Journal articles on the topic 'Cardan angles'

This article describes the impedance control of an in-parallel actuated orientation platform. The algorithm is based on a representation of platform orientation which exploits the equivalent axis of rotation: this approach is more intuitive and easier to visualize than conventional methods based on Cardan or Euler angles. Moreover, since for small angular displacements the Mozzi’s axis lies very close to angular velocity, impedance control algorithms based on such representation provides better performances and smoother motions. Results of numerical simulations and experimental tests are shown and commented with reference to the spherical parallel machine.

In this paper the trajectories of a soccer ball for the most important kicks in the football game - a corner kick and a direct free kick are studied. The soccer ball is modelled as an ideal rigid hollow spherical body with six degrees of freedom, which performs a general motion in an immovable air environment with constant parameters. The ball 3D orientation is determined by the three Cardan angles. The aerodynamic forces and moments with which the air environment acts to the ball are taken into account. Two of the most dangerous areas of the football goal are defined. Differential equations which describe the motion of the soccer ball are solved numerically by MatLab-Simulink.

The Microsoft Kinect is becoming a widely used tool for inexpensive, portable measurement of human motion, with the potential to support clinical assessments of performance and function. In this study, the relative osteokinematic Cardan joint angles of the hip and knee were calculated using the Kinect 2.0 skeletal tracker. The pelvis segments of the default skeletal model were reoriented and 3-dimensional joint angles were compared with a marker-based system during a drop vertical jump and a hip abduction motion. Good agreement between the Kinect and marker-based system were found for knee (correlation coefficient = 0.96, cycle RMS error = 11°, peak flexion difference = 3°) and hip (correlation coefficient = 0.97, cycle RMS = 12°, peak flexion difference = 12°) flexion during the landing phase of the drop vertical jump and for hip abduction/adduction (correlation coefficient = 0.99, cycle RMS error = 7°, peak flexion difference = 8°) during isolated hip motion. Nonsagittal hip and knee angles did not correlate well for the drop vertical jump. When limited to activities in the optimal capture volume and with simple modifications to the skeletal model, the Kinect 2.0 skeletal tracker can provide limited 3-dimensional kinematic information of the lower limbs that may be useful for functional movement assessment.

Shoulder kinematics, including scapular rotation relative to the trunk and humeral rotation relative to the scapula, were examined during humeral elevation in three vertical planes via video analysis of intracortical pins. Helical axis parameters provided an easily interpretable description of shoulder motion not subject to the limitations associated with Cardan/Euler angles. Between 30 and 150° of elevation in each plane, the scapula rotated almost solely about an axis perpendicular to the scapula. Additional scapular rotation appeared to support the notion that the scapula moves “toward” the plane of elevation. Humeral rotation took place mainly in the plane of the scapula independent of the plane of elevation. Many parameters of shoulder complex kinematics were quite similar across all planes of elevation, suggesting a consistent movement pattern with subtle differences associated with the plane of elevation.

This paper presents a fusion method for combining outputs acquired by low-cost inertial measurement units and electronic magnetic compasses. Specifically, measurements of inertial accelerometer and gyroscope sensors are combined with no-inertial magnetometer sensor measurements to provide the optimal three-dimensional (3D) orientation of the sensors’ axis systems in real time. The method combines Euler–Cardan angles and rotation matrix for attitude and heading representation estimation and deals with the “gimbal lock” problem. The mathematical formulation of the method is based on Kalman filter and takes into account the computational cost required for operation on mobile devices as well as the characteristics of the low-cost microelectromechanical sensors. The method was implemented, debugged, and evaluated in a desktop software utility by using a low-cost sensor system, and it was tested in an augmented reality application on an Android mobile device, while its efficiency was evaluated experimentally.

The two main movements occurring between the forefoot and rearfoot segment of a human foot are flexion at the metatarsophalangeal joints and torsion in the midfoot. The location of the torsion axis within the foot is currently unknown. The purpose of this study was to develop a method based on Cardan angles and the finite helical axis approach to calculate the torsion axis without the effect of flexion. As the finite helical axis method is susceptible to error due to noise with small helical rotations, a minimal amount of rotation was defined in order to accurately determine the torsion axis location. Using simulation, the location of the axis based on data containing noise was compared to the axis location of data without noise with a one-samplet-test and Fisher's combined probability score. When using only data with helical rotation of seven degrees or more, the location of the torsion axis based on the data with noise was within 0.2 mm of the reference location. Therefore, the proposed method allowed an accurate calculation of the foot torsion axis location.

