Academic literature on the topic 'TWO LINK ROBOT SYSTEM'
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Journal articles on the topic "TWO LINK ROBOT SYSTEM"
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Subudhi, Bidyadhar, Subhakanta Ranasingh, and Ajaha Swain. "Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator." Archives of Control Sciences 21, no. 3 (January 1, 2011): 269–85. http://dx.doi.org/10.2478/v10170-010-0043-2.
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Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator Controlling multi-link flexible robots is very difficult compared rigid ones due to inter-link coupling, nonlinear dynamics, distributed link flexure and under-actuation. Hence, while designing controllers for such systems the controllers should be equipped with optimal gain parameters. Evolutionary Computing (EC) approaches such as Genetic Algorithm (GA), Bacteria Foraging Optimization (BFO) are popular in achieving global parameter optimizations. In this paper we exploit these EC techniques in achieving optimal PD controller for controlling the tip position of a two-link flexible robot. Performance analysis of the EC tuned PD controllers applied to a two-link flexible robot system has been discussed with number of simulation results.
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Glushko, S. P. "Calculation of Angular Coordinates for the Control System of a Two-Link Industrial Robot Manipulator." Advanced Engineering Research 22, no. 4 (January 9, 2023): 346–52. http://dx.doi.org/10.23947/2687-1653-2022-22-4-346-352.
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Introduction. One of the tasks of two-link manipulators of industrial robots that move the end-effector along complex trajectories (e.g., robot welder) is associated with the need for careful programming of their movement. For these purposes, manual programming methods or training methods are used. These methods are quite labor-intensive, and they require highly qualified service personnel. A possible solution to the problem of programming the manipulator movements is the simulation of motion with the calculation of angular coordinates. This can help simplify the geometric adaptation of the manipulator in the process of debugging the control program. Therefore, this work aimed at calculating coordinates for programming the control system of a two-link manipulator operating in an angular coordinate system and moving the end-effector along a complex trajectory (e. g., when welding car bodies). Materials and Methods. A two-link robot manipulator designed for cyclically repeating actions in an angular coordinate system was considered. The manipulator consisted of two rotating links: “arm” and “elbow”, which were fixed on the base. The base could rotate, which provided a third degree of freedom. This configuration increased the working area of the manipulator and minimized the area for its placement in production. The movement of the manipulator end-effector could be performed if the kinematics provided its positioning along three Cartesian and three angular coordinates. For software control of robots, including welding robots operating in an angular coordinate system and performing the movement of the end-effector along a complex trajectory, it was required to calculate the angular coordinates of the movement of the end-effector of a two-link articulated manipulator. The robot control system should determine the position of the tool in the angular coordinate system, converting it for user friendliness into x, y and z coordinates of the Cartesian coordinate system. Results. The relations of angular and Cartesian coordinates have been obtained. They can be used for calculating when programming the control system of a two-link manipulator of an industrial robot and organizing the exchange of information between the user and the control system, as well as for checking the accuracy and debugging the movement of the end-effector of an industrial robot through feedback. Discussion and Conclusion. The presented results can be used for software control of a welding robot operating in an angular coordinate system and performing a complex trajectory of the end-effector of a two-link articulated manipulator (gripper). A manipulator operating in an angular coordinate system can be used for contact spot welding when moving the end-effector along a complex trajectory using a positioning or contouring control system. These systems control the movement of the end-effector along a given trajectory with the help of technological commands.
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Dolgii, Yu F., and I. A. Chupin. "Impulse control of a two-link manipulation robot." Izvestiya Instituta Matematiki i Informatiki Udmurtskogo Gosudarstvennogo Universiteta 57 (May 2021): 77–90. http://dx.doi.org/10.35634/2226-3594-2021-57-02.
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A nonlinear problem of controlling the movements of a two-link manipulation robot is considered. The free mechanical system has two first integrals in involution. Methods of classical mechanics are used for analytical integration of the system of nonlinear differential equations. A trajectory connecting the initial and final positions of the two-link manipulation robot in the configuration space is found. Impulse controls at the initial moment of time impart the necessary energy to the robot to enter this trajectory. Impulse controls are also used to damp the speeds of the robot at the end position. In a computer simulation of the proposed procedure for moving the robot, generalized impulse controls are approximated by rectangular impulses.
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Nguyen, Trong-Thang. "Sliding mode control-based system for the two-link robot arm." International Journal of Electrical and Computer Engineering (IJECE) 9, no. 4 (August 1, 2019): 2771. http://dx.doi.org/10.11591/ijece.v9i4.pp2771-2778.
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In this research, the author presents the model of the two-link robot arm and its dynamic equations. Based on these dynamic equations, the author builds the sliding mode controller for each joint of the robot. The tasks of the controllers are controlling the Torque in each Joint of the robot in order that the angle coordinates of each link coincide with the desired values. The proposed algorithm and robot model are built on Matlab-Simulink to investigate the system quality. The results show that the quality of the control system is very high: the response angles of each link quickly reach the desired values, and the static error equal to zero.
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Li, Bin. "Application of two-arm welding robot control system based on PLC." Advances in Engineering Technology Research 5, no. 1 (April 13, 2023): 76. http://dx.doi.org/10.56028/aetr.5.1.76.2023.
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Understanding the current industrial production process, forklift manufacturing line of symmetrical groove workpiece welding link emerged a lot of problems, such as waste productivity is getting higher and higher, practical work efficiency is getting lower and lower, the work intensity of the department staff is getting greater and greater, the requirements of welder skills become higher. In order to solve these problems scientifically, Chinese scholars proposed a two-arm industrial robot which can realize automatic workpiece welding. Based on the understanding of the status quo of the application research of welding robots, combined with the design thinking of the dual-arm welding robot control system based on PLC as the core, the application effect of this control system is discussed from the perspective of practical application, in order to improve the automation and intellectualization level of our industrial field, and ensure the quality and efficiency of production and manufacturing workpiece.
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Yamaguchi, Hiroaki. "Control of a Two-Joint, Two-Steering Snake-Like Robot." Journal of Robotics and Mechatronics 21, no. 1 (February 20, 2009): 66–73. http://dx.doi.org/10.20965/jrm.2009.p0066.
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This paper introduces and describes a new type of snake-like robot, a two-joint, two-steering snake-like robot, and its control method. We first present a mechanical design of this snake-like robot that is inspired by a mathematical perspective on conversion of its kinematical equation into three-chain, single-generator chained form in a mathematical framework, differential geometry. Especially, we assume a virtual steering system at the head of the first link of the snake-like robot, which makes the conversion possible. We secondly present a path following feedback control method based on chained form that enables the first link to follow straight paths at a constant velocity. Of course, it is also possible for the first link to have any desired position and orientation by combining some followings of straight paths under this feedback control method. Validity of the mechanical design of the snake-like robot, the conversion of its kinematical equation, and its control method is verified by computer simulations. This paper is the full translation from the transactions of JSME Vol.71, No.706.
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Nguyen, Trong-Thang. "Fractional-order sliding mode controller for the two-link robot arm." International Journal of Electrical and Computer Engineering (IJECE) 10, no. 6 (December 1, 2020): 5579. http://dx.doi.org/10.11591/ijece.v10i6.pp5579-5585.
