Thursday, September 3, 2020

Main Causes of American Intervention in World War I

The war was between the Triple Entente-? Extraordinary Britain, Russia, and France-?and the Central Powers, which was included Germany, Italy, and Austria-Hungary. By far most of Americans firmly assigned themselves an impartial country. They trusted themselves ethically better than war and saw it to be a superfluous, crude arrangement. Indeed, even President Woodrow Wilson quickly declared America's impartiality, after as of late winning the presidential political race in 1916 for his second back to back term, bearing the battle trademark â€Å"He kept us out of war. Be that as it may, notwithstanding Minimal objection to World War l. Numerous dubious occasions and certain forecasts made the US waver between the line of disconnection and mediation. It was President Willow's solid direction and keen assessments of outside activities and household responses that prompted America's association in the Great War on April 6, 1917. Directly from the beginning, both Germany and Britain imm ediately started spreading purposeful publicity, endeavoring to advance their own nation intentions and Justify their reason for being in the war.Propaganda Is characterized as data, Ideas, or bits of gossip intentionally spread broadly to help or damage an individual, gathering, development, Institution, or country. The two countries were influencing popular conclusion, however in the mid year of 1915, German specialist Heimlich Albert erroneously put a stop to Germany's impact. Albert was a deterrent of the German Information Service, an office that was liable for scattering bits of gossip in the United States. As he immediately raced to board his train, he accidentally left his folder case, containing German propaganda.After It was recuperated by an American mystery administration specialist, the records and their motivation were immediately known all through the country, giving residents a negative impression of Germany. English publicity was likewise available for use, and in s pite of the fact that this chance was known by the American populace, it was rarely demonstrated, making it hard to disentangle solid data from misrepresented. By and large these thoughts proposed cap it was German hostility that was liable for the incitement of the war In Europe, and the Allies-?the Triple Entente-?were basically battling with regards to collocation courageous principle Darrell opposition.Germany was salsa to nave utilizes â€Å"ruthless, aggressive war tactics† and to have a dictatorial society, which challenged America's popularity based society. With an end goal to persuade American section, Britain declared that the war was unfurling in support of themselves, and the result appeared to be encouraging. Nonetheless, they were really in money related waterways and attempting to endure, however they didn't need America to think the war was an act of futility. Incidentally, this confirmation opposity affected America's ability to help them.The open declared t hat in the event that the Triple Entente anticipated triumph, at that point American intercession would be a silly misuse of cash, assets, and lives. Germany's war strategies and dismissal toward the principles of commitment of war additionally contrarily affected America's Judgment of them. Right off the bat in the war Germany attacked Belgium, a nation that articulated its lack of bias as America did, and battled on the dirt of a reluctant country. While involving Belgium for over four years, the Germans shot a large number of regular folks, specked and consumed towns, and expelled regular citizens, driving them to amass weapons and assemble defenses.The German chancellor alluded too harmony arrangement written in understanding between the two countries as a â€Å"scrap of paper. † This lack of respect to the desires of Belgium was later called â€Å"The Rape of Belgium† and depicted English-talking nations as safeguards of opportunity. To add to Germany's unfortunat e behavior, the strategies that they utilized during the war shocked the American country. They conveyed â€Å"dirigible† bombardments on urban areas, which was battle through a dirigible like carrier. This airborne assault would stream harmful gas over adversary territories, fairly taking he lives of both honest regular folks and soldiers.An coldhearted and destructive method, for example, this had recently been obscure to the world. Essentially, the commitment of submarine fighting, with their recently evolved U-pontoons, hurt Germany's motivation in the fight for American help. Germany used their new innovation of U-pontoons to wreck both foe warships and vendor vessels of nonbelligerent countries, some of which contained American residents, maddening the United States. U-vessels were little, slow-moving, and defenseless, however they were the principal submarines the world had ever observed, so protecting them was troublesome, in any event, for the incredibly famous Briti sh navy.The Germans utilized this covert weapon to beat the bar that was executed by the British armada. The invulnerable armada viably forestalled all exchange ships containing weapons or food from arriving at nations involved by the Central Power, just as neighboring nonpartisan nations. They likewise cut all undersea correspondence links. The German sinking of American ships the Louisiana and Sussex had the most critical reaction from the United States. It was after this total dismissal for U. S. Solicitations that Wilson closed he could no longer infer overlook Germany's steady, defiant insubordination.He started to understand that war was up and coming. In 1915, U-pontoons sank the American dealer vessel the Louisiana, slaughtering 128 American residents. As yet needing to look after lack of bias, President Wilson responded by only requesting that Germany comply with convention of limited fighting, notwithstanding furnishing dealer vessels for safeguard. Germany concurred yet a fterward announced boundless fighting on all boats, transparently conceding that â€Å"mistakes will be made. † In 1917, the U-pontoons sank another American vessel, the Sussex, executing another 25 Americans.Although Germany contended that it was hard to distinguish the boat, Americans were plainly disappointed with their absence of tact. Notwithstanding this Loosely AT Electroscope, American colleens solely nonstop to stay unbiased. I nee contemplated that the couple of Americans taken by German U-vessels were not worth taking a chance with the lives of the 100 million Americans that were left. Rather, they condemned Wilson for the catastrophe. They asserted that he incited the assault by being a â€Å"silent member† of the Allies through uneven exchange and permitting the extension of their barricade without a strategic challenge.However, Woodrow Wilson kept up that he was suggest gaining from the errors that prompted the War of 1812 and was spurred by impartiality by â€Å"trying to dodge superfluous difficulty. † indeed, when the United States realized of what later got known as the scandalous Zimmerman Telegram, it was resolved that the assault was hostile and would have happened regardless of whether Wilson had challenged the barricade. In January of 1917, British insight blocked and deciphered a message sent from the German outside priest, Arthur Zimmerman, to the German clergyman of Mexico, von Gerhardt.This happened soon after Germany sunk the Sussex, and it uncovered Germany's actual aims toward the U. S. The wire an offered American area to Mexico that America won during the Mexican-American War in the late sass's. Consequently, Germany mentioned that Mexico assault the United States on the off chance that they ought to enter the Great War on the Triple Entente, and to likewise demand the guide of Japan. This obviously shown the sinking of the Sussex was an assault expected to draw America into the war, and Mexico, too, to batt le close by Germany.Before this record was discovered, Wilson despite everything picked lack of bias even with American setbacks, saying, â€Å"There is such a mind-bending concept as a man Ewing too pleased to even think about fighting. There is such a mind-bending concept as a country being all in all correct to such an extent that it doesn't have to persuade others forcibly that it is correct. † The wire, alongside experiences with Germany before the Great War, made Wilson mull over mediation. During the Spanish-American War, in 1898, many saw Germany to be an expected danger to America's inclinations and security due to the likenesses between the two nations.Both were Just starting to build up themselves as extraordinary world powers that were quickly industrialized and looking for abroad markets, normally making a competition. German enthusiasm for the Philippine Islands, West Indies, Galapagos Islands, and Haiti was likewise disrupting on the grounds that it represented a danger to the fulfillment of the Panama Canal, which was done in August of 1914. Germany's craving to grow toward the Western Hemisphere stressed President Wilson, and the fundamental obstacle of this development, until this point, had been from Britain's command over the Atlantic.Wilson, alongside numerous others, expected that if the Central Powers defeated the Triple Entente, Germany would turn into the new maritime incomparability, over Great Britain. This end got known as the â€Å"realist examination. The pragmatist examination broadcasted that British triumph was basic to American security, since they were required by the United States to give a parity of forces. It was generally concurred that America and Great Britain had resembled interests. Without this level of influence, Germany would see no obstruction on the off chance that they chose to assault America.This guarantee was reliable in numerous individuals, including James W. Gerard, the American Ambassador to Germa ny, who stated, â€Å"We are next on [Germany's] list,† on the off chance that they won the war. In light of this hazard, the Monroe Doctrine immediately became Jeopardized. The Monroe Doctrine was systematized by President James Monroe in 1823 and was made out of three principle ideas. The main expressed that the Western Hemisphere of ten world would a De Innocence Day America, Ana ten Eastern Hemisphere Day Europe. The second and third ideas restricted colonization and intervention.With these ideas at the top of the priority list, it is apparent that the regulation is probably going to be abused by Germany upon the triumph

