Dynamics of five-bar COBOT using differential mechanism

COBOT is a new kind of collaborative robot, which can work with people in a shared space. In this paper a new kind of CVT using differential mechanism is introduced, which is major parts of five-bar COBOT and based the feature of nonhlonnmie constraint. The dynamic model of differential mechanism and five-bar architecture COBOT is founded. There are two kinds of coupled mode of two CVT:serial and parallel. In this paper, we present the dynamic model of serial and parallel COBOT take five-bar COBOT as research object. From the dynamic analysis foregoing, both serial and parallel COBOT model are have the feature of nonholonomic constraint. The ending track and moving state are controlled by the force of control motor and operator. The control motor can not control the movement and ending track of COBOT witbout the cooperation of cperator.     

Dissolved organic matter studies in enclosed systems: Application of Hydrophobic fractionation for the assessment of organic nitrogen dynamics

The evolution of dissolved organic matter (DOM) in a non-axenic batch culture of the marine diatom Thalassiosira tumida was studied by hydrophobic fractionation during a three month experiment. DOM was fractionated with XAD-2 resin into hydrophobic (acid and neutral, “humic”) and hydrophilic fractions. The combined amino acid contents of unfractionated filtered seawater, XAD-fractions and particulate material were determined during the growth, stationary and degradation phases of the culture, and variations related to changes in dissolved organic nitrogen (DON) in XAD-fractions, dissolved inorganic nitrogen, algal and bacterial biomass. XAD-fractionation enabled the discrimination of simultaneously ocurring release and uptake of organic nitrogenous compounds: During the diatom growth there was a net increase of tolal DON concentrations, which was mostly accounted for by the hydrophilic fraction. A concurrent heterotrophic uptake of combined amino acids and other non-amino acid organic nitrogen was discernible by the decrease of their concentrations in the hydrophobic fractions. In the stationary phase, during the prevailing net consumption of total DON, the production of algal exudates could be detected in the hydrophobic fractions, while uptake mainly involved non-amino acid organic nitrogen from the hydrophilic fraction. During the degradation phase, after two months part of the particulate amino acid pool was transformed into hydrophilic DON, which in contrast to the stationary phase, was not adequate for supporting sustained bacterial growth. This suggests that the generation of recalcitrant substances may begin in the hydrophilic fraction of DOM. A slight increase of the hydrophobic acid fraction was indicative of the incipient formation of humic substances. XAD-2 was able to adsorb substances from fast changing DOM pools and thus should be a useful tool in studies concerned with phytoplankton and bacterial dynamics.     

Bigger vessels: How big is too big?

Growth in container liner traffic has been high for several decades and current growth rates are expected to continue, putting pressure on ports and liner companies to increase investment. Several factors are pushing up the capacity of new buildings, and bigger, rather than more, ships alleviate pressure on ports. But ship operating cost benefits will be eroded unless cargo handling performance can be upgraded. Because of physical inhibitions in existing facilities the recent pace at which lines have increased the size of the biggest ships operating seems likely to plateau in the next few years.     

Power Spectral Density of Road Profiles

The road profile is usually considered to be a random process x ( d ), where x is the road height and d is the distance along the road. As the vehicle travels along the road with velocity v , the random process x ( d ) is converted to a random process x ( t ) which is input to the vehicle suspension via the tyre. The random process x ( d ) is usually described in terms of its power spectral density as a function of frequency in either radians or cycles per unit distance. However, there are several different ways of defining power spectral density, and this makes it difficult to compare published data without knowing how the power spectral density has been defined. The proper calculation of RMS values of vehicle response for an assumed road power spectral density is explained by an example.     