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In this paper, the author proposes a sliding mode controller with the fractional-order for the two-link robot arm. Firstly, the model and dynamic equations of the two-link robot arm are presented. Based on these equations, the author builds the controller for each joint of the robot. The controller is a sliding mode controller with its order is not an integer value. The task of the controller is to adjust the torques acted on the joints in order for the angular coordinates of each link to coincide with the desired values. The effectiveness of the proposed control system is demonstrated through Matlab-Simulink software. The robot model and controller are built to investigate the system quality. The results show that the quality of the control system is very high: there is not the chattering phenomenon of torques, the response angles of each link quickly reach the desired values, and the static error equal to zero.
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Bien, Duong Xuan, Chu Anh My, and Phan Bui Khoi. "Dynamic analysis of two-link flexible manipulator considering the link length ratio and the payload." Vietnam Journal of Mechanics 39, no. 4 (December 26, 2017): 303–13. http://dx.doi.org/10.15625/0866-7136/9234.
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Dynamic modeling and analysis of flexible manipulators play an essential role in optimizing mechanical design parameters and control law of real robot systems. In this paper, a nonlinear dynamic model of a manipulator is formulated based on the Finite Element Method. To analyze the dynamic behavior effectively, a numerical simulation scheme is proposed by taking full advantages of MATLAB and SIMULINK toolboxes. In this manner, the effect of varying payload and link length ratio of the manipulator to its elastic displacement is dynamically taken into account. The simulation results show that the payload and length link ratio have significant influences on the elastic displacements of the system. In particular, a proper spectrum of the link length ratio, in which the flexural displacement of the end point of the manipulator is smallest, is demonstrated. To this end, the proposed methodology could be used further to select optimal geometric parameters for the links of new robot designs.
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Si, Wenhui, Lingyan Zhao, Jianping Wei, and Zhiguang Guan. "Task-space regulation of rigid-link electrically-driven robots with uncertain kinematics using neural networks." Measurement and Control 54, no. 1-2 (January 2021): 102–15. http://dx.doi.org/10.1177/0020294020983383.
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Extensive research efforts have been made to address the motion control of rigid-link electrically-driven (RLED) robots in literature. However, most existing results were designed in joint space and need to be converted to task space as more and more control tasks are defined in their operational space. In this work, the direct task-space regulation of RLED robots with uncertain kinematics is studied by using neural networks (NN) technique. Radial basis function (RBF) neural networks are used to estimate complicated and calibration heavy robot kinematics and dynamics. The NN weights are updated on-line through two adaptation laws without the necessity of off-line training. Compared with most existing NN-based robot control results, the novelty of the proposed method lies in that asymptotic stability of the overall system can be achieved instead of just uniformly ultimately bounded (UUB) stability. Moreover, the proposed control method can tolerate not only the actuator dynamics uncertainty but also the uncertainty in robot kinematics by adopting an adaptive Jacobian matrix. The asymptotic stability of the overall system is proven rigorously through Lyapunov analysis. Numerical studies have been carried out to verify efficiency of the proposed method.
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Morris, A. S., and A. Madani. "Static and dynamic modelling of a two-flexible-link robot manipulator." Robotica 14, no. 3 (May 1996): 289–300. http://dx.doi.org/10.1017/s0263574700019603.
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SUMMARYThis paper is addressed at the difficulty of accurately modelling a two-flexible-link manipulator system, which is a necessary pre-requisite for future work developing a high-performance controller for such manipulators. Recent work concerned with the development of an accurate single-flexible-link model is first reviewed and then the expansion of a single-link model into a two-flexible-link system in a way which properly takes into account the coupling and interactions between the two links is discussed. The method of approach taken is to calculate the elastic and rigid motions of the links separately and then to combine these according to the principle of superposition. The application of the model developed is demonstrated in a simulated two-flexiblelink system.
Dissertations / Theses on the topic "TWO LINK ROBOT SYSTEM"
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Taqi, Sarah M. A. M. "Reproduction of Observed Trajectories Using a Two-Link Robot." The Ohio State University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=osu1308031627.
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Ekrekli, Alaaddin. "Control & identification of a two link robot manipulator." Thesis, University of Liverpool, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.316886.
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Bo, Xu, Kenji Fujimoto, and Yoshikazu Hayakawa. "Control of two-link flexible manipulators via generalized canonical transformation." IEEE, 2004. http://hdl.handle.net/2237/6852.
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Liu, Kaiqiang. "Preliminary Development of a Multi-link Modular Robotic System for Improvement of Colonoscopy Intubation Process." Ohio University / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1430756935.
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Swain, Ryan C. "Stability and control of a two-link inverrted pendulum system with application to human trunk movement during walking." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape8/PQDD_0007/MQ41636.pdf.
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Langer, Franz Dieter. "Kinematic and rotational dynamics of multi-linkage systems and the control of a planar two-link system in the air /." The Ohio State University, 1986. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487266011224129.
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Tunková, Martina. "Městské lázně." Master's thesis, Vysoké učení technické v Brně. Fakulta architektury, 2010. http://www.nusl.cz/ntk/nusl-215713.
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SHARMA, AJIT KUMAR. "POSITION CONTROL OF TWO LINK ROBOT SYSTEM BY PD & FUZZY CONTROLLER." Thesis, 2016. http://dspace.dtu.ac.in:8080/jspui/handle/repository/15008.
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This work is carried out to study the simulation of two link robot system using brushless DC motor drive. The main motivation is to perform kinematics, and position control of the robot in real - time. The graphical user interfaces (GUI) has been developed in Matlab. The GUI has been designed such that the user can feel forward kinematics of the 6-axis articulated robot. The system was developed for demonstrating the basic trajectory planning method for the position control of robot. Further the trajectory planning platform was tested for a particular experiment and was found to be accurate enough for experimental purposes.
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ANKITA, YADAV. "SLIDING MODE CONTROL WITH RBF NEURAL NETWORK FOR TWO LINK ROBOT MANIPULATOR AND AN INVERTED PENDULUM SYSTEM." Thesis, 2019. http://dspace.dtu.ac.in:8080/jspui/handle/repository/16970.
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Nonlinear control techniques are applied on two different mechanical systems namely two link robot manipulator and an inverted pendulum system to study the effect of the controllers on the tracking performance of the two system. A design of sliding mode control(SMC) for the position tracking of two link robot manipulator based on the sliding mode control technique and the Lyapunov stability theory is carried out to eliminate the perturbation and asymptotical stability can be achieved when the system is subjected to the sliding mode. A sliding mode control method based on RBF(radial basis function) neural network is addressed which has the capability of learning uncertain control actions shown by the several industrial robots. In RBFNN-SMC method the algorithm for tuning the parameters are extracted from the RBF function. The comparative study is done based on the evaluated parameters for the system. There are several practical applications like self-balancing robot, rocket propeller, Segway which are based on inverted pendulum. The control of inverted pendulum is carried out and a comparative analysis is made for the linear as well as the nonlinear model depending upon the two control techniques which are based on investigating the time, tracking error for obtaining the best performance for the inverted pendulum system. The implemented control techniques are the sliding mode control and the RBF neural network based adaptive sliding mode. Keeping the cart horizontal position and pendulum angle, to obtain the tracking performance the designed control law is subjected to different test signals and the results are shown for reduced chattering effect by using the above given controllers. A nonlinear SMC for position tracking control based on RBF neural network is also presented and the stability is given by the Lyapunov theorem.