Wednesday, September 2, 2020

Typical Course of Study for 12th Grade

Ordinary Course of Study for twelfth Grade In their last year of secondary school, most understudies are wrapping up required courses, supporting any powerless regions, and utilizing electives to investigate potential vocation options.â School destined seniors may require guidanceâ in choosing the best courses to help their optional instruction plans. A few understudies might be arranging a hole year to permit themselves an opportunity to make sense of their following stages while others might be going legitimately into the workforce. Since twelfth graders plans can change so generally, its fundamental to assist them with modifying their coursework for their last secondary school credits.â Language Arts Numerous universities anticipate that an understudy should finish four years of secondary school language expressions. A run of the mill course of study for twelfth grade incorporates writing, sythesis, syntax, and jargon. In the event that an understudy has not finished British, American, or World Literature, senior year is an ideal opportunity to do as such. An engaged investigation of Shakespeare is another alternative, or understudies may look over different books suggested for secondary school seniors. It is regular for understudies to spend a semester each exploring, arranging and composing two in-depthâ research papers. Understudies ought to figure out how to finish a spread page, refer to sources, and incorporate a bibliography.â It is additionally savvy to utilize when theyre composing their examination papers to guarantee that understudies have a solid working information on standard PC programming and projects used to organization and print their record. This may incorporate word handling, spreadsheet, and distributing programming. Understudies likewise need to keep composing an assortment of paper styles over the educational plan on a wide scope of points. Language structure ought to be fused in this procedure, guaranteeing that understudies comprehend the contrast among formal and casual composition, when to utilize each, and how to utilize right sentence structure, spelling, and accentuation in a wide range of composing. Math By twelfth grade, most understudies have finished Algebra I, Algebra II, and geometry. In the event that they have not, they should utilize their senior year to do so.â A regular course of study for twelfth grade math includesâ a strong comprehension of variable based math, analytics, and measurements ideas. Understudies may take classes, for example, pre-analytics, math, trigonometry, measurements, bookkeeping, business math, or shopper math. Science Most schools hope to see just 3 years of science credit, along these lines a fourth year of science isn't required for graduation much of the time, nor is there an average course of study for the subject. Understudies who have not effectively finished 3 years of science should take a shot at culmination during their senior year. Understudies who are going into a science-related field may wish to take an extra science course. Alternatives for twelfth grade science incorporate material science, life systems, physiology, propelled courses (science, science, physical science), zoology, plant science, topography, or any double enlistment school science course.â Understudies may likewise wish to seek after simply intrigue drove courses in the science field, for example, equine examinations, nourishment, legal sciences, or agriculture. Social Studies Likewise with science, most schools hope to see just 3 years of social examinations credit, so there is no standard course of study for twelfth grade social investigations. Understudies might be keen on elective courses that fall under the classification of social examinations, for example, brain science, humanism, human studies, topography, world religions, or philosophy. In the event that they have not recently examined them, the accompanying subjects are acceptable alternatives for twelfth grade: standards of U.S. government; essential archives of the U.S.; United States horticulture; urbanization; preservation; business and industry in the U.S.; purposeful publicity and general assessment; similar governments; near financial frameworks; buyer training; financial matters; and tax collection and fund. Understudies may likewise wish to examine subjects, for example, universal relations and associations and American international strategy or take a double enlistment school course. Electives Most schools hope to see at any rate 6 elective credits. School destined understudies ought to consider courses, for example, unknown dialect (in any event two years of a similar language) and the visual and performing expressions (in any event one year of credit).â Understudies who are not school destined ought to be urged to procure elective credit in territories of potential vocation intrigue. Understudies can read practically any point for elective credit.â A few alternatives incorporate visual communication, PC programming, computerized media, composing, open talking, banter, home financial matters, test prep, or drafting. Much of the time, understudies can check work understanding for elective credit. Numerous universities additionally hope to see in any event one year of physical training credit and one semester of wellbeing or emergency treatment.

Saturday, August 22, 2020

Blood Donation Marketing analysis Research Paper

Blood Donation Marketing investigation - Research Paper Example The gathered blood will be provided to the military camps, houses of worship, network associations and so forth for crisis purposes ( American Red Cross, 2010).The rules, advantages of the blood gift camp are accessible for nothing through internet based life systems like Facebook, YouTube and Twitter (Donate Blood, 2013d). Shortcoming Enlistment of first time blood contributors require broad ID, training and inspiration. Preparing, teaching and inspiration these first time blood givers expends a ton of time (Red Cross, 2010). The mentors need to keep up a record of the first run through blood contributors since the recurrent givers are as of now furnished with a character card by the blood coordinator camp. Aside from time utilization, the blood coordinators need to manage the pre gift tension and apprehension of the first run through blood givers. Opportunity The advantages about blood gift are being instructed to the school kids, this has facilitated the assignment of the blood gift camps to impart the advantages of blood gift. Innovative advancement has made it simpler for the blood benefactors to plan their arrangements on the web (Donate Blood, 2013e).... †¢To build up an incorporated showcasing correspondence methodology which persuades current, non and passed contributors in the objective market to expand their blood gifts in 2013-14. †¢To improve and increment blood gift openness for the 18-multi year-mature age bunch in 2013-14. Issue Analysis In Australia, promoting exertion is planned for drawing in and keeping up adequate quantities of ordinary, volunteer blood contributors in the under-spoke to age gathering of 18 to multi year-olds. It is basic that the Australian Red Cross Blood Service guarantees are sensible and safe blood gracefully consistently. Every week, in any event 27,000, blood gifts, are required to help individuals with genuine blood sicknesses (e.g., malignancy, blood maladies), careful patients (e.g., open heart medical procedure, consumes), kidney ailment patients, pregnant ladies and horrible mishap patients (Australian Red Cross Blood Service, 2013). Just a moderately little level of the qualified populace inside the 18-multi year-mature age bunch gives blood all the time. Besides, qualified givers frequently slip by in their blood giving conduct after their blood gift. Promoting Strategy Arranging for a blood gift crusade is a difficult assignment and requires concentrated market study, arranging and mental investigation of the blood contributors. A powerful promoting technique should be created to guarantee the smooth working of the blood gift battle. Advertising Objective To empower blood gift among people matured between 18 to 24 years of age from the period 01 July 2013 to 30 June 2014. Spending Allocation The apportioned financial plan for the blood gift battle would be AUD20 million which would be required to cover the examination procedure, media, clinical supplies, promoting

Healtful eating for weightlifters Essay Example | Topics and Well Written Essays - 1000 words

Healtful eating for weightlifters - Essay Example The mindfulness for such solid standpoint is more widespread now than any other time in recent memory. There are more wellness camps, more rec centers in the area, more wellbeing and wellness gear and offices, and the individuals who don't approach these or don't feel their need have practical options in high impact exercise and yogic positions. (Robert J. Buresh, MS, et al). The initial move towards the accomplishment of good wellbeing and constitution is legitimate eating regimen and exercise. This paper is centered around invigorating eating for weightlifters. In that capacity, we are going to focus on those muscles that help weightlifters. There are muscles for exercises, for example, long distance runners. These muscles are comprised of Type 1 strands and are undeniably appropriate for sprinters and different exercises of oxygen consuming nature. The Type 2 fiber muscles produce with the end goal of short eruptions of vitality and are perfect for weight lifters. (Jonny Bowden). Hence, the eating routine and activities for weightlifters are confined in the wake of looking at two components. Factor number one is the weightlifter. Diet and exercise involve factor number two. So as to fulfill the rules for factor number one, the weightlifter’s age, sex, tallness, weight, weight list, current situation with wellbeing, wellbeing history, and handicap (assuming any) are recorded. The chronicle of information for factor number two will incorporate present eating regimen and physical exercises, heart beat and heartbeat rates, calories level, and wellbeing related issues (assuming any). It may not be conceivable to acquire the total routine of diet and exercise reasonable for a specific individual in one day. Getting hold of the routine is the initial step. Step by step, the procedure may experience changes as the weightlifter proceeds on the eating regimen and exercises, and moves up to counts calories and physical exercises which help in execution enhancements. The nourishment that outcomes from dietary admission in our bodies is essential for us all. The body will basically fall without sustenance. It is

Friday, August 21, 2020

Interesting Person :: essays research papers

A fascinating individual ought to have loads of interests in his cerebrum, and he ought to have an inquisitive trademark. So the descriptor "interesting" is by all accounts the best word to depict me, there is no other better word. The entirety of my old companions realize I am an individual who has heaps of interests and joy. In each significant gathering, I am constantly welcomed to be the joker. Consequently, I accept that I am the most fascinating individual I know. Intriguing things were not abnormal to me when I was youthful. I despite everything recall when I in grade school, I generally pondered the contrast among young men and young ladies. The most fascinating issue was that why young men and young ladies went to various bathrooms, and what was the distinction of the 'gear' inside bathrooms. This inquiry was continually going around in my cerebrum. When I got some information about it, however it may in light of the fact that my dad experienced childhood in a customary Chinese family in which nobody could discuss sex, his answer was " you will know when you get older!" which made me baffled. Since I was incredibly inspired by this issue, so once I chose to switch the male-bathroom card and the female-bathroom card to perceive what might occur. The result was that nobody realized how to utilize the 'hardware' in the exchanged bathrooms. At long last, my class educator who censured me for deceiving schoolmates enlightened m e concerning the contrasts among young men and young ladies. Till I entered secondary school, I despite everything didn't change my devious trademark. I have a fascinating encounter to impart to you: One time my sibling drove me to class by his new Honda sports vehicle, he drove quicker by my solicitation as I would have been late. He hurried up profoundly and the games vehicle actuated its V-tech work, in not over 5 seconds, the games vehicle arrived at sixty miles for each hour out and about expected to travel thirty-five miles for each hour probably. Tragically, we was unwittingly trapped in a computerized speed trap shrouded some place out and about, and it estimated our speed utilizing radar and shot our vehicle. After two days, I got a ticket for forty dollars and a photograph of my sibling's vehicle. Rather than installment, I sent the police office a photo of forty dollars. A few days after the fact, my sibling disclosed to me that he got a weird letter from the police office that contained a ticket for a hundred dollars and a photogra ph of binds.