Seabirds utilizing the Northeast Water polynya

A small seabird community depends on the resources of the Northeast Water (NEW) polynya. In spring, at least 1000 King Eiders and 2500 Common Eiders form pre-breeding congregations at Ob Bank before dispersing in mid June to breeding areas. The most abundant species is the Fulmar, which breeds in six colonies with a total of 2550 “apparently occupied sites”, corresponding to approx. 1475 active pairs in 1993. Kittiwakes occupied almost 900 sites at Mallemukfjeld, with an estimated 733 breeding pairs. The entire NEW area probably holds 400–500 pairs of Ivory Gulls, and about 500 individuals were associated with a colony on Henrik Krøyer Holme; this is one of the world's largest known colonies. Sabine's Gulls breed at the same islands and on Kilen (approx. 50 pairs in each place). Small colonies (total less than 1000 birds) of Arctic Terns are distributed along the edge of the polynya, with the largest colony of about 100 pairs on Henrik Krøyer Holme. The Black Guillemot is the only breeding auk species (< 20 pairs) in the area. Small numbers of Red Phalaropes were observed in the polynya in 1992 and 1993, and the species may have bred at Henrik Krøyer Holme in 1993; the polynya area may also serve as a staging area for transpolar migrants. In late summer a few hundreds of Ross's Gull—non-breeding adults and immatures—show up in and around the polynya, and in recent years a few cases of breeding have also been recorded. The relatively small seabird populations are evidence of a generally low carrying capacity of the polynya area.Apart from the benthic foraging eiders and the Black Guillemot, the seabird community of NEW consists of surface feeders—Fulmars and gulls—dependent on small fish and zooplankton. During their stay in the NEW area, the five most abundant surface feeders will annually consume approximately 243,000 kg (wet weight) of food, of which the Fulmars alone take 67%. Food demand in relation to area of open water in the polynya is highest in spring (approx. 0.2 kg/km²), which is     

Shipboard Fluid System Diagnostic Indicators Using Non-Intrusive Load Monitoring

Field studies have demonstrated that it is possible to evaluate the state of many shipboard systems by analyzing the electrical power that is drawn by electromechanical actuators. This paper demonstrates how a device known as a non-intrusive load monitor (NILM) uses only electrical power data to detect several critical faults in shipboard fluid systems. Using the example of reverse-osmosis units installed aboard the US Coast Guard's Medium Endurance Cutters, it is shown that the NILM can provide ship's force with a highly reliable real-time system monitoring capability.     

Late-Quaternary changes in productivity of the Southern Ocean

Paleoceanographic records based on new proxies of export production have been constructed for the South Atlantic sector of the Southern Ocean. A radionuclide-ratio proxy of particle flux (¹⁰Be/²³⁰Th) and the accumulation rate of authigenic uranium, which responds to the flux of organic carbon to the sea bed, both indicate a dramatic increase, compared to the present, in the export production of the Subantarctic zone (approximately the region between the present-day positions of the Subtropical Convergence and the Antarctic Polar Front) during glacial periods. If the South Atlantic is representative of the entire Southern Ocean, then export production in the Southern Ocean during the Last Glacial Maximum was substantially greater than at present. Previous studies, focusing on the burial of biogenic opal, failed to recognize the glacial increase in export production of the Southern Ocean because of a strong non-linearity between accumulation rates of opal and of organic carbon.     

Merging Socioeconomic Imperatives with Geospatial Data: A Non-Negotiable for Coastal Risk Management in South Africa

The current approach to coastal development set-back delineation in South Africa is producing high-tech empirical methodologies that attempt to pinpoint areas at risk from physical coastal processes and the subsequent positioning of set-backs in relation to these risk areas. Experience in the Western Cape province of South Africa has shown that this approach contributes only partially to coastal risk management. In the context of an urban and peri-urban environment, and bearing in mind that set-backs have significant socioeconomic implications, the development of a set-back line at the local scale requires an expansion beyond just relying on the numerical modeling of physical coastal processes. This research reveals that such an approach is parochial and socially detached and a more inclusive and integrated approach grounded in and spanning localized social, cultural, economic, political, and ecological intricacies of the coastal space is required. Fundamental to achieving this is a re-consideration of the broader project management processes applied in the development of set-backs. The article concludes with a set of principles and guidelines for determining set-backs in complex coastal contexts at the local scale.     

Solving Nonlinear Differential Equation Governing on the Rigid Beams on Viscoelastic Foundation by AGM

In the present paper a vibrational differential equation governing on a rigid beam on viscoelastic foundation has been investigated. The nonlinear differential equation governing on this vibrating syst...     

The regional development effects of road investment

Based on an empirical analysis of the British road building programme the author concludes that the regional development effect of the highway building is small. Legislative influences such as limitation on driving hours and taxation measures may have a more significant influence on the economy. The road programme was found to have a centralizing effect on the distribution of employment.