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Reddy, Basireddy Sandeep. "A Study of Two Problems in Nonlinear Dynamics Using the Method of Multiple Scales." Thesis, 2015. http://etd.iisc.ac.in/handle/2005/3959.
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This thesis deals with the study of two problems in the area of nonlinear dynamics using the method of multiple scales. Accordingly, it consists of two parts.
In the first part of the thesis, we explore the asymptotic stability of a planar two-degree- of-freedom robot with two rotary (R) joints following a desired trajectory under feedback control. Although such robots have been extensively studied and there exists stability and other results for position control, there are no analytical results for asymptotic stability when the end of the robot or its joints are made to follow a time dependent trajectory. The nonlinear dynamics of a 2R planar robot, under a proportional plus derivative (PD) and a model based computed torque control, is studied. The method of multiple scales is applied to the two nonlinear second-order ordinary deferential equations which describes the dynamics of the feedback controlled 2R robot. Amplitude modulation equations, as a set of four first order equations, are derived. At a fixed point, the Routh-Hurwitz criterion is used to obtain positive values of proportional and derivative gains at which the controller is asymptotically stable or indeterminate. For the model based control, a parameter representing model mismatch is incorporated and again controller gains are obtained, for a chosen mismatch parameter value, where the controller results in asymptotic stability or is indeterminate. From numerical simulations with gain values in the indeterminate region, it is shown that for some values and ranges of the gains, the non- linear dynamical equations are chaotic and hence the 2R robot cannot follow the desired trajectory and be asymptotically stable.
The second part of the thesis deals with the study of the nonlinear dynamics of a rotating flexible link, modeled as a one dimensional beam, undergoing large deformation and with geometric nonlinearities. The partial deferential equation of motion is discretized using a finite element approach to yield four nonlinear, non-autonomous and coupled ordinary deferential equations. The equations are non-dimensional zed using two characteristic velocities – the speed of sound in the material and a speed associated with the trans- verse bending vibration of the beam. The method of multiple scales is used to perform a detailed study of the system. A set of four autonomous equations of the first-order are derived considering primary resonance of the external excitation with one of the natural frequencies of the model and one-to-one internal resonance between two different natural frequencies of the model. Numerical simulations show that for certain ranges of values of these characteristic velocities, the slow flow equations can exhibit chaotic motions. The numerical simulations and the results are related to a rotating wind turbine blade and the approach can be used for the study of the nonlinear dynamics of a single link flexible manipulator. The second part of the thesis also deals with the synchronization of chaos in the equations of motion of the flexible beam. A nonlinear control scheme via active nonlinear control and Lyapunov stability theory is proposed to synchronize the chaotic system. The proposed controller ensures that the error between the controlled and the original system asymptotically go to zero. A numerical example using parameters of a rotating power generating wind turbine blade is used to illustrate the theoretical approach.
Books on the topic "TWO LINK ROBOT SYSTEM"
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Morris, A. S. Quadratic optimal control of a two-flexible-link robot manipulator. Sheffield: University, Dept. of Control Engineering, 1995.
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Morris, A. S. Static and dynamic modelling of a two-flexible-link robot manipulator. Sheffield: University, Dept. of Control Engineering, 1995.
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United States. National Aeronautics and Space Administration., ed. Performance assessment of two GPS receivers on space shuttle. Austin, Tex: Center for Space Research, University of Texas at Austin, 1996.
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Valsiner, Jaan. Roots of Creativity. Oxford University Press, 2017. http://dx.doi.org/10.1093/oso/9780190468712.003.0003.
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In this chapter, the author explores the roots of the phenomena of creativity through exposing the axiomatic basis of the open-systemic nature of all human life, together with the processes of imagination that link the past and the future at the moment of the present. James Mark Baldwin’s notion of persistent imitation is at the root of imaginative acts that give rise to phenomena of the creative kind. Together with William Stern’s personology and Magoroh Maruyama’s focus on amplification of variability (“second cybernetics”), we have the basic building blocks for a theory of creativity that is not reducing the phenomena to common-language explanations.
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Płońska-Gościniak, Edyta, Michal Ciurzynski, Marcin Fijalkowski, Piotr Gosciniak, Piotr Szymanski, Tomasz Pasierski, Daniel Rodriguez Muñoz, and José Luis Zamorano. Cardiac involvement in systemic diseases. Oxford University Press, 2016. http://dx.doi.org/10.1093/med/9780198726012.003.0057.
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Cardiovascular features in systemic diseases are common. Transthoracic echocardiography represents a first-line diagnostic tool among these patients. Pericarditis is the most frequent cardiac complication of rheumatoid arthritis. In systemic lupus erythematosus, echocardiography shows usually small or moderate pericardial effusion in up to 55% of patients. In this group, Libman-Sacks vegetations develop mainly on the mitral valve but also can be seen on other valves. Pulmonary hypertension is one of the most important complications adversely influencing survival of systemic sclerosis patients. In antiphospholipid syndrome, the most common echocardiographic abnormality is diffuse or focal leaflet thickening, seen in 40-60% of subjects. Among Marfan syndrome patients, aortic root aneurysm is the most dangerous complication. In this chapter the authors also report the echocardiographic abnormalities occurring in rare systemic diseases including carcinoid, haemochromatosis, sarcoidosis, and amyloidosis. Moreover, echocardiographic changes in neoplastic disease and in patients undergoing chemotherapy and/or radiotherapy are also described.
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Connellan, Geoff. Water Use Efficiency for Irrigated Turf and Landscape. CSIRO Publishing, 2013. http://dx.doi.org/10.1071/9780643106888.
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Achieving high water use efficiency in maintaining turf, trees and landscape areas is a core responsibility of open space managers. Water Use Efficiency for Irrigated Turf and Landscape provides a logical and scientifically sound approach to irrigation in urban areas in Australia. It is based on green space delivering defined outcomes using the principles of water sensitive urban design and irrigation efficiency.
The book covers all stages of the water pathway – from the source to delivery into the plant root zone. Major topics include system planning, estimating water demand, water quality, irrigation systems, soil management and irrigation performance evaluation.
Clearly presented explanations are included, as well as line drawings and worked examples, and a plant water use database covering more than 250 plant species. A Water Management Planning template is included to guide water managers and operators through a process that will deliver a sound plan to achieve sustainable turf, urban trees and landscapes.
Best Management Practice Irrigation principles are outlined and their implementation in open space turf and landscape situations is explained. The benefits and limitations of the various methods of delivering water to plants are covered, together with case studies and guidelines for specific horticultural situations. Methodologies to evaluate irrigated sites are included along with recommended benchmark values.
The book presents the latest irrigation technology, including developments in water application, control technology and environmental sensors such as weather stations, soil moisture sensors and rain sensors.
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Hix, Simon. 23. The EU as a new political system. Oxford University Press, 2017. http://dx.doi.org/10.1093/hepl/9780198737421.003.0025.