In this article, a nonlinear dynamic model with five degrees-of-freedom for a four-wheel-drive vehicle driveline connected by a cardan joint, including dynamic intersection angle, nonconstant velocity, and additional moment caused by the cardan joint, is established by using the Lagrange method to analyze the driveline coupling vibration in both torsional and lateral directions. High-order Runge–Kutta algorithm is applied to solve the differential equations and to calculate transient responses of the driveline rotors under acceleration condition. The color maps and second-order vibration of the driveline are acquired by frequency spectrum analysis and order tracking analysis, respectively. The second-order vibration and noise of the driveline and vehicle interior caused by the cardan joint is validated by vehicle experimental results and reduced effectively by decreasing intersection angle of the cardan joint under the operational condition. Moreover, application of a flexible coupling instead of the cardan joint significantly reduces the second-order vibration but simultaneously generates low-level third-order vibration.

Springback has been measured under various process conditions corresponding to those found in real press-stamping operations. The draw bend tests originally developed at Ohio State University (Carden et al., 2002 [1]) were conducted using a range of tool radii, direct controlled constraining forces, and friction conditions. Especially, the draw-bend test was able to apply precise constant restraining force and almost negligible friction by rotating the cylindrical tool with the same speed of drawn sheet strip. Springback angle changes were measured for the bending and sidewall curl regions to find the dependence on the process variables. As expected, tensile restraining force dominates the springback sensitivity, with higher forces reducing springback. The measured springback angles and curvatures were reported for use in modeling of springback of higly anisotropic and asymmetric magnesium alloy sheets.

This paper focuses on the transform relationships between each element and between elements with inertial system under different attitude coordinate system in the finite element multi-body system mechanical analysis of the flexible rope process. It mainly research the attitude coordinate transformation matrix between the of flexible rope Micro-element and inertial system under the four coordinate system which are the direction cosine coordinates, finite rotation four element coordinates, Euler angle coordinate and Cardan angle coordinates, and the relationship between the connecting base on the element type and inertial reference based.

A new “Closely Packed Equal Sphere” (CPES) infiltration model has been developed by us. It differs from the classical capillary infiltration model mainly in the value of the critical contact angle of spontaneous infiltration (50,7o, instead of 90o), and as a consequence, it also differs in the functional relationship between the threshold pressure and the contact angle. Our new equation becomes identical with the Carman equation for perfectly wettability. Our experimental results are in good agreement with these theoretical results.

In this paper, we study the Jacobi stability on the nonlinear double pendulum by the Kosambi–Cartan–Chern (KCC) theory. We assume that the mass and length of rods of two kinds of pendulums are equal, respectively. Moreover, we consider the case that initial angles of the double pendulum are equal. Under these conditions, we obtain the boundary between Jacobi stable and unstable trajectories for initial angles. It is shown that the condition of Jacobi stable or unstable depends only on deflection angles of the nonlinear double pendulum. Then, we discuss relationships between Jacobi stability, physical parameters and other concepts of stability such as Lyapunov stability and chaos. We suggest that the ratio of length of rods and the mass ratio of pendulums of the double pendulum do not affect the Jacobi stability. It is suggested that the equilibrium points in the Jacobi stable region and in the Jacobi unstable region are Lyapunov stable and Lyapunov unstable, respectively, and that the motions in the Jacobi unstable region are related to the onset of chaotic behavior.

In this paper, we have investigated the gravitational lensing in a spherically symmetric spacetime with torsion in the generalized Einstein–Cartan–Kibble–Sciama (ECKS) theory of gravity by considering higher order terms. The torsion parameters change the spacetime structure, which affects the photon sphere, the deflection angle and the strong gravitational lensing. The condition of existence of horizons is not inconsistent with that of the photon sphere. Especially, there exists a novel case in which there is horizon but no photon sphere for the considered spacetime. In this special case, the deflection angle of the light ray near the event horizon also diverges logarithmically, but the coefficients in the strong-field limit are different from those in the cases with photon sphere. Moreover, in the far-field limit, we find that the deflection angle for certain torsion parameters approaches zero from the negative side, which is different from those in the usual spacetimes.