Levi Strauss Essay Example For Students

Levi Strauss Essay CUSTOMERS’ SATISFACTION LEVEL OF LEVI’S JEANS SEC-F Submitted To: Prof. Suptarishi Purkaystha Submitted by: Akanksha Gupta Komal Shanjan Sinha Tuhina Mandowara Shweta Puri Sujata Barua Akshay Sharma 09BSHYD1012 09BSHYD0386 09BSHYD0765 09BSHYD1032 09BSHYD0807 09BSHYD0866 09BSHYD0060 1 INDEX CONTENTS INTRODUCTION LITERATURE REVIEW HYPOTHESIS FORMATION DATA SAMPLE SIZE CONSOLIDATION RESEARCH METHODOLOGY ANALYSIS CONCLUSIONS REFERENCES ANNEXURES PAGE 3 5 8 9 11 12 20 22 24 2 INTRODUCTION The advanced age is known as the â€Å"Age of Consumers†. In today? s ferocious rivalry the shopper is considered as the â€Å"KING† and the fundamental goal of the different associations are planned for keeping the buyer upbeat and fulfilled. It is significant for every single association to keep its customers fulfilled so as to keep up its seriousness in the market. Anyway when we investigate, we find that the buyers fulfillment level towards an organization and its driving items differ on one angle or the other dependent on an assortment of traits (Kotler, 2009). Design is an exceptionally client arranged industry with imaginative items, where there are huge number of contenders giving you an extreme rivalry. Therefore organizations need to concoct something other than what's expected and interesting keeping the objective purchaser gathering and the time factor as a top priority since in the design business the item life cycle is short. LEVI’S STRAUSS CO. : Statistics show that consistently a large number of clients go for shopping around the world. Consequently every organization needs to pull in clients and increment their client base. To guarantee this organizations need to stay aware of the most recent crazes for fulfilling client prerequisites. For those of us that need to wear pants with style and make a style proclamation about what our identity is, at that point finding the privilege pair(s) of creator pants is critical to our social standing. Levis offers an incredible scope of pants for the two people, yet assortment isn't the main factor affecting Levi? s client? s buying conduct. There might be different components in view of which clients are pretty much fulfilled which impacts their repurchasing choice of Levis Jeans. Concocted in 1873, Levisâ ® pants are the first, true pants. Levisâ ® brand is one of the most generally perceived brands throughout the entire existence of the attire business. From refreshing works of art with the most recent completions, manufactures and hues, to reexamining five-pocket pants, they are continually making new and inventive items The organization has additionally been overall acknowledged for the ideal fit. The claim to fame of Levis lies in the way that it is sympathetic towards individuals. A decent pair of pants can carry pride and respect to everybody from normal man to the prominent representatives, across both the sex and regardless of salary gatherings. The quest for better than average pants is a benevolent journey, with snapshots of translucent achievement substituting with disaster disappointments. From its establishment in 1853 and protecting of bolted pants 20 years after the fact, Levi Strauss has become an immediately conspicuous worldwide brand. With deals in excess of 100 nations, the organization utilizes 12,500 individuals around the world. In any case, the most recent six years have seen the organization battling to come out of a slide in deals. Customary clients have begun purchasing 3 less expensive or increasingly trendy garments. Costs have gone under weight from garments contenders and from retailers like Tesco purchasing Levis item on the â€Å"grey market†. Levis reaction included item enhancement and fierce cutting. Accordingly in this period of worldwide exchanging for building up one as a main brand in various locales it is important to dissect the fulfillment level of clients in that area and take into account their necessities by enhancing properties on which client isn't fulfilled. Pants are the nondurable merchandise, Nondurable products are merchandise that are spent rapidly or bought as often as possible, as nourishment and clothing. Pants are currently a well known type of easygoing dress far and wide, and have been so for a considerable length of time. Nonetheless, there are sure factors that influence their deals, notwithstanding increment in client explicit needs in late time there are different components which influence deals of clothing industry (specifically pants) like downturn, expansion and shortening of design items life cycle.. Buyer fulfillment is an attractive result for attire makers and retailers, since fulfilled clients can prompt expanded store support, rehash buy and brand steadfastness. In this way we look to discover the elements for which Levis pants clients are fulfilled to guarantee that distinguishing these variables will bring about the organization executing arrangements to build the fulfillment level of its clients consequently guaranteeing expanded deals in future. 4 LITERATURE REVIEW Consumer fulfillment is an alluring result for clothing producers and retailers, since fulfilled clients can prompt expanded store support, rehash buy and brand steadfastness (Otieno, 2000). Numerous individuals have taken a shot at connection between fulfillment level of client towards a specific brand and purchasing conduct of clients. Fulfillment is regularly utilized as an indicator of future purchaser buys (Newman and Werbel, 1973; Kasper, 1988). Fulfilled clients have a higher probability of rehashing buys in time (Zeithaml et al. , 1996), of prescribing others to attempt the wellspring of fulfillment (Reynolds and Arnold, 2000; Reynolds and Beatty, 1999), and of getting less open to the contenders contributions (Fitzell, 1998). Earlier research on the financial effect of abandoning clients proposes that administration organizations can help benefits by just about 100 percent by holding just five percent of their clients (Reichheld and Sasser, 1990). Holding existing clients is commonly more productive to organizations than drawing in new clients (Hawkins et al. , 1995; Sirohi et al. , 1998). Consequently, it is fundamentally significant for attire industry specifically LEVI? S to distinguish clients wanted help levels corresponding to their support expectations. The desires for nondurable merchandise, for example, pants ought to get solid, stable and by and large steady with an item? s saw execution (Johnson 1991). â€Å"Levi Strauss: a worldwide promoting investigation†: by Demetris Vrontis and Peri Vronti discusses the Levis pants business and examines whether LEVI? S ought to pick worldwide normalization or adjustment to neighborhood economic situations. The creators propose the Levis approach which joins parts of the two arrangements as the most ideal approach to make sure about upper hand and fulfill its clients guaranteeing maintenance just as increment of its client base. The comprehension of buyer conduct claims to a lot of various subject matters/factors like mental, social, social, hereditary qualities, anthropological (POLSA et. al 2002). Based on past investigations and research paper and scholarly articles from PROQUEST and EBESCO various factors were seen as answerable for affecting customers to decide on a marked attire, of which a 33 factors have been taken up in our examination to comprehend whether they have any ramifications on the shoppers? inclination for a marked attire or not. BRAND IMAGE (PREFERENCE FOR A PARTICULAR BRAND): Customers directions towards shopping are viewed as significant indicators of support practices, for example, inclination for brands just as for specific stores (Darden and Howell, 1987; Gutman and Mills, 1982; Shim and Kotsiopulous, 1992b). Research on brand character recognizes that shoppers frequently â€Å"humanize† brands. Respondents commonly portray a brand utilizing human character attributes, for example, extroversion, suitability, and trustworthiness (Aaker, 1996; Aaker and Fournier, 1995). o their choice of purchasing a specific brand is exceptionally impacted by brand picture of that item. 5 QUALITATIVE VARIABLES: Jeans traits, for example, textures, comfort, fit, sturdiness have been characterized in past research (Kaiser et. al. 2003, chowdhary 2002, Enoch 1993, youthful 1980) as a significant factor that contributes towards consumer loyalty about the item. STATUS: Research additionally partner importance of wearin g jeans(Enoch? s 1993; Delong et al. 1998), clothes are regularly connected with superficial point of interest, consequently individuals wear a specific brand which includes or suits their status in the general public. For example in the USA and Europe, pants have undertones of easygoing quality and defiance where as in Russia, pants indicate refinement and high status and in Spain the significant expense transforms them into a high style thing. Solace: Brand name and solace are seen as extremely significant (youthful 1980) to individuals however level of significance of these components is variable. Here we can take the case of Americans, for who solace matters above brand name though for the Chinese brand name matters most (Minglue promoting shanghai co ltd. 1998). Client care EXPERINCE: There repurchase conduct of people depend on the organization reviewed their complaints before. Connections of review and repurchase have been analyzed with administration retailing and with tough items yet not with clothing items. In spite of the fact that restricted research has been done on purchaser grumbling conduct and clothing buys, yet it is discovered that there is have to concentrate on grievances changed time, reaction to enquiries and dependability of client services(LaBarbera and Mazursky,1990) since these elements decides the fulfillment of client towards the brand. Limits: Discount outlets sell around one-fifth of all pants in the $12. 4 billion U. S. showcase, as per investigate firm Mintel International Group Ltd. Subsequently Levi Strauss settles on the markdown game at Wal-Mart? s. There has additionally been a solid development in shopping at rebate stores.. Incentive FOR MONEY: Fornell in his examination discovered some intriguing outcomes

Saturday, June 20, 2020

Greek Art Essay

Greek Art Essay Greek Art Essay Greek art essay is a specific type of art essay that focuses only on Greek art and architecture. Basically, Greek art essay can be written according to the same guidelines and techniques that are used when writing a regular art essay paper. However, one has to understand that Greek culture is completely unique, thus, it requires a lot of research and understanding of the topic but not merely a certain sculpture or painting. Greek Art Essay Writing To be a good writer for a Greek art essay one has to obtain certain expertise in the field of art and Greek culture in particular. It is required in order to provide an accurate evaluation and analysis of the piece of art in the college paper. Greek art essay should start with an introduction, where writer has to present a thesis statement and goal of the research. Next comes general information on the topic, which starts with detailed description of the authorship. Consequently, Greek art essay will include information about artist or architect, who created it, when and where it was created, and of course the provenance of this piece of art. In art essay writer is required to describe major techniques and mediums used for creating sculpture or painting, thus, he/she should provide information on materials it is made of, execution, and size. Moreover, writer has to combine art analysis techniques with Greek culture analysis methods, in order to reveal the atmosphere of Greek art cult ure. When making art paper, one must remember that Greek art essay must not be a regular art analysis paper, but has to be backed up with lots of historical facts and evidence to make it credible. Today, hundreds of custom writing agencies offer their help and support with writing Greek art essay and thesis in art. Even though most of them are not able to deliver quality college paper or art essay in particular,.com will surely provide you the best art paper.