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This chapter examines the development and operation of the European Union from a comparative politics perspective. It first considers the evolution of the EU, from the signing of the Treaty of Paris in 1951 that established the European Coal and Steel Community (ECSC) to the admission of Lithuania in 2015 as the nineteenth member of the Eurozone, and the UK's decision to leave the EU in 2016. The chapter then explores the process of European integration and goes on to explain what it means to think of the EU as a political system. It also describes the two basic dimensions of the EU system: the vertical dimension (the EU as a ‘regulatory state’) and the horizontal dimension (the design and operation of EU decision-making). The chapter concludes by analysing the ‘missing link’ in the EU system — the lack of genuine democratic politics.
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Kaplan, Jerry. Artificial Intelligence. Oxford University Press, 2016. http://dx.doi.org/10.1093/wentk/9780190602383.001.0001.
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Over the coming decades, Artificial Intelligence will profoundly impact the way we live, work, wage war, play, seek a mate, educate our young, and care for our elderly. It is likely to greatly increase our aggregate wealth, but it will also upend our labor markets, reshuffle our social order, and strain our private and public institutions. Eventually it may alter how we see our place in the universe, as machines pursue goals independent of their creators and outperform us in domains previously believed to be the sole dominion of humans. Whether we regard them as conscious or unwitting, revere them as a new form of life or dismiss them as mere clever appliances, is beside the point. They are likely to play an increasingly critical and intimate role in many aspects of our lives. The emergence of systems capable of independent reasoning and action raises serious questions about just whose interests they are permitted to serve, and what limits our society should place on their creation and use. Deep ethical questions that have bedeviled philosophers for ages will suddenly arrive on the steps of our courthouses. Can a machine be held accountable for its actions? Should intelligent systems enjoy independent rights and responsibilities, or are they simple property? Who should be held responsible when a self-driving car kills a pedestrian? Can your personal robot hold your place in line, or be compelled to testify against you? If it turns out to be possible to upload your mind into a machine, is that still you? The answers may surprise you.
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Galliott, Jai, Duncan MacIntosh, and Jens David Ohlin, eds. Lethal Autonomous Weapons. Oxford University Press, 2021. http://dx.doi.org/10.1093/oso/9780197546048.001.0001.
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The question of whether new rules or regulations are required to govern, restrict, or even prohibit the use of autonomous weapons systems has been the subject of debate for the better part of a decade. Despite the claims of advocacy groups, the way ahead remains unclear since the international community has yet to agree on a specific definition of Lethal Autonomous Weapons Systems, and the great powers have largely refused to support an effective ban. In this vacuum, the public has been presented with a heavily one-sided view of “Killer Robots.” This volume presents a more nuanced approach to autonomous weapon systems that recognizes the need to progress beyond a discourse framed by the Terminator and HAL 9000. Reshaping the discussion around this emerging military innovation requires a new line of thought and a willingness to challenge the orthodoxy. Lethal Autonomous Weapons: Re-Examining the Law and Ethics of Robotic Warfare therefore focuses on exploring the moral and legal issues associated with the design, development, and deployment of lethal autonomous weapons. In this volume, we bring together some of the most prominent academics and academic-practitioners in the lethal autonomous weapons space and seek to return some balance to the debate. As part of this effort, we recognize that society needs to invest in hard conversations that tackle the ethics, morality, and law of these new digital technologies and understand the human role in their creation and operation.
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Tull, Malcolm. Introduction. Liverpool University Press, 2018. http://dx.doi.org/10.5949/liverpool/9780968128824.003.0001.
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Ports are vital links in the international transport system and, for an island nation such as Australia, assume a special importance as gateways to the rest of the world. The basic function of a port is to provide a link between land and sea transport and to furnish means by which transfers of freight and passengers between the two systems can be made efficiently. A port is...
Book chapters on the topic "TWO LINK ROBOT SYSTEM"
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Ni, Jie, and Qing Song. "Pruning Neural Networks for a Two-Link Robot Control System." In Computational Intelligence and Bioinspired Systems, 693–700. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/11494669_85.
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Maiti, Roshni, Kaushik Das Sharma, and Gautam Sarkar. "Angular Position Control of Two Link Robot Manipulator." In Studies in Systems, Decision and Control, 181–98. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-97102-1_6.
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Xin, Xin, and Yannian Liu. "3-Link Planar Robot with Two Passive Joints." In Control Design and Analysis for Underactuated Robotic Systems, 277–94. London: Springer London, 2014. http://dx.doi.org/10.1007/978-1-4471-6251-3_15.
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Zhou, Jian-jun, and Finn Conrad. "Identification and Evaluation of Hydraulic Actuator Models for a Two-Link Robot Manipulator." In Robotic Systems, 577–84. Dordrecht: Springer Netherlands, 1992. http://dx.doi.org/10.1007/978-94-011-2526-0_66.
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Lochan, Kshetrimayum, Jay Prakash Singh, Binoy Krishna Roy, and Bidyadhar Subudhi. "Hidden Chaotic Path Planning and Control of a Two-Link Flexible Robot Manipulator." In Nonlinear Dynamical Systems with Self-Excited and Hidden Attractors, 433–63. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-71243-7_19.
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Lochan, Kshetrimayum, and B. K. Roy. "Control of Two-link 2-DOF Robot Manipulator Using Fuzzy Logic Techniques: A Review." In Advances in Intelligent Systems and Computing, 499–511. New Delhi: Springer India, 2014. http://dx.doi.org/10.1007/978-81-322-2217-0_41.
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Paraev, Yurii I., Svetlana I. Kolesnikova, and Svetlana A. Tsvetnitskaya. "A Comparison of Two Algorithms for Control over a Three-Link Robot-Manipulator under the Conditions of a Description Uncertainty." In Cyber-Physical Systems and Control II, 249–59. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-20875-1_23.
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Dianatfar, Morteza, Saeid Heshmatisafa, Jyrki Latokartano, and Minna Lanz. "Feasibility Analysis of Safety Training in Human-Robot Collaboration Scenario: Virtual Reality Use Case." In Lecture Notes in Mechanical Engineering, 246–56. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-18326-3_25.
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AbstractDesign and modification of human-robot collaboration workspace requires analysis of the safety of systems. Generally, the safety analysis process of a system commences with conducting a risk assessment. There exists a number international standards for design robotics work cells and collaborative shared workspaces. These guidelines expound on principles and measures to identify hazards and reduce risks. Measures of risk reductions include eliminating hazards by design, safeguarding, and providing supplementary protective measures such as user training. This study analyzed the technical feasibility and industrial readiness of Virtual Reality (VR) technology for safety training in manufacturing sector. The test case of a VR-based safety training application is defined in the human-robot collaboration pilot-line of diesel engines. The Analytic Hierarchy Process method was utilized for conducting a quantitative analysis of the survey with ten experts. The participants performed the importance rating with respect to two hierarchy level criteria. Regarding the evaluation of safety training methods in a human-robot collaboration environment, two alternatives of traditional and Virtual Reality -based training are compared. The results indicates that the VR-based training is valued over the traditional method, with a scored proportion of approximately 65 percent over 35 percent.
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Staufer, Peter, and Hubert Gattringer. "Passivity-Based Tracking Control of a Flexible Link Robot." In Multibody System Dynamics, Robotics and Control, 95–112. Vienna: Springer Vienna, 2012. http://dx.doi.org/10.1007/978-3-7091-1289-2_6.