In a paper1 published in 1979 Manton has derived the bosonic sector of the Weinberg-Salam electroweak model by considering the Yang-Mills Lagrangian on a six-dimensional space M4×S2. The model turned out to be very rigid and identified the Weinberg angle with the angle between two neighbor roots in the Cartan diagram of the gauge group. leading to θW=60° for SU(3), θW=45° for O(5) and θW=30° for G2 and to the equality of the masses of the Z particle and of the Higgs boson. We generalize this model by identifying the Yang-Mills Lagrangian with a part of the Einstein-Hilbert Lagrangian on the fibre bundle P(M4×S2), and by adding to it a Gauss-Bonnet invariant. which produces new terms, quartic and cubic in Fμν. This in turn modifies the definition of the Weinberg angle and the Higgs mass. The new free parameter is the dimensional factor in front of the Gauss-Bonnet term. We discuss the values of MW, MZ and MH in function of this parameter and the radii of the internal space S2 of the gauge group G. Realistic values can be obtained if the Gauss-Bonnet term contributes to the Lagrangian with a negative sign.

Aim To identify clinical, echocardiographic, and angiographic factors related with an increase in the frontal QRS-T angle (fQRS-T) and the spatial QRS-T angle (sQRS-T) in patients with inferior myocardial infarction.Material and methods The study included 128 patients aged (median [25th percentile; 75th percentile]) 59.5 [51.5; 67.0] years diagnosed with inferior wall acute myocardial infarction. fQRS-T was calculated as a module of difference between the QRS axis and the Т axis in the frontal plane. sQRS-T was calculated by a synthesized vectorcardiogram as a spatial angle between the QRS and Т integral vectors.Results The fQRS-T for the group was 54.0 [18; 80] and sQRS-T was 80.1 [53; 110]. The correlation coefficient for fQRS-T and sQRS-T values was 0.42 (p<0.001). Both fQRS-T >80° and sQRS-T >110° compared to their lower values were associated with a higher frequency of history of postinfarction cardiosclerosis (44% and 12 %, respectively; p<0.05), a lower left ventricular ejection fraction (51 [47; 60]% at fQRS-T >80° and 55 [50; 60]% at fQRS-T <80° (p<0,05); 49 [44; 57]% at sQRS-T >110° and 57 [51; 60] % at sQRS-T <110° (p<0.01); more frequent development of acute heart failure (16 and 2 %, respectively; p<0.05); and early postinfarction angina (13 and 2 %, respectively; p<0.05). The increased fQRS-T was associated with a higher incidence of damage to the circumflex artery (45 and 20 %, respectively; p<0.05). The increased sQRS-T was associated with a history of arterial hypertension (97 and 76 %, respectively; p<0.05), chronic heart failure (22 and 3 %, respectively; p<0.05), chronic kidney disease (19 and 4 %, respectively; p<0.05), and a larger myocardial lesion (mean number of damaged segments by echocardiography was 3.8 [2; 6] at sQRS-T >110° and 2.6 [1; 4] at sQRS-T <110°; p<0.01). sQRS-T was significantly greater in multivascular damage (87 [68; 121]° than in one- or two-vascular damage (72 [51; 100]°; p<0.05). sQRS-T values were significantly lower with spontaneous reperfusion (66 [29; 79] than without spontaneous reperfusion (77 [55; 115]°; p<0.05).Conclusion In patients after inferior wall acute myocardial infarction, increases in fQRS-T and sQRS-T were associated with more severe damage of coronary vasculature, decreased left ventricular ejection fraction, and more severe course of disease.