Tuesday, May 26, 2020

Writing a PhD Thesis

Writing a PhD ThesisA thesis is a summary of your graduate education. It serves as the main study document of the PhD program. You use a thesis as the base for defining what you did in your graduate studies, showing all your accomplishments, and even showing how you were able to create these accomplishments.Thesis preparation begins at school. If you have not yet started your PhD program, the time at school is the best. This is where you can organize the thesis and set up any final requirements and documents needed to complete the course. This is also the time when you can show off the results of your thesis, so make sure to go over everything with your supervisor to make sure it reflects what you really learned.When your thesis is complete, you can submit it to the university or school to be published. You will have the opportunity to do this after the thesis is finalized. If you chose to work with a publishing house, they will either offer you a copy of the manuscript, which you ca n then distribute to other graduate schools, or you will have the opportunity to make your book available to students in your field, depending on the publishing house's policy. Usually you will receive a bibliography to assist in the process of publishing your thesis.After the publication process is completed, you will be notified if you will have your thesis published in a journal. Most doctoral programs publish the thesis in their annual catalog, but a majority of universities also print copies of the thesis in their school newspapers.When the thesis is finally accepted for publication, you should consider sending your thesis to the university's library. There are generally six steps to publishing your thesis. Some libraries accept the first two; others may require the final four or five steps.Your university's library usually offers many services for students in their library, such as storage for files and books. Theymay also offer courses in course writing, editing, publishing, and in fact pretty much any topic related to graduate school and doctoral dissertation writing.You can also send your thesis to the university's library. The library might offer a submission service, which is where you upload your thesis and post-it notes. In some libraries, submitting your thesis is free, while in others it will cost a fee, depending on your school's policies.