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di Castri, Carmelo, and Arcangelo Messina. "Modeling Effects on Free Vibration of a Two-Link Flexible Manipulator." In ROMANSY 18 Robot Design, Dynamics and Control, 99–107. Vienna: Springer Vienna, 2010. http://dx.doi.org/10.1007/978-3-7091-0277-0_11.
Full textConference papers on the topic "TWO LINK ROBOT SYSTEM"
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Yu, Xinjia, and Mark Bedillion. "Control for a Two-Link Planar Robot With an Actuated Tail." In ASME 2018 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/imece2018-86827.
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In this paper, a new climbing robot concept and its control strategy are introduced. The robot presented in this article is a two-link planar robot equipped with two magnetic grippers and one actuated tail, which is designed to add energy to the system for efficient climbing. The climbing strategy for this robot is inspired by brachiation robots. By alternating the activation of the grippers and using the tail to add energy, the robot can string together a sequence of pendulum-like paths with brachiation motion to reach any configuration on the climbing surface. Its high mobility and low energy consumption make this robot a candidate for applications in cleaning and inspection on vertical surfaces. The non-linear dynamics of the swinging motion for this robot are studied using the Lagrange formulation under the assumption that there is no slip on the grippers. The control strategy of this robot uses a high-level planner to determine the grip points and a low-level controller to actuate the tail, achieving low energy consumption with high accuracy. Model predictive control (MPC) is applied for the low-level swinging motion controller to determine the optimal torque provided to the tail. In this initial work the robot trajectory is planning based on minimization of the distance travelled. The performance of this robot is discussed based on MATLAB simulation results. The paper concludes by discussing alternative planning/control strategies along with initial work towards experimental validation.
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ZHEKOV, Zhivko, and Emil MARINOV. "Neural Control of Two-link Planar Robot." In 2019 16th Conference on Electrical Machines, Drives and Power Systems (ELMA). IEEE, 2019. http://dx.doi.org/10.1109/elma.2019.8771670.
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"TWO LINK COMPLIANT ROBOT MANIPULATOR FOR HUMAN ROBOT COLLISION SAFETY." In International Conference on Bio-inspired Systems and Signal Processing. SciTePress - Science and and Technology Publications, 2011. http://dx.doi.org/10.5220/0003178405180521.
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Guechi, El-Hadi, Samir Bouzoualegh, Lotfi Messikh, and Saso Blazic. "Model predictive control of a two-link robot arm." In 2018 International Conference on Advanced Systems and Electric Technologies (IC_ASET). IEEE, 2018. http://dx.doi.org/10.1109/aset.2018.8379891.
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Bhushan, Bharat, and Ajit Kumar Sharma. "Position control of two link robot system by PD & fuzzy controller." In 2014 6th IEEE Power India International Conference (PIICON). IEEE, 2014. http://dx.doi.org/10.1109/34084poweri.2014.7117753.
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Bhushan, Bharat, and Ajit Kumar Sharma. "Position control of two link robot system by PD & fuzzy controller." In 2014 6th IEEE Power India International Conference (PIICON). IEEE, 2014. http://dx.doi.org/10.1109/poweri.2014.7117753.
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Kim, Yonggu, Jinwook Seok, Ilhwan Noh, and Sangchul Won. "An adaptive disturbance observer for a two-link robot manipulator." In 2008 International Conference on Control, Automation and Systems (ICCAS). IEEE, 2008. http://dx.doi.org/10.1109/iccas.2008.4694540.
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Huang, Lun-Wei, Chih-Yung Cheng, and Gwo-Ruey Yu. "SOS-based design of fuzzy tracking controller for a two-link robot arm." In 2011 International Conference on System Science and Engineering (ICSSE). IEEE, 2011. http://dx.doi.org/10.1109/icsse.2011.5961943.
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Takei, T., and S. Yuta. "An underactuated two-link-one-motor robot with dynamic mobility." In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2005. http://dx.doi.org/10.1109/iros.2005.1545514.
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Naoual, Rachid, El Mehdi Mellouli, and Ismail Boumhidi. "Adaptive fuzzy sliding mode control for the two-link robot." In 2014 9th International Conference on Intelligent Systems: Theories and Applications (SITA). IEEE, 2014. http://dx.doi.org/10.1109/sita.2014.6847302.
Full textReports on the topic "TWO LINK ROBOT SYSTEM"
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Greaney, Carrie, and Peter Bullemer. PR-624-173901-WEB Human Factors Risk of Pipeline Damage. Chantilly, Virginia: Pipeline Research Council International, Inc. (PRCI), March 2019. http://dx.doi.org/10.55274/r0011563.
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Thursday, April 11, 2019 PRESENTER: Peter Bullemer, Human Centered Solutions MODERATOR: Carrie Greaney, PRCI CLICK THE DOWNLOAD/BUY BUTTON TO ACCESS THE WEBINAR REGISTRATION LINK Webinar Description: The overall purpose of this project was to extend our understanding of the impact of human and organizational factors (HOF) on pipeline process safety incidents. Six pipeline incident reports were systematically analyzed using a two-phased approach developed in the Abnormal Situation Management (ASM�) Consortium research program. The first phase of the incident analysis approach used the TapRoot methodology to chart the event sequence, identify contributing factors, including organizational practice failures, and identifying root causes of the organizational practice failures. The second phase of the analysis characterized the organizational failures as Common Failure Modes based on the HCS Effective Operations Practices and the specific expression of the root causes in terms of Common Root Cause Manifestations based on the Dirty Dozen human factors taxonomy. The Dirty Dozen taxonomy of human factors was found to have the potential to provide a tractable root cause framework for human and organizational factors. Specific limitations of the Dirty Dozen taxonomy as a HOF framework are discussed. Learning Outcomes: � Understand the potential impact of human and organizational factors on pipeline process safety incidents. � Understand the potential applicability of a human factors classification framework, the Dirty Dozen, developed in the aviation maintenance industry to the pipeline industry. Expected Benefits: � Increased awareness of the potential role and impact of human and organizational factors within the pipeline industry � Catalyst for ideas on how to improve the incident reporting system within your organization to better characterize the impact of human and organizational factors. Target Audience: � Risk engineers � Pipeline design engineers � Pipeline construction, operations and maintenance management and personnel Related report: PR-624-173901-R01 Human Organizational Factors in Pipeline Incidents
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Crouch. L52201 Baseline Study of Alternate In-Line Inspection Vehicles. Chantilly, Virginia: Pipeline Research Council International, Inc. (PRCI), January 2008. http://dx.doi.org/10.55274/r0010954.
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It was a goal of this project to identify and evaluate nonpiston vehicle concepts that could potentially carry inspection sensors and recording apparatus into both piggable and nonpiggable pipelines. It has been suggested that pipeline integrity management in some future time might include the use of autonomous robots that would "live" in a pipeline, taking power from the moving product stream and communicating to the outside of the pipeline, from time to time, information on the condition of the pipeline. The system then would include a vehicle, sensors, data recording, power generation, and communication. Work has been done in various research centers on each of these components. Some mention will be made of the other components, but the thrust of this report is on the vehicle.
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Seginer, Ido, Louis D. Albright, and Robert W. Langhans. On-line Fault Detection and Diagnosis for Greenhouse Environmental Control. United States Department of Agriculture, February 2001. http://dx.doi.org/10.32747/2001.7575271.bard.
