the use of multi‐objective optimization control is effective and can provide theoretical support for industrial production and industrial development, thus promoting the development of China's market economy.

Control Strategy of an Underactuated Underwater Drone-Shape Robot for Grasping Tasks.

In underwater environments, ensuring people's safety is complicated, with potentially life-threatening outcomes, especially when divers have to work in deeper conditions. To improve the available solutions for working with robots in this kind of environment, we propose the validation of a control strategy for robots when taking objects from the seabed. The control strategy proposed is based on acceleration feedback in the model of the system. Using this model, the reference values for position, velocity and acceleration are estimated, and then the position error signal can be computed. When the desired position is obtained, it is possible to then obtain the position error. The validation was carried out using three different objects: a ball, a bottle, and a plant. The experiment consisted of using this control strategy to take those objects, which the robot carried for a moment to validate the stabilisation control and reference following the control in terms of angle and depth. The robot was operated by a pilot from outside of the pool and was guided using a camera and sonar in a teleoperated way. As an advantage of this control strategy, the model upon which the robot is based is decoupled, allowing control of the robot for each uncoupled plane, this being the main finding of these tests. This demonstrates that the robot can be controlled by a control strategy based on a decoupled model, taking into account the hydrodynamic parameters of the robot.

Secure 5G Positioning With Truth Discovery, Attack Detection, and Tracing

The fifth-generation (5G) cellular network is expected to provide submeter positioning accuracy without draining the battery of user equipment (UE). As a solution, ultradense network (UDN) deployment and network-based positioning were proposed. However, the openness of UDN and the vulnerability of network devices [e.g., access nodes (ANs)] make it easy for attackers to poison such a positioning system. However, no existing work explores how to overcome this issue. This article concentrates on jamming and collusion attacks in the network-based positioning system. Specifically, we design a novel scheme that contains three functional modules to erase the influence of these attacks. A truth discovery module applies a clustering-based method aiming to generate the most approximate position value and find out suspicious signals. Based on neural network models, we further develop an attack detection module and an attack tracing module to perceive attacked UE and locate malicious or attacked ANs. Through simulation, we conduct extensive experiments to illustrate the effectiveness of our scheme. The result shows high detection and tracing accuracy with very simple neural network models, which also implies the potential of our proposed scheme in practical deployment.

Comparison of Offline, Real-Time Models and Hardware-in-the-Loop Test Results of a Power Take-Off for Wave Energy Applications

The power take-off (PTO) of a wave energy converter (WEC) converts mechanical power extracted from the waves into electrical power. Increasing PTO performance under several operational conditions is therefore essential to reduce the levelized cost of energy of a given wave energy concept and to achieve higher levels of technology readiness. A key task in the WEC design will then be the holistic assessment of the PTO performance in combination with other subsystems. It is hence important that WEC designers are aware of the different modeling options. This paper addresses this need and presents two alternative wave-to-wire modeling approaches based on a 250 kW modular electromechanical PTO coupled to an oscillating wave surge converter (OWSC) device. The first is a detailed and accurate offline model. The second model is a simplified and faster version of the first, being adequate for rapid analyses and real-time (RT) simulation. The paper presents the benchmarking of the offline model against the RT model and the hardware-in-the-loop (HIL) tests of the PTO. The normalized root-mean-square error (NRMSE) is considered as a quantitative indicator for the measurement of real-time and HIL test results against the offline simulation. Results show that the dynamics of the offline model are well represented by the RT model with execution times up to 10 times faster. The offline model also depicts well the behavior observed in the HIL tests with the NRMSE values for the PTO position, velocity, and force above 0.90, which shows the HIL test results replicates with fidelity the dynamic behavior of the complete model. Meaningful differences are however present and highlighted in this paper. An understanding of the advantages and drawbacks of these three approaches is fundamental to properly design a WEC during its project cycle and validate PTO concepts with a certain level of simplification.

Tilt and mobility of the hip girdle in the sagittal and frontal planes in healthy subjects aged 19-30 years.

Disturbances in pelvic girdle tilt can cause compensatory changes affecting postural dysfunctions, and can lead to hip and groin strain changes and back pain. However, we still have no clear information on the normative values of pelvic girdle tilt and mobility. The study aimed to (1) evaluate the position and mobility of the pelvic girdle in the sagittal and frontal planes in asymptomatic adults aged 19-30, (2) evaluate the possible variation of results according to gender and to develop a proposal for normative values, and (3) evaluate whether body mass, height and BMI are related to the magnitude of hip girdle position and mobility. The research was conducted in a sample group consisting of 346 men and women using the scaled form of the anthropometric level of the Duometr® The values of position and mobility of the pelvic girdle in the sagittal and frontal planes were analyzed. Differences were noted in the values of the pelvic tilt (p= 0.033) between the men and women. The women showed slightly higher values of posterior range of motion (p= 0.0002) and total range of motion (p= 0.002). The other parameters did not show any significant variation. There was no clear association between body weight, height and BMI and the study variables, except for a small, significant correlation between BMI and posterior pelvic tilt in women (r= 0.175, p= 0.005). In the frontal plane there were no differences in the analyzed variables in terms of gender or side of the body measured. There was no association between the anthropometric variables and the pelvic girdle tilt and mobility. No size variation by gender was observed in the frontal plane. Slight differences were observed in the sagittal plane. Normative values are proposed.

Experimental and theoretical analysis on truss construction robot: Automatic grasping and hoisting of concrete composite floor slab

AbstractThe development of various construction robots can significantly reduce the construction labor intensity and risk. We present an experimental task of a truss construction robot, including automatic grasping and hoist positioning of concrete composite floor slab. And, a control strategy matching the construction robot is proposed to solve the following problems: (a) Due to the widespread manufacturing errors of building components, the position deviation of diagonal web reinforcement on concrete composite floor slab may cause grasping failure. (b) The chaotic surface of the floor slab seriously affects the recognition accuracy of the grasping target. (c) The large mass and inertia of heavy‐duty hanger and concrete composite floor slab make it difficult for robot to achieve accurate positioning under eccentric load condition. The machine vision recognition system ensures that if the diagonal web reinforcement is detected more than half of the grasping path, the grapple hook can change the grasping path independently to prevent it from colliding with the offset diagonal web reinforcement. An anticollision and grasping path planning method based on machine vision is proposed to improve the success rate and efficiency of automatic grasping. The mean value of proportional speed and proportional position is introduced as the evaluation speed and evaluation position of driving wheel to improve the accuracy of multiwheel synchronization. Moreover, we analyzed the robot performance from actual grasping and hoist positioning process of the concrete composite floor slab. The experimental results show that the robot has a good performance on the automatic grasping and hoisting of the concrete composite floor slab.