Monday, May 18, 2020

The different models of the biped walking robots. - Free Essay Example

Sample details Pages: 31 Words: 9206 Downloads: 1 Date added: 2017/06/26 Category Statistics Essay Did you like this example? INTRODUCTION AIMS AND OBJECTIIVES CHAPTER 3.LITERATURE REVIEW This portion would discuss the background research in detail, the methodologies and other useful aspects involved in designing the earlier models of the bipeds and pros and cons of the different models of the biped walking robots. The first biped walking robot was established in 1893 by a native Canadian; Prof. George Moore (Mechanical Man, 1893) reported he build a robot which was a figure of a man, constructed of iron and fitted with internal mechanism, used steam for motion was intended to move similar to the walking gait of a human being. I t appeared like an old-fashioned knight. The walking speed for this model was around four to five miles per hour and stood six feet tall in height. (Roshiem, 1994) stated that the steam man was powered by a gas fired boiler with a power of 0.5 h.p. Swing arm provided it with stability as it guided him in circles. Don’t waste time! Our writers will create an original "The different models of the biped walking robots." essay for you Create order (Machado, Silva, 2005) told that computer controlled biped systems has been a much focused area at Waseda University, Japan, since the end of 1960s. At the Humanoid Research Laboratory a biped robot was transpired by Ichiro Kato on 1969 which was called WAP-1. The robot mainly consisted of artificial rubber muscles for its actuation. Playback of priory taught movement was used for the biped locomotion. The main restraint in WAP-1 was its low speed. It was followed by WAP-2 and WAP-3. (Thomas Isaac, 2004) stated that in 1971 WAP-3 was developed which could not only move on flat surfaces but could also move up and down on the stair case by moving its center of gravity on the frontal plane. WAP-3 was the first in the world to achieve the three-dimensional walking and turning. It was directed by a control based memory. 3.1 WL-10RD, BIPER-3 and 4 As stated (Elliot Nicholls, 1998) in 1985 another robot used the quasi-dynamic walking which was named WL-10RD and it was developed by the same research team as above. Since this time the development in this research has been rather drippy. BIPER-3 was developed in 1984 by Miura and Shimuyana which completely flake out the static balance entirely. This was modeled after the human walking on stilts, showed true active balance. This robot contained three actuators in which one is used to change the angle separating the legs towards the motion direction and the other two which lifted the legs to the side in the sidelong plane. This robot is termed as three degree of freedom robot. Later another robot was developed named BIPER-4 and this was extended to seven degree of freedom robot. Another robot was developed by Raibert using the methodology that the robot used uncluttered driven leg for the leaping motion and was attached to a chain which restricted pitch motion, vertical and horizontal translation around a radial path inscribed by the chain. The current progress of the leaping motion of the robot was tracked using the state machine activated by the sensor feedback. The state machine was then used to modify the control algorithm which modified three parameters of leaping stride forward speed, foot placement and body attitude. Hodgins, Koechling and Raibert developed a dynamic running robot which extended the earlier study of one-legged hopping robot into two and three dimensional. The two dimensional robot used the same control methodology as previously used in the hopping robot in two- dimension controlling the three aspects of the running stride which are body height, foot placement and body attitude using the state machine. The robot was controlled differently using the different sates of the sate machine. 3.2 WHL-11 (Karsten Burns, 2010) describes that in 1985, biped walking robot was developed by Waseda Universitys Humanoid research laboratory in partnership with Hitachi Ltd. The robot could walk on flat path at the rate of 13 seconds a foot and it was achieved by putting an onboard computer and a hydraulic pump in addition to that of earlier WL series robot. It was seen that this robot could walk up to 64 km. The main cons in this robot were that it was unable to walk on inclined surfaces. So since the work is being done to stabilize the movement to develop a control system that can adjust gaits. 3.3 WL-12RIII Another biped walking robot was established in 1989 as described by (Agrosy 2010) named WL-12RIII and it used the principle of stabilizing its walking on different paths using the trunk motion. An algorithm was developed used to calculate trajectory of the trunk and was done by introducing a virtual surface which is derived from the geometry of the path and the trajectory of the feet. When experimented on a stair with a height of 10cm and the time it took to go up and down was 2.6 seconds and when experimented on a inclination of 10 degrees, it took 1.6 seconds to walk down the path. Kato came up with a control methodology where the path of the robot is unknown as well as the external forces acting on it by using combinational motion of the trunk and lower portion of the biped. So finally the step size of the biped was reduced to 0.64 of a second. 3.4 WASUBOT and Manny (Agrosy, 2010) has explained in his site that WASUBOT is another biped robot. Its basic principle is the same as that of the WABOT-2. The change was rather a clarification in maintenance of the robot and WAM 8s as the arms. In 1989 at Battelles Pacific Northwest Laboratories in Richand, a full manlike behavior robot named Manny was developed. It took three years and $2 million to develop this robot by the work of 12 researchers. It was delivered to the US Armys Dugway proving ground in Utah. Manny had 42 degree of freedom. 3.5 P1, P2 and P3 According to (Daniel Ichbiah 2005) with the aim of producing bipedal walking robots in 1993 the first series of P prototypes came into existence. First developed was P1 which was quite big and heavy like a metal monster which was 6 feet and 2 inches in height and was 175 kilograms in weight. Instead of a face it had a big screen of rectangular shape. In challenge of making robots more or less like the humans they came up with others models like P2 and P3. P2 came into being officially on 20th of September 1996 and cost around $ 105.3 million. It was shorter in height but weighed more like 208 kilos. September marked a critical moment in the history of Biped robots by the coming of P3. It was made of purified white steel and plastic and resembles to an astronaut. It was based on the same technological model and had same technological capabilities but its height was 5 feet and 4 inches and weighed 130 kilos quite short and light weighted as compared to the earlier models. P3 walked at the same speed as the human. Coming of P3 was a big step towards the modelling of Biped robots quite similar to humans. Honda was keen to accept this challenge of reducing some more weight. In 2003 an upgraded version of Asimo was introduced it was a great machine which had some social ethics of greeting. It could also pass information like the weather forecast. According to (Daniel Ichbiah, 2005), in the summer of 2003 HPR-2 came in to existence by the production team of AIST. It was a prototype which could get down and stand up all by itself. It worked using the limb coordination software and Kawada industries were able to design its body with flexible joints but the main problem was it was heavier and taller than Asimo. (Kieth Kleiner, 2009) told that Toyota in 2009 developed a humanoid robot which could run upto 7 km/h overcoming Hondas Asimo which could run to 6 km/h. Hondo Asimo robot is capable of ascending and descending on a staircase and handling varying circumstances unlike Toyota which can only on flat surfaces. (Kim Tae Gyu, 2009) Humanoid robot RX is a running robot which was developed by South Korea which after Japan is the second in the world which was put forward by a local avocation working with not much of a budget 3.6 Main point according Fumio Kanehiro According to (Daniel Ichbiah 2005) Fumio Kanehiro who is the member ASIT said One of the main problems with humanoid robots is that they easily fall over. When a biped robot stands on its two feet, only a very small area in contact with the ground supports it, while its centre of gravity is at waist level, which is relatively high. Year Researcher Area of Development 1850 Chebyshev Design Linkage used in early walking mechanism 1872 Muybridge Uses stop motion photography to document running animals 1893 Rygg 1961 Space General Eight legged kinematic machine walks in outdoor terrain 1968 Frank and McGhee Simple digital logic controls walking of Phony Pony 1977 McMahon and Greene Human runner with speed record on tuned track at Harvard 1980 Kato Hydraulic biped walks with quasi-dynamic gait 1981 Miura and Shimoyama Walking biped balances actively in three-dimensional space 1985 A. Takanishi et al Realization of dynamicbipedwalking stabilized with trunk motion under known external force 1992 Kajita et al Dynamic Walking Control of aBiped RobotAlong a Potential Energy Conserving Orbit 1996 Kun, A., Miller II daptive dynamic balance of abipedusing neural networks 1998 Park, JH and Rhee ZMP trajectory generation for reduced trunk motions ofbiped robots 2000 elexistence technology was adapted in a new type of cockpit system to control a humanoid biped robot 2002 S. Meyret, A. Muller Adaptative neuro-fuzzy control of the rabbitbiped robot 2004 J. Gutman, M. Fukuchi Detection of stair dimensions for the path planning ofbiped robot 2006 A. Sutherland Torso Driven Walking Algorithm for Dynamically Balanced Variable SpeedBiped Robots 2007 F. Asano and Z.W. Luo Asymptotically stable gait generation forbiped robotbased on mechanical energy balance Table. Development in the field of legged robots CHAPTER 4 BIPEDAL WALKING 4.1 Why Study Legged Robots? (M.H Raibert 1986) mentioned there is a contemplative reason for researching robots with legs, apart from the outright adventure of developing robots that can actually run. Reason being the mobility and they provide an exertive suspension from the gait of the feet. Moving through difficult terrain, where other cannot go is one of the main reasons for legged robots. Legged robot perform actively while moving on a rough terrain unlike the traditional wheeled robots which can only move on flatter surfaces and in result this limits the wheeled robots to move on half the earths landmass. Legged robots use isolated footholds that maximise support and friction but wheeled robots need a constant path of support. Another advantage is, despite pronounced variations in the terrain, the payload is free to travel stably. Legged robots can also tip through the hurdled obstacles. (Yang and Kim, 1998;; Spenneberg, et al., 2004) have investigated a further lately, worries malfunction tolerance during immobile stable locomotion. The effect of a failure in one of the wheels of a wheeled vehicle is a stern lost of mobility, since all wheels of these kinds of vehicles should be in permanent contact with the ground during locomotion. However, legged vehicles may present a superfluous number of legs and, therefore, can maintain static balance and continue its locomotion even with one or more of its legs damaged. (M.H Raibert 1986) explains another main reason for studying legged robots is to boost a greater knowledge of human and animal movement. This point could further be explained by actually analyzing the athletes during the instant replays. We could analyze the complexities and the various procedures involved in the various postures and position of legs while they are performing different tasks and can study the movements while they swing, throw, drift, maintaining balance and speed as they go or otherwise drive their body through space. This performance can not only be seen in the athletes performing on Television we can have our sight set at the local playground where ones own child in coming forward from a phase of crawling on four sets to walking on two legs and then running, jumping, climbing and performing various other exercises. 