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Background Early detection and identification of faulty greenhouse operation is essential, if losses are to be minimized by taking immediate corrective actions. Automatic detection and identification would also free the greenhouse manager to tend to his other business. Original objectives The general objective was to develop a method, or methods, for the detection, identification and accommodation of faults in the greenhouse. More specific objectives were as follows: 1. Develop accurate systems models, which will enable the detection of small deviations from normal behavior (of sensors, control, structure and crop). 2. Using these models, develop algorithms for an early detection of deviations from the normal. 3. Develop identifying procedures for the most important faults. 4. Develop accommodation procedures while awaiting a repair. The Technion team focused on the shoot environment and the Cornell University team focused on the root environment. Achievements Models: Accurate models were developed for both shoot and root environment in the greenhouse, utilizing neural networks, sometimes combined with robust physical models (hybrid models). Suitable adaptation methods were also successfully developed. The accuracy was sufficient to allow detection of frequently occurring sensor and equipment faults from common measurements. A large data base, covering a wide range of weather conditions, is required for best results. This data base can be created from in-situ routine measurements. Detection and isolation: A robust detection and isolation (formerly referred to as 'identification') method has been developed, which is capable of separating the effect of faults from model inaccuracies and disturbance effects. Sensor and equipment faults: Good detection capabilities have been demonstrated for sensor and equipment failures in both the shoot and root environment. Water stress detection: An excitation method of the shoot environment has been developed, which successfully detected water stress, as soon as the transpiration rate dropped from its normal level. Due to unavailability of suitable monitoring equipment for the root environment, crop faults could not be detected from measurements in the root zone. Dust: The effect of screen clogging by dust has been quantified. Implications Sensor and equipment fault detection and isolation is at a stage where it could be introduced into well equipped and maintained commercial greenhouses on a trial basis. Detection of crop problems requires further work. Dr. Peleg was primarily responsible for developing and implementing the innovative data analysis tools. The cooperation was particularly enhanced by Dr. Peleg's three summer sabbaticals at the ARS, Northem Plains Agricultural Research Laboratory, in Sidney, Montana. Switching from multi-band to hyperspectral remote sensing technology during the last 2 years of the project was advantageous by expanding the scope of detected plant growth attributes e.g. Yield, Leaf Nitrate, Biomass and Sugar Content of sugar beets. However, it disrupted the continuity of the project which was originally planned on a 2 year crop rotation cycle of sugar beets and multiple crops (com and wheat), as commonly planted in eastern Montana. Consequently, at the end of the second year we submitted a continuation BARD proposal which was turned down for funding. This severely hampered our ability to validate our findings as originally planned in a 4-year crop rotation cycle. Thankfully, BARD consented to our request for a one year extension of the project without additional funding. This enabled us to develop most of the methodology for implementing and running the hyperspectral remote sensing system and develop the new analytical tools for solving the non-repeatability problem and analyzing the huge hyperspectral image cube datasets. However, without validation of these tools over a ful14-year crop rotation cycle this project shall remain essentially unfinished. Should the findings of this report prompt the BARD management to encourage us to resubmit our continuation research proposal, we shall be happy to do so.
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Shani, Uri, Lynn Dudley, Alon Ben-Gal, Menachem Moshelion, and Yajun Wu. Root Conductance, Root-soil Interface Water Potential, Water and Ion Channel Function, and Tissue Expression Profile as Affected by Environmental Conditions. United States Department of Agriculture, October 2007. http://dx.doi.org/10.32747/2007.7592119.bard.
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Constraints on water resources and the environment necessitate more efficient use of water. The key to efficient management is an understanding of the physical and physiological processes occurring in the soil-root hydraulic continuum.While both soil and plant leaf water potentials are well understood, modeled and measured, the root-soil interface where actual uptake processes occur has not been sufficiently studied. The water potential at the root-soil interface (yᵣₒₒₜ), determined by environmental conditions and by soil and plant hydraulic properties, serves as a boundary value in soil and plant uptake equations. In this work, we propose to 1) refine and implement a method for measuring yᵣₒₒₜ; 2) measure yᵣₒₒₜ, water uptake and root hydraulic conductivity for wild type tomato and Arabidopsis under varied q, K⁺, Na⁺ and Cl⁻ levels in the root zone; 3) verify the role of MIPs and ion channels response to q, K⁺ and Na⁺ levels in Arabidopsis and tomato; 4) study the relationships between yᵣₒₒₜ and root hydraulic conductivity for various crops representing important botanical and agricultural species, under conditions of varying soil types, water contents and salinity; and 5) integrate the above to water uptake term(s) to be implemented in models. We have made significant progress toward establishing the efficacy of the emittensiometer and on the molecular biology studies. We have added an additional method for measuring ψᵣₒₒₜ. High-frequency water application through the water source while the plant emerges and becomes established encourages roots to develop towards and into the water source itself. The yᵣₒₒₜ and yₛₒᵢₗ values reflected wetting and drying processes in the rhizosphere and in the bulk soil. Thus, yᵣₒₒₜ can be manipulated by changing irrigation level and frequency. An important and surprising finding resulting from the current research is the obtained yᵣₒₒₜ value. The yᵣₒₒₜ measured using the three different methods: emittensiometer, micro-tensiometer and MRI imaging in both sunflower, tomato and corn plants fell in the same range and were higher by one to three orders of magnitude from the values of -600 to -15,000 cm suggested in the literature. We have added additional information on the regulation of aquaporins and transporters at the transcript and protein levels, particularly under stress. Our preliminary results show that overexpression of one aquaporin gene in tomato dramatically increases its transpiration level (unpublished results). Based on this information, we started screening mutants for other aquaporin genes. During the feasibility testing year, we identified homozygous mutants for eight aquaporin genes, including six mutants for five of the PIP2 genes. Including the homozygous mutants directly available at the ABRC seed stock center, we now have mutants for 11 of the 19 aquaporin genes of interest. Currently, we are screening mutants for other aquaporin genes and ion transporter genes. Understanding plant water uptake under stress is essential for the further advancement of molecular plant stress tolerance work as well as for efficient use of water in agriculture. Virtually all of Israel’s agriculture and about 40% of US agriculture is made possible by irrigation. Both countries face increasing risk of water shortages as urban requirements grow. Both countries will have to find methods of protecting the soil resource while conserving water resources—goals that appear to be in direct conflict. The climate-plant-soil-water system is nonlinear with many feedback mechanisms. Conceptual plant uptake and growth models and mechanism-based computer-simulation models will be valuable tools in developing irrigation regimes and methods that maximize the efficiency of agricultural water. This proposal will contribute to the development of these models by providing critical information on water extraction by the plant that will result in improved predictions of both water requirements and crop yields. Plant water use and plant response to environmental conditions cannot possibly be understood by using the tools and language of a single scientific discipline. This proposal links the disciplines of soil physics and soil physical chemistry with plant physiology and molecular biology in order to correctly treat and understand the soil-plant interface in terms of integrated comprehension. Results from the project will contribute to a mechanistic understanding of the SPAC and will inspire continued multidisciplinary research.
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Harman, Gary E., and Ilan Chet. Enhancement of plant disease resistance and productivity through use of root symbiotic fungi. United States Department of Agriculture, July 2008. http://dx.doi.org/10.32747/2008.7695588.bard.
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The objectives of the project were to (a) compare effects ofT22 and T-203 on growth promotion and induced resistance of maize inbred line Mol7; (b) follow induced resistance of pathogenesis-related proteins through changes in gene expression with a root and foliar pathogen in the presence or absence of T22 or T-203 and (c) to follow changes in the proteome of Mol? over time in roots and leaves in the presence or absence of T22 or T-203. The research built changes in our concepts regarding the effects of Trichoderma on plants; we hypothesized that there would be major changes in the physiology of plants and these would be reflected in changes in the plant proteome as a consequence of root infection by Trichoderma spp. Further, Trichoderma spp. differ in their effects on plants and these changes are largely a consequence of the production of different elicitors of elicitor mixtures that are produced in the zone of communication that is established by root infection by Trichoderma spp. In this work, we demonstrated that both T22 and T-203 increase growth and induce resistance to pathogens in maize. In Israel, it was shown that a hydrophobin is critical for root colonization by Trichoderma strains, and that peptaibols and an expansin-like protein from Ttrichoderma probably act as elicitors of induced resistance in plants. Further, this fungus induces the jasmonate/ethylene pathway of disease resistance and a specific cucumber MAPK is required for transduction of the resistance signal. This is the first such gene known to be induced by fungal systems. In the USA, extensive proteomic analyses of maize demonstrated a number of proteins are differentially regulated by T. harzianum strain T22. The pattern of up-regulation strongly supports the contention that this fungus induces increases in plant disease resistance, respiratory rates and photosynthesis. These are all very consistent with the observations of effects of the fungus on plants in the greenhouse and field. In addition, the chitinolytic complex of maize was examined. The numbers of maize genes encoding these enzymes was increased about 3-fold and their locations on maize chromosomes determined by sequence identification in specific BAC libraries on the web. One of the chitinolytic enzymes was determined to be a heterodimer between a specific exochitinase and different endochitinases dependent upon tissue differences (shoot or root) and the presence or absence of T. harzianum. These heterodimers, which were discovered in this work, are very strongly antifungal, especially the one from shoots in the presence of the biocontrol fungus. Finally, RNA was isolated from plants at Cornell and sent to Israel for transcriptome assessment using Affymetrix chips (the chips became available for maize at the end of the project). The data was sent back to Cornell for bioinformatic analyses and found, in large sense, to be consistent with the proteomic data. The final assessment of this data is just now possible since the full annotation of the sequences in the maize Affy chips is just now available. This work is already being used to discover more effective strains of Trichoderma. It also is expected to elucidate how we may be able to manipulate and breed plants for greater disease resistance, enhanced growth and yield and similar goals. This will be possible since the changes in gene and protein expression that lead to better plant performance can be elucidated by following changes induced by Trichoderma strains. The work was in, some parts, collaborative but in others, most specifically transcriptome analyses, fully synergistic.
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Kapulnik, Yoram, Maria J. Harrison, Hinanit Koltai, and Joseph Hershenhorn. Targeting of Strigolacatones Associated Pathways for Conferring Orobanche Resistant Traits in Tomato and Medicago. United States Department of Agriculture, July 2011. http://dx.doi.org/10.32747/2011.7593399.bard.
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This proposal is focused on examination of two plant interactions: parasitic with Orobanche, and symbiosis with arbuscular mycorrhiza fungi (AMF), and the involvement of a newly define plant hormones, strigolactones (SLs), in these plant interactions. In addition to strigolactones role in regulation of above-ground plant architecture, they are also known to be secreted from roots, and to be a signal for seed germination of the parasitic plants Orobanche. Moreover, secreted strigolactones were recognized as inducers of AMFhyphae branching. The present work was aimed at Generation of RNAi mutants of both tomato and Medicago, targeting multiple genes that may be involved in strigolactone production, carotenoid biosynthesis pathway, Pi signaling or other metabolic pathways, and hence affect AMF colonization and/or Orobanche resistance. Following the newly formed and existing RNAi mutants were examined for AMF colonization and Orobanche resistance. At the first phase of this project Orobanche seed germination assays and AMF colonization were examined in intact plants. These assays were shown to be effective and resulted with enhancement of Orobanche seed germination and AMF colonization in WT tomato plants, whereas roots of strigolactones impaired lines did not result with Orobanche seed germination and mycorrhiza colonization. Unexpectedly, root organ cultures (ROC) that were produced from the same wild type (WT) and mutant lines did not induce the Orobanche seed germination and AMFhyphal branching. This implies that under in vitro conditions ROC cultures are missing an important component for induction of Orobanche seed germination and AMFhyphal branching. In another line of experiments we have tested transgenic lines of Medicagotruncatula for AMFhuyphal branching and Orobanche seed germination assays. These lines included lines silenced for a GRAS transcription factor (RNAi 1845), an NBS-LRR type resistance gene (RNAi 1847), a kinase (RNAi 2403) and a protein of unknown function (RNAi 2417). In all cases, five independent transgenic root lines showed altered AMFphenotypes with reduced or aberrant colonization patterns. Following, we transformed tomato plants with the M. truncatulaTC 127050 PhosphoinositidekinaseRNAi construct. Transgenic lines that contained GUS constructs were used as control. All transgenic lines showed reduced level of Orobanche seed germination, masking any strigoalctones-specific effect. The research demonstrated that SLs production may not be examined in ROC –based bioassays. It was shown by the 3 independent assays employed in this project that none of the recognized characters of SLs may be reflected in these bioassays. However, when the whole plant root exudates were examined, SLs activity in root exudates was demonstrated. Hence, it can be concluded that the presence of an intact shoot, and possibly, shoot factors, may be necessary for production of SLs in roots. Another point of interest that rises from these results is that the presence of SLs is not necessary for AMF completion of life cycle. Hence, it may be concluded that SLs are important for AMFhyphal branching, before symbiosis, but not essential for AMF colonization and life cycle completion under ROC system conditions.
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Lee, W. S., Victor Alchanatis, and Asher Levi. Innovative yield mapping system using hyperspectral and thermal imaging for precision tree crop management. United States Department of Agriculture, January 2014. http://dx.doi.org/10.32747/2014.7598158.bard.