4.2 Walking Gait Studying and analysing (M.W.Whittle, 2003) normal gait has quiet an importance. It is also important to know the nomenclature used to describe the gait. This section gives a detailed overview of the gait cycle before formally developing a detailed mathematical and software model. It is challenging (Joel, DeLisa, 1998) to come up with a formal definition of the walking gait without sounding pompous as it looks quite a simple task. An informal definition of the walking can be put forward as a method of locomotion involving the use of two legs, to provide both support and propulsion. Clinical study of the gait is the most commonly used technique from the various techniques. A single gait cycle can be described as the sequence or interval between a foot strikes to foot strike of the same leg. There have been (Lamm R.D., 1995) two main classifications of a complete gait cycle phase: stance phase and the swing phase. The phases are also subdivided as shown in the figure below. right left left right right left initial pre initial pre initial pre contact swing contact swing contact swing Time percent of cycle Double R.Single Support Double L.Single SupportDouble Support Support Support 0% 15% 45% 60% 100% 0% 40% 55% 85% 100% The interval of the stance phase is taken as 60% of the total interval. Double support phase and single support phase are the two sub-divisions of the stance phase. Double support phase can be encompassed as when both the legs are in contact with the ground. It has been analysed that at average walking the double support is 10% of the total gait interval, but as the speed increases, the double support interval decreases. The remaining interval is the single support phase. To avoid buckling of the support foot in the stance phase, the muscles like tibialis anterior, the quadriceps, the hamstring, the hip abductors come into function Energy conservation during a walking cycle can be categorized into three main events. The events include controlling the forward movement during the deceleration towards the end of the swing phase, jolt absorption while the foot land on the ground and momentum during push-off when the centre of gravity is pushed up and forward. A humans centre of mass is a located at the hip joint. Centre of mass does not deviate up or down, when a body is moving in a straight line, at his moment not much energy is required. This straight line is only possible wheels are placed instead of the feet, but this is not the case in humans so it deviates in a vertical and lateral sinusoidal displacement. At midpoint centre of mass is at the highest position and centre of mass during human locomotion goes in rhythmic flow of upwards and downwards motion. At time of the double support phase the centre of mass is at the lowest point 4.3 Why pointed feet? (Westervelt et al, 2007) degree of actuation of the system is an essential source of complication or in a more absolute domain, the degree under-actuation. Under-actuation is used to describe devices that have lower number of actuators then degree of freedom. Inverted pendulum is a classic example of under actuated system. The model taken in this report assumes that at stance leg there is no possibility of actuation and legs are terminated in points. There could be a major concern over modelling feet pointed because real robots have feet. Against the mechanical bipedal walking which is to be contrasted, if one takes a persons walking as the defected benchmark, then the flat-footed walking accomplished by current robots needs to be improved? In particular, toe roll toward the finish of the single support phase needs to be certified as part of the gait plan. Currently, this is not legitimate specifically because it leads to under-actuation, which cannot be indulged with the control des ign philosophy based on trajectory tracking and a quasi-static stability principle, such as the zero moment point (ZMP). A model of an anthropomorphic walking gait should at minimum regarded as a fully actuated phase where the stance foot is level on the ground, pursued by an under-actuated phase where the stance heel rises from the ground and the stance foot rotates with reference to the toe, and a double support phase where leg switch over takes place, optionally, heel strike and heel roll could also be incorporated, which would yield a second under-actuated phase in the gait. In either case, a model of walking with a point contact is an essential element of a general model of walking that is more anthropomorphic in nature than the existing flat-footed walking paradigm. Because of the fact that the model with point feet is quite simple as compared to a more complete anthropomorphic gait model, it makes possible the development of new feedback designs and dynamic stability analysis methods that are suitable for moving past quasi-static walking. 4.4 Terminology Some basic nomenclature would be put forward before going towards the formal mathematical modelling of the biped robot. This nomenclature would permit a casual explanation of the essential fundamentals of a dynamic model of a bipedal robot to be given which, in turn, will allow some demanding characteristics of the control problem to be elevated. A biped is referred to as an open kinematic chain which consists of two sub-chains which could be referred to as legs and torso. These are all connected at a common point called a hip. During the walking cycle of the biped, either one foot or both foot are on the ground. These are referred to as single support phase and double support phase. According to the model taken in this report, single support phase is defined as the phase of the walking cycle when only one foot is in contact with the ground. Stance leg is the contacting leg and the other is called the swing leg. When both feet are in contact with the ground, this is referred to as t he double support phase It is required that the movement of the robots centre of mass is strictly monotonic. Non-slipping nature of the feet is assumed when in contact with the ground. A planar biped is a biped whose motions only take place in the sagittal plane. Sagittal plane is the longitudinal planes that divide the body into right and left sections. Three dimensional bipeds have locomotion both in sagittal and frontal plane. A statically stable gait is a rhythmic movement in which the centre of the mass of the biped lies in the support polygon. All the point of contact on the ground forms a convex hull which is referred to as support polygon. A dynamically stable gait is a rhythmic movement where the centre of pressure of the biped is on the boundary of the support polygon for at least part of the cycle. 4.5Passive Dynamic Walking Passive dynamic walking is purely stationed on the recovery of the biped dynamic structure. Passive walkers are capable of maintaining a stable, rhythmic walking motion but they do not need external energy. The passive dynamic walker uses one leg to freely swing using its own weight and the other one supporting the swing. The second leg turns to swing while weight moves foot to another. The subject has been studied widely. (T. McGeer, 1990) showed that a biped robot, suitably constructed to walk without external support. Very little energy is required when the knee joints are used that is why people use walking to benefit the body and legs. (M. Coleman ja, 1998) purely passive walkers biggest limitation is their ability to walk only downhill. Increasing the systems low-power control can be achieved walker who keeps a stable walking motion ina flat or slight uphill, but whose energy is close to the minimum. (Ted McGeer,1990) the practical enthusiasm for working on passive walking is, first, that it makes for mechanical simplicity and relatively high efficiency. Second, control of speed and direction is simplified when one doesnt have to worry about the details of generating the gait. Moreover, the simplicity of the machine promotes understanding. Consider an analogy with the development of powered flight: The Wrights put their initial efforts into studying gliders, as did their predecessors Cayley and Lilienthal. Once they had a reasonable grasp of dynamics and control, adding a power plant was a relatively minor modification. (In fact their engine wasnt very good for its day, but their other strengths led them to outstanding success.) As Ill explain, adding power to a passive walker involves a comparably minor modification. 4.6Robot Walking Hypothesis (Westervelt et al, 2007) a biped walking robot would be modelled based on the properties listed below. In order to ensure the robot satisfies these properties, a controller would be imposed. The robot consist of periodic phase of single support and double support Throughout the contact, the stance leg end acts as an ideal pivot, during the single support phase. The ratio of the horizontal component to the vertical component does not excel the coefficient of static friction. The vertical component of the ground reaction device is non-negative. There is no slip or rebounding of the swing leg, while the previous stance leg discharges without correspondence with the ground. With respect to the two legs, the motion is symmetric in steady state. In each step, the swing leg begins from strictly behind the stance leg and at impact is positioned in front of the stance leg. Walking takes place on level surface from left to the right 4.7 Dynamics Model The biped under consideration is a simple two foot robot to ensure the possibility of mathematical simulation. The model simulates the complete walking system. (Olli Haavisto et al, 2007) biped robot is a two-dimensional system with five links including a torso and two identical legs with knees. This model has been used by many researchers (Hardt et al, 1999; Juang, 2000) as it explains the walking motion of a biped robot quiet well. mo (xo, yo) ro lo r1 m1 l1 L R ML1 r2 R MR2 y m2 l2 L ML2 x FLx FRx FLy FRy The biped robot under consideration needs seven variables to describe the position in two-dimensional coordinate system which means that the robot has seven degrees of freedom. The coordinate (xo, yo) describe the position of the centre of the mass of the torso in a fixed position and being the angle of the torso with respect to the normal. L is the angle that the left thigh joint makes with respect to the torso and R is the joint angle of the right thigh with respect to the torso. L and R are the left and right knee joint angle with respect to the left and right thigh joint respectively. q = [xo, yo, , L, R, L, R]T (l0, l1, l2) denotes the link length of the torso, thigh and the shin respectively and (m0, m1, m2) denotes the masses. The links centre of the mass is located at a distance (r0, r1, r2) from the corresponding joint. External forces are used to model the walking plane that involves both the legs. The forces are in effect, when the leg touches the ground, to support the leg. The force is zeroed when the leg is not in contact with the ground or when the leg rises. F = [FLx, FRx, FLy, FRy]T The actual control signal for the model is the four moments, two of them actuated between torso and both the thighs and two are actuated at the knee joints. M = [ML1, MR1, ML2, MR2]T The two foot walking model used here has been studied in detail. (C. Chevallereau, 2003) developed a robot named RABBIT in which it was assumed that the when the swing foot hits the ground the other foot immediately rises into the air. All the walking stages have been described in this model but thelegwill always causea a steppedchange inthe systemmode and is calculatedseparately. 4.7.1 Lagrangian mechanics (David McMahon, 2008) by taking the difference between the kinetic and the potential energies, a function lagrangian can be constructed. It can be used to derive the equations of the motion and is an equivalent to the Newtonian method. The lagrangian is a fundamental concept which captures all the dynamics of the system and allows us to determine many useful properties such as averages and dynamic behaviours. (R.D. Gregg, 2011) a mechanical system with n-degree of freedoms with Q as the configuration space is described by elements (q, q) of tangent bundle (the space of configurations and their tangential velocities) TQ and Lagrangian function L : TQ R given in coordinates by Lq, q= Kq, q- V(q) = 12qTM(q)q- V(q) Kq, q = kinetic energy Vq = potential energy M(q) = generalized mass/inertia matrix By the least action principle, system integral curve necessarily satisfy the Euler Lagrange (E-L) equations ddtqL- qL= where n-dimensions vector contains the external joint torques. This system of second-order ordinary differential equations gives the dynamics for the actuated mechanism in phase space TQ. These equations have the special structure Mqq+ Cq, q+ Nq= Bu where n x n matrix C(q, q)contains the Coriolis/centrifugal terms, vector Nq= qVq contains the partial torques and n x n matrix B maps actuator input vector u Rm to joint torques = Bu Rn. 4.7.2 Ground Contact (Heikki, 2004) using a set of x, y points, ground surface can be modelled which are linked through straight lines. In order to make the next ground point as origin point to negative x direction of the leg tip new coordinate system is defined i.e.(x, y). Below figure shows that the position of the axis x is tangential to the ground whereas y equals the surface normal direction. y x y (x0, 0) Ft (xG, yG) x Fn Figure: The leg tip touches the ground in point (x0, 0)(grey) and penetrates it.The current position of the leg tip is (xG, yG)(black). Normal and tangential forces are applied to the leg tip when it touches the ground at the point(x, 0). In order that the situation is analogous to spring damper system, the output of the PD controller is used to calculate the normal force. Fn=-kyyG-byyG yG = current (negative) leg tip y coordinate ky = ground normal elastic constant by = normal damping ratio In order to prevent the leg sticking to the ground, only positive values would be taken for the normal force. In the tangential direction the force Ft acting is due to friction. Similar to the normal force calculation, PD controller is used to determine static friction force. The nominal value is the initial touching ground x0 Ft=-kxxG-x0-bxxG kx and bx = ground tangential properties If there is an exceeding required force than the maximum static friction force Ft,max=sFn s = static friction coefficient If the leg starts to slide than the tangential force is Ft=kFn k = kinetic friction coefficient The accumulated value of x0 is constantly set to the corresponding leg tip xG position throughout sliding. In order to attain the dynamic model input forces, the normal and tangential forces are needed to be projected to the original coordinate system (x, y) after these forces are computed. 4.7.3 Model Equations (Olli Haavisto, 2004) system status is determined by the generalised coordinates and their time derivative, coordinates with each consequent to a generalized power Fq = [Fxo, Fyo, F, FL, FR, FL, FR]T The generalised coordinated of the centre of mass of the thigh of the left and the right leg is denoted by (xL1, yL1) and (xR1, yR1) respectively. The coordinates of the centre of the mass of the left and right shin link is represented by (xL2, yL2) and (xR2, yL2) respectively. The leg tip position of the left and right leg is denoted by (xLG, yLG) and (xRG, yRG) respectively. These notations can be represented in equations as: xL1= x0- r0sin- r1sin(-L) yL1= y0-r0cos-r1cos(-L) xL2= x0- r0sin- l1sin(-L)-r2sin(-L+L) yL2= y0- r0cos- l1cos(-L)-r2cos(-L+L) xLG= x0- r0sin- l1sin(-L)-l2sin(-L+L) yLG= y0- r0cos- l1cos(-L)-l2cos(-L+L) The kinetic energy can be easily expressed in terms of the Cartesian coordinates taking in to account all the links. The total kinetic energy can be written as T=12(m0x02+y02+m1xL12+yL12+yR12+yR12+m2xL22+yL22+yR22+yR22 The generalized forces in terms of generalized components can be written as Fx0=FLx+FRx Fy0=-m0+2m1+2m2g+FLy+FRy F=-yL1m1+yL2m2+yR1m1+yR2m2g+yLGFLy+yRGFRy+xLGFLx+xRGFRx FL=-yL1Lm1+yL2Lm2g+yLGLFLy+xLGLFLx+ML1 FL=-yL2Lm2g+yLGLFLy+xLGLFLx+ML2 For the right leg the coordinates will be replaced by the coordinates of the left leg and (FLx, FRx, FLy, FRy) as mentioned earlier are the external forces of both legs. Using the equation of the generalized coordinates, kinetic energy in terms of generalized coordinates and generalized forces are placed in the Lagrange equation and the dynamic equation can be written as Aqq= b(q, q, M, F) Using mathematica software this could be simplified, Aq R7x7 is the inertia matrix and b(q, q, M, F) R7x1 is the vector containing the right hand sides of the seven partial differential equations. Appendix B contains both A and b in closed form formulas. 4.7.4 Knee Angle limiter (Heikki, 2004), the knee angle limiter is set according to the ground surface. This is mainly done as same as the calculation for the ground contact normal force. A PD controller is used to control the maximum and the minimum limit of the knee angle. In order to prevent the joint rotating over or under the limit the controller output is added to the corresponding knee joint moment. It is desirable that the knee shouldnt rotate over or under the zero angle of L or R which is bending towards wrong direction. 4.8Control Model (R.K.Mittal et al, 2003) the control needs the data of the mathematical model and some kind of intelligence to proceed on the model. (Bijoy K. Ghosh, 1999) There are three functional abilities that a control design can be categorized to in which firstly being that at the task level the robotic system should be controlled directly i.e. without planning type decomposition to joint level commands, it should take task level commands directly. Secondly, rather than for a specific task, the robot control system should be designed for a large scale of tasks so the system becomes task independent. In the end robot should have the capability of handling some unexpected or uncertain events. A traditional control system is described in the figure shown below yd(s) e(s) y(t) s 4.8.1 PD Controller In modelling control for robots there is no compromise on the response time and the overshoot of a system because of the stability of the system. (Franklin et al, 2002) Proportional action provides an instantaneous response to the control error. This is useful for improving the response of a stable system but cannot control an unstable system by itself. Derivative action acts on the rate of change of the control error; this provides a fast response as opposed to the integral action. (G.C. Goodwin et al, 2001) proportional derivative control is essential for fast response self. Derivative controllers do not need a steady state error of zero. Proportional controllers are fast, derivatives controllers are also fast so combination makes very fast controller. (O. Haavisto, 2004) a discrete PD controller was developed in order to test the biped and get the system walking. The gait pattern formation is controlled by the walker with four separate discrete PD controllers, which are fed in order to change the reference signals. The left knee angle L and the right knee angle R provide their own separate controllers. The other controller controls the corner of the biped thighs i.e. difference of thigh angles = R-L. The fourth PD controller controls the torso angle , keeping the position of the torso upright. Knee angles controller provides control signals directly for the moments ML2 and MR2. The angle between the thighs = R-L, control signals have a positive effect on the right thigh torque MR1 and negative effect on the left thigh torque ML1. Both feet on the ground, influence the control signal evenly on the both thighs. The torso angle control was detached from the actual gait control so that it is feasible to decide the used angle separately. The control signal, however, needs to be added to the thigh moments. During the double support phase, the control signal is influencing both thigh moments, but during the single support phase only to the stance leg moment. System is used as the discrete PD controllers, whose transfer function has the form ukh= Pekh+Dhe(kh) k = sample number, h = sample interval e(kh) is calculated by subtracting the adjustable parameter reference value. The expression e(kh) can be directly obtained from current and previous signal value ekh=ekh-e(k-1h) By a suitable choice of the proportional controller gain P, the steady state error requirements can be met. 4.8.2 Reference Signals Signals are formed step by step adding, subtracting or keep references to constant values between the sampling systems status. References are constant at the beginning of the double support phase but when the momentum is shifted forward then the knee reference is increased the angle between the thighs is reduced when the foot is raised and system moves to change the phase. Swing leg is transferred front ways by reducing the angle between the thighs to a constant value, so that the foot does not hit the base too early. When the leg is swung forward the knee is straightened before the touchdown as it remains far from the base. The creation of the reference signals was planned so that the left leg is for all time the swinging leg. When a new double support phase begins, the left and right leg signals are in the state input and reference output switched. Below shows the table of the parameters used in the controller P D Double Support Phase: The angle between the thighs 60 1 Knee angle L, R 40 0,5 Torso angle 40 2 Phase Change: The angle between the thighs 70 6 Support leg knee angle 30 2 Swing leg knee angle 10 0,1 Table. PD-controllerused forwalkingdownthe parameters. CHAPTER 6 IMPLEMENTATION The biped walking model is implemented using Similink. The biped model in simulink consists of three blocks implementing dynamic equation of the biped model, calculating the ground support forces and limiting the knee angle. This model simulates complete walking model of the biped. The parameter definition of the biped model is shown in the table below. Field Description Units Robot dimensions: l Robot link length [l0, l1, l2] m r Centre of mass distances [r0, r1, r2] m m Link masses [m0, m1, m2] kg Robot initial state: coordinates [x0, y0, , L, R, L,R] m, (rad) speeds [x0, y0, , L, R, L, R] m/s, (rad/s) Knee angle limiter parameters: kk elastic constant Nm/(rad) bk damping ratio Nms/(rad) min minimum angle for L and R (rad) max maximum angle for L and R (rad) Ground Properties: ground surface points x1, x2, y1, y2, m ky normal elastic constant kg/s2 by normal damping ratio kg/s kx tangential elastic constant kg/s2 bx tangential damping ratio kg/s mus static friction coefficient s muk kinetic friction coefficient k Additional parameters: acceleration of gravity m/s2 sample time s These would be explained one by one in detail. 6.1 Biped block 6.1.1 Dynamic model This block output is a 14 x 1 matrix which calculates the position of the seven variables in which two are the position of the centre of the torso and five angles q = (x0, y0, , L, R, L, R) as described earlier and the rate of change of these variables q = (x0, y0, , L, R, L, R) after solving the equation q=bq, q, M, F*A-1(q) Inertia matrix A(q) is a 7 x 7 matrix and the complete formulas are shown in Appendix B. Matrix A depends on position of the seven variables. The matrix b is a 7 x 1 matrix and depends on 22 variables. The seven position variables q of the biped robot, their corresponding first derivatives q, the moments calculated from the PD controller and contact forces (two are used at a time because of one leg being in contact with the ground). 6.1.2 Ground Contact Model Ground support forces and the sensor values are the main output of this block. Initially the leg tip cartesian coordinates are determined using the formulae described earlier and the speed formulae are determined by taking the first derivative of the cartesian coordinates. The two identical control forces block handles the leg separately. This block calculates the tangential and normal forces by projecting the leg tip coordinate to the local (x, y) coordinate system and an in the end projects them to support forces. Sensor values tell whether the foot is in contact with the ground or not. When the leg is contact with the ground the sensor value is set to 1 and 0 otherwise. The senor value of the leg is determined by the relational operator as shown below in the figure. If the position of the leg tip is smaller or equal to the ground level that the relational will give a 1 on the output. 6.1.3 Knee Angle Limiter block If the angle of the joint does not remain in the given limits this block adds a moment value to the knee joint moments. The selector selects the position of the knee angles L and R and compares if the knee angle has gone beyond the maximum or minimum limit or not. The moments are added to the right and left knee moment and nothing is added to the other two moments. In this block if the knee angle goes over or under the limit than PD controller calculates the moment value and adds it to the previous values. 