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Original objectives and revisions – The original overall objective was to develop, test and validate a prototype yield mapping system for unit area to increase yield and profit for tree crops. Specific objectives were: (1) to develop a yield mapping system for a static situation, using hyperspectral and thermal imaging independently, (2) to integrate hyperspectral and thermal imaging for improved yield estimation by combining thermal images with hyperspectral images to improve fruit detection, and (3) to expand the system to a mobile platform for a stop-measure- and-go situation. There were no major revisions in the overall objective, however, several revisions were made on the specific objectives. The revised specific objectives were: (1) to develop a yield mapping system for a static situation, using color and thermal imaging independently, (2) to integrate color and thermal imaging for improved yield estimation by combining thermal images with color images to improve fruit detection, and (3) to expand the system to an autonomous mobile platform for a continuous-measure situation. Background, major conclusions, solutions and achievements -- Yield mapping is considered as an initial step for applying precision agriculture technologies. Although many yield mapping systems have been developed for agronomic crops, it remains a difficult task for mapping yield of tree crops. In this project, an autonomous immature fruit yield mapping system was developed. The system could detect and count the number of fruit at early growth stages of citrus fruit so that farmers could apply site-specific management based on the maps. There were two sub-systems, a navigation system and an imaging system. Robot Operating System (ROS) was the backbone for developing the navigation system using an unmanned ground vehicle (UGV). An inertial measurement unit (IMU), wheel encoders and a GPS were integrated using an extended Kalman filter to provide reliable and accurate localization information. A LiDAR was added to support simultaneous localization and mapping (SLAM) algorithms. The color camera on a Microsoft Kinect was used to detect citrus trees and a new machine vision algorithm was developed to enable autonomous navigations in the citrus grove. A multimodal imaging system, which consisted of two color cameras and a thermal camera, was carried by the vehicle for video acquisitions. A novel image registration method was developed for combining color and thermal images and matching fruit in both images which achieved pixel-level accuracy. A new Color- Thermal Combined Probability (CTCP) algorithm was created to effectively fuse information from the color and thermal images to classify potential image regions into fruit and non-fruit classes. Algorithms were also developed to integrate image registration, information fusion and fruit classification and detection into a single step for real-time processing. The imaging system achieved a precision rate of 95.5% and a recall rate of 90.4% on immature green citrus fruit detection which was a great improvement compared to previous studies. Implications – The development of the immature green fruit yield mapping system will help farmers make early decisions for planning operations and marketing so high yield and profit can be achieved.
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Sadot, Einat, Christopher Staiger, and Zvi Kam Weizmann. functional genomic screen for new plant cytoskeletal proteins and the determination of their role in actin mediated functions and guard cells regulation. United States Department of Agriculture, January 2003. http://dx.doi.org/10.32747/2003.7587725.bard.
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The original objectives of the approved proposal were: 1. To construct a YFP fused Arabidopsis cDNA library in a mammalian expression vector. 2. To infect the library into a host fibroblast cell line and to screen for new cytoskeletal associated proteins using an automated microscope. 3. Isolate the new genes. 4. Characterize their role in plants. The project was approved as a feasibility study to allow proof of concept that would entail building the YFP library and picking up a couple of positive clones using the fluorescent screen. We report here on the construction of the YFP library, the development of the automatic microscope, the establishment of the screen and the isolation of positive clones that are plant cDNAs encoding cytoskeleton associated proteins. The rational underling a screen of plant library in fibroblasts is based on the high conservation of the cytoskeleton building blocks, actin and tubulin, between the two kingdoms (80-90% homology at the level of amino acids sequence). In addition, several publications demonstrated the recognition of mammalian cytoskeleton by plant cytoskeletal binding proteins and vice versa. The major achievements described here are: 1. The development of an automated microscope equipped with fast laser auto-focusing for high magnification and a software controlling 6 dimensions; X, Y position, auto focus, time, color, and the distribution and density of the fields acquired. This system is essential for the high throughput screen. 2. The construction of an extremely competent YFP library efficiently cloned (tens of thousands of clones collected, no empty vectors detected) with all inserts oriented 5't03'. These parameters render it well representative of the whole transcriptome and efficient in "in-frame" fusion to YFP. 3. The strategy developed for the screen allowing the isolation of individual positive cDNA clones following three rounds of microscopic scans. The major conclusion accomplished from the work described here is that the concept of using mammalian host cells for fishing new plant cytoskeletal proteins is feasible and that screening system developed is complete for addressing one of the major bottlenecks of the plant cytoskeleton field: the need for high throughput identification of functionally active cytoskeletal proteins. The new identified plant cytoskeletal proteins isolated in the pilot screen and additional new proteins which will be isolated in a comprehensive screen will shed light on cytoskeletal mediated processes playing a major role in cellular activities such as cell division, morphogenesis, and functioning such as chloroplast positioning, pollen tube and root hair elongation and the movement of guard cells. Therefore, in the long run the screen described here has clear agricultural implications.
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Salter and Weston. L51534 A Study of New Joining Processes for Pipelines. Chantilly, Virginia: Pipeline Research Council International, Inc. (PRCI), January 1987. http://dx.doi.org/10.55274/r0010083.
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Over many decades it has been accepted that the most economical way to produce a pipeline is to join together the standard lengths of pipe as quickly as possible, using a highly mobile task force of welders and other technicians, leaving tie-ins, crossings, etc. to smaller specialist crews. The work pattern which evolved almost invariably involved several crews of welders strung out along the pipelines, progress being controlled by the rate at which the leading pair could complete the weld root. The spread from this first crew to final inspection could be a considerable distance, acceptable on land but not acceptable offshore (a rapidly increasing need which reached a peak in the 1970's). This operation, involving costly lay barges, demanded even higher throughput rates to be achieved from a more compact working spread. In common with most manufacturing technologies, there was an increasing dissatisfaction with a system which relied entirely on the skill of a limited number of highly paid men who had little incentive to change their working practices. Increasingly there came reports of the development of new approaches to joining line-pipe, ranging from the mechanization of arc welding to entirely different forms of joining, for example, electron beam welding or mechanical joining. The investment in some of these developments is reported to be several million dollars. The review of present pipelining practice shows that only a handful has been put to practical use, and in the western world, probably only one, an arc welding variant, has been used to produce more than a few hundred miles of pipeline. The information available on these developments is sparse and is scattered amongst a range of companies and research agencies. A literature review and research study to collect together as much of this information as is available, assemble it into a coherent and useable form and identify those developments which show the most promise to fulfill future needs. The main body of the report, which reviews development of the welding processes has been divided into three main joining categories, Fusion Welding, Forge Welding and Mechanical Interference Joining. Within each category each process is considered separately in terms of process principles, general applications, application to pipeline welding, equipment for pipe welding, consumables, process tolerance and skill requirements, weld quality and inspection, process economics, limitations and future developments. This study and comprehensive report compares the economics of the various alternatives. For each process an estimate has been made of the procedural and development costs involved as well as personnel needs and likely production rates.
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Barton, Card, and Pope. L51637 Development of an Ultrasonic Stress Corrosion Cracking Detection Vehicle. Chantilly, Virginia: Pipeline Research Council International, Inc. (PRCI), November 1990. http://dx.doi.org/10.55274/r0010608.
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Stress corrosion cracking poses a serious threat to aging underground cathodically protected gas pipelines. As coatings deteriorate, conditions conducive to both corrosion and stress corrosion cracking become more common. There have been many ruptures in various pipelines throughout the world attributed to SCC. One of the most important steps in combating failure by stress corrosion cracking is regular, reliable and cost effective monitoring of the pipelines. Current methods available (including hydrotesting and MT) are either expensive, time consuming, or not entirely reliable. Regular testing of pipes would also improve understanding of stress corrosion cracking initiation and propagation. Field trials of a prototype remote control stress corrosion cracking (SCC) detection vehicle� took place from the May 21st 1990 to the June 1st 1990, at Peterborough in South Australia, as part of an agreement with the Pipeline Research Committee, of the Pipeline Research Council International, Inc. The present vehicle is self-contained, battery powered and is controlled by an on board computer. The vehicle can operate in an evacuated line and maintains a telemetry radio link with a monitoring computer at the pipe entry position. The detection system consists of two piezoelectric ultrasonic wheel probes fired by dedicated electronics. The vehicle is programmed to move through a certain section of pipe to record areas of ultrasonic activity corresponding to SCC in the bottom section of the pipe.