6.2 PD Control Block PDcontrolwas implementedin Simulinkblock,which istofeedthe systemstate, updatesiton the basis ofreference signalandcalculates thedifference variableon the basis of appropriatemoments.Figurebelowshowsblockstructurewhere thereferencesignals and theactualformation ofthe PD-controlisseparatedinto separate subsectors create references and controller Figure. PD controller block with create reference and controller sub block Figure below showstheCreatereferencesblockcontent.Reference signalis calculated assumingthat theswinglegisalwaysleftandrightleg.Therefore at the second stepthe signal of the biped must be changed. The reference creation is created using three main steps, as the there are two main phases in walking i.e. double support phase and the single support phase so the reference are created at these phases. There is another block in which the legs are switched as the controller is designed only for the left foot so when the leg strikes the ground the same process is switched to the other leg. If in the double support phase when the leg strikes the ground, difference between the horizontal distances i.e. xR x0 is more than 0.118 then the references block is enabled and references are calculated. The calculated step length error is subtracted from the horizontal distance of the robot. When the single support phase is enabled the references are created for the four controllers as described before. The Controller block initially determines the differences of the controlled variables and reference values. The constraints for the PD controllers are chosen in accordance with the phase of the step. After the control signals are calculated, they are changed to the moments. The four similar PD controllers take the difference signals and the parameters (P, D) as inputs and give the resultant control signals as outputs. The only special feature in the discrete PD controllers is the speed term zeroing. When the D parameter is transformed the speed term is zeroed for one time step in order to evade peaks in the output signal. Because all of the controlled variables cannot be affected straight through the inputs of the biped system, a conversion of the control values is needed. The control signal is separated to both thigh moments, and the torso angle control signal is added to the thigh moment of the leg that is touching the ground. If both legs are in contact with the ground, the control is divided equally between the two moments. CHAPTER 7 BIPED WALKING RESULTS In this section complete results of the walking of the bipedal would be discussed. As described earlier there are seven variables that mostly influence the biped robots x0, y0, , L, R, L, R. The position of these variables will be shown graphically and finally a complete walking cycle of the bipedal walking robot would be shown. A complete walking cycle was simulated and result were taken through the GUI The above figure shows a complete walking step of the biped robot, the dotted foot is taken as the left foot and the plain blue as the right leg. The left leg in this case is the swing leg and the right leg is the stance leg. The left foot take off from the ground and then takes a complete forward step and then gets back to the original position to become the stance leg and other one right becomes the swing leg. The horizontal coordinate of the centre of the mass of the torso will increase almost linearly with respect to time as shown in the graph. The y-axis shows the horizontal mass centre x0 w.r.t to x-axis and time on the x-axis The vertical movement of the centre of the would be similar to a projectile motion as the biped moves forward with time the centre of the torso will go upwards and then back down to the original position. The initial value for y0 is given in the m-file as 1.3749. There is a slight movement at the beginning that is because initially for some time there is a double support phase before the swinging of leg. In the figure shown below y-axis denotes the vertical position of the torsos centre and time on the x-axis. The angle which torso makes with respect to the normal as said earlier is denoted by . Angle starts from the negative angle w.r.t. normal and then increases for some time and then come back to the original position which can be seen in the walking cycle figure. Below figure shows the angle of the left and right thigh which it makes w.r.t. the torso. When either of the thigh angles goes to zero it means the thigh is straightened w.r.t the torso and is done when the leg strikes the ground which is shown in the walking cycle . So below graph shows the right and left thigh angle L and R. When the leg is raised from the ground, the knee is bended then again coming in line with the thigh just before again coming in contact with the ground. The figure shown below shows the knee angles L and R. Below shows the sensor values of the left and the right leg. When the leg is contact with the ground the value of the sensor is one and zero if it is not in contact with the ground. If one of the legs is taken the leg tip position in the x direction moves linearly and then zero for time until the other leg finishes the step and same is with the vertical movement the leg tip goes up and then comes back to ground and then remain zero until other leg comes back to ground. BIPEDAL RUNNING 8.1 Introduction (J.R.Ridgley, 2001) walking has been a focal point for a very large body of researchers, as it is considered the most basic form of legged locomotion with running as an enhancement. There is a popular phrase one must learn to walk before one can run. Less power and stress on the component of a system is required for walking. There is a significant practical advantage of the legged machines which can run over those limited to walking motion, but not much of a research has been done into the design of practical running machines. This is because there are a number of significant problems while constructing practical running machines. There are concerns which have been adequately resolved by modern technology. For example, mechanical structures and mechanisms can simply be developed which will consistently maintain the heaps of running, at least for devices developed on a reasonable extent of size for devices with masses on the order of 0.01kg to 100kg. At smaller extent than this, conve ntional machining methods are hard to use, and on larger scales the power requirements located on mechanical components may become unfeasible. Embedded control computers are extensively accessible which can easily process data rapidly enough to control the sensors and actuators which are expected to be used to control a running machine. Sensors which can calculate forces, accelerations, distances, angles, and velocities are easily accessible and only modestly expensive in contrast to other components of a typical robot. Actuators with adequate power density, for example electromagnetic and pneumatic actuators, are common. 8.2 Running Cycle Stance phase takeoff flight phase impact phase phase Figure. Running cycle (M.R.Anglin, 2011) running cycle can be described in two main categories flight phase and the stance phase. Each of thesephasesdefines the position of the foot at a certain portion of therunningcycle. Researchers who study a persons walking andrunninglocomotion can use the information obtained to find and solverunningproblems. The swing phase of arunningcycle occurs when none of the foot is in contact with the ground. The stance phase occurs between the time the leg tip is in contact with the ground and continues until the leg tip leaves the ground. The stance phase of arunningcycle can additionally be categorised into three sub phases: contact, mid-stance, and propulsion. During the contact sub phase, the leg tip comes in contact with the ground, and the sub phase carries on until the complete foot comes in contact with the ground. This contact can put a lot of pressure, occasionally equivalent to three times a persons body weight or more, onto the foot. After the contact sub phase comes the mid-stance sub phase. During this phase, the body bends forward and shifts over the foot to get ready for the next sub phase, the propulsion sub phase. A runner in the propulsion sub phase of therunninggait will see himself propelled forward. Straight away following this sub phase is the float phase. During the propulsion sub phase, the leg tip will leave the ground and the person is shifted forward. The sub phase ends with the leg tip taking-off the ground. Therunningcycle will continue until the foot touches the ground again, completing the cycle. 8.3 Robot Running Hypothesis (Westervelt et al, 2007) in order to ensure that the robots consequent motion satisfies the below properties consistent with the notion of a simple running gait, conditions on the controller will be imposed. Running can be categorised into three main phases single support, flight and impact. Throughout the contact, the stance leg end acts as an ideal pivot, during the single support phase. The ratio of the horizontal component to the vertical component does not excel the coefficient of static friction. The vertical component of the ground reaction device is non-negative. During the flight phase, a non-zero horizontal distance is covered by the centre of the mass. When the former swing leg end come in contact with the ground the flight phase ends. There is no slipping or rebounding of leg at impact. There is a symmetric motion of successive single support and flight phase with respect to two legs in the steady state. Running would take place on level surface from left to right. 8.4 Trajectory with telescopic legs (Raibert et al, 1986) and (T.DMcGeer, 1990) have deeply studied the running in the robots. (Gieger etal., 2001) are also working on the realization of a biped running robot. They have projected a running controller based on feedback linearization. (Shuuji Kajita, 2002) established a technique for running pattern generation using the dynamics of a simple inverted pendulum. In order to conduct the simulation a very simple has been taken with a point mass of m and a mass less telescopic leg. g l l y y Fz 0 Fz = 0 (a) (b) Figure. (a) the telescopic leg when in contact with the ground (b) takeoff phase The length of the leg in controlled as l=l0+sint l0 = neutral leg length = the amplitude of the vibration = frequency Fy is the reaction force and is zero when the foot is in the air but when in contact with the ground is given by Fy=ml+g=m(-2sint+g) g = gravitational acceleration In a certain phase Fy is negative when 2 g. This happens when the foot of the leg is firmly in contact with the ground. When Fy approaches zero it means that the foot is leaving the contact with the ground which means robot jumps into the air and then the robot takes a free fall trajectory. The liftoff timing A and the moment of takeoff yA can be written as A=1sin-1g2 yA=cosA=()2-(g)2 Now two legs are considered in the running model which is shown in the figure below. m lR lL y 0 Figure. Biped Model The length of the right leg lR can be represented as lR=l0+sint The time when both the foot are of the ground or the flight phase time Tflight can be written as Tflight=2yAg In order to achieve smooth landing the left leg lL length can be written as lL=l0+sint-delay Where delay can be formulated as delay=Tflight-22-A The velocity and acceleration of the mass change is continuous at the moment of landing. At the support phase the biped is supported by one of the legs so the duration of the support phase can be written as Tsupport=+2A Now the formulation for the horizontal locomotion is done in the sagittal plane (x,y) and for ideal condition it is assumed that the torque around the contact point equal to zero (y = 0). This results the constraint between floor reaction forces and mass location as FxFy=xy Fx = horizontal floor reaction force x = horizontal position The horizontal can be calculated as x=1mFx = -2sint+gl0+sintx The above equation is for the support phase where -At 2+A 8.5 Running with segmented legs The above model only had one degree of freedom in order to design a humanoid robot a two segment leg robot model would be discussed in detail. (J. Rummel, 2008) for this action a stance leg would be taken which is represented by a linear spring of rest length l0 and leg stiffness k. For this model only forces directed from a fixed contact point at the ground to the centre of the mass would be generated and the amount the amount of the force depends on the leg compressionl=l0-l(t). A constant leg stiffness k is assumed for a linear relationship between leg compression and leg force. Two mass less segments of length l1 and l2 defines the segmented leg. These two segments are connected by inter segmental leg joint with an inner angle . In order to produce spring-like forces in a segmented leg a torsional spring of stiffness c at inter segmental joint with joint torque, is introduced. =c =0- =denotes the amount flexion in the joint 0 = rest angle denotes the instantaneous joint angle and is defined as the function of leg length l and it can be written as l=cos-1(l12+l22-l2)2l1l2 Rest angle 0 which corresponds to a rest length of the leg is needed in order to calculate the amount of joint flexion l00=l12+l22-2l1l1cos(0) In consequence, any amount of joint flexion interprets into an equivalent amount of leg compression l depending on the selected rest angle 0. The leg force could be written as Fleg=ll1l2sin 8.5.1 Reference and effective stiffness Implementation A complete model of running on segmented legs would be modelled using simulink. The complete model is shown below Figure. Simulink model for running with segmented legs Firstly flight phase block would be described. In the flight control block the position of the leg x and y which are calculated before are subtracted from the position of the leg at touchdown which are written as yL=l0sin(0) xL=l0cos(0) When x xL is zero that means the leg is contact with the ground with the angle 0 and then the contact phase is triggered and then and the position are send to the next block for the calculation of contact force, the angle between the segments and the acceleration. The formulae of these parameters are already shown. The l during the flight changes according to simple Pythagoras theorem can be formulated as l=x2+y2 When the l0 = l that means it is contact with the ground and then the F, and a are calculated In the integration sub block the acceleration calculated is integrated to first velocity vx and vy and then again integrated to position x and y As yapex is the maximum height he leg goes and when the leg does not reach that height that means the leg has fallen and simulation is stopped and when the vertical velocity becomes zero that means one step is completed and then the step count is incremented. METHODOLOGY OF BIPEDAL RUNNING FUTURE WORK CONCLUSION

Saturday, May 16, 2020

Data Warehousing And The Online Processing Of Data Essay

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