In this work cold shuts and misruns in thin turbine blade test geometries are predicted using a three-phase mold filling and solidification simulation methodology applied to a centrifugal casting process of turbine blades. The methodology is based on a finite-volume method with arbitrary shaped polyhedral control volumes. The Volume-of-Fluid (VOF) approach has been used to capture the phase separation between gas, melt and solid. A High Resolution Interface Capturing (HRIC) scheme has been established to gain sharp interfaces between phases, mandatory for correct calculation of surface tension and wetting angle effects. An additional source term in the momentum equation based on Darcy-law for porous media and Kozeny-Carman relation for the permeability estimation was implemented to model the resistance of the dendrite network to the melt flow. A series of test blades with decreasing thickness has been simulated and cold shuts and misruns predicted at different locations, depending on the blade thickness. Casting trials show an excellent agreement between simulation prediction and experimental findings.

Molecular dynamics simulations of water flow through nanotubes have demonstrated higher flow rates than the flow rates predicted using classical models and a significant change in flow patterns due to the thin film that forms on the solid wall of the tubes. We have developed a two-region analytical model that described the flow characteristics and permeability of fluid flow through nanoporous media and considered the solid-liquid interfacial effects. Our model considers the influence of various interfacial effects, including long-range van der Waals forces, double-layer repulsive forces, and short-range structure repulsive forces, and it establishes relationships between the permeability and the average pore diameter, porosity, surface diffusion, and contact angle by numerical calculations. Our results indicate that the permeability calculated using the present model (with interfacial effects) is more than 30 times the results that were calculated using the Kozeny-Carman equation (without interfacial effects). The thickness of the thin film significantly affects the flow characteristics. We have gained new insight and guidance regarding the development of nanoscale pore reservoirs, such as shale gas and shale oil.

Transthoracic echocardiography is the most frequently used method for detection of impaired contractility of the left ventricle. In most cases, assessment of contractility is carried out visually “by eye”, what increases its subjectivity, is operator-dependent in nature and requires a high level of clinical training and experience of the researcher. Currently in the arsenal of a specialist in echocardiography for quantification of left ventricular contractility sometimes is used tissue Doppler echocardiography, however, this method requires special settings of the image (high frame rate, the allocation of zones of interest), depends on the scanning angle and on operator qualification, has high intra – and inter-operator variability, and significantly increases the duration of the study. Therefore, this method has not received wide clinical application. In the 2000s years an innovative technique of speckle tracking emerged, which, unlike tissue Doppler echocardiography is efficient, does not burden a researcher with time costs, has a low intra – and inter- operator variability, does not depend on scan angle. In recent years, this technology is actively implemented in clinical practice for detection of subclinical impairment of the functional state of the myocardium in different diseases and syndromes: arterial hypertension, ischemic heart disease, valvular defects, and congenital heart disease, heart failure, cardiomyopathy of different etiology.

Le concept de couleur a été depuis toujours au carrefour de plusieurs champs de connaissance tels que, entre autres, la physique, la psychologie, l’anthropologie, la physiologie et la linguistique. En particulier, le concept de couleur a été analysé de manière significative en linguistique (morphologie, sémantique, pragmatique), linguistique cognitive, psycholinguistique, traduction et lexicographie sous plusieurs angles et perspectives. Toutefois peu d’études ont analysé les évolutions en diachronie des dénominations de couleur, notamment en ce qui concerne la sphère sémantique relative aux références utilisées dans les dénominations de couleur mêmes. À partir du constant que les dénominations de couleur sont impliquées dans des phénomènes de néologisation qui enrichissent le lexique chromatique, notre contribution propose une réflexion sur quelques questions de sémantique lexicale concernant le figement des dénominations de couleur, ainsi que la variabilité en diachronie des références utilisées en français dans ces mêmes dénominations. Notre échantillon a été créé à partir de pratiques disparates de l’univers coloré (mode vestimentaire, nuanciers web, nuancier RAL, nuanciers Caran d’Ache et Faber Castell). D’un point de vue théorique, notre analyse s’insère dans le sillage des études de Dubois (Dubois Grinevald 1999 ; Dubois, Colette 2003 ; Dubois, Cance 2012), qui insistent sur la variabilité des dénominations de couleurs à travers des enquêtes faites grâce à des dispositifs techniques différents, ce qui reflète la diversité des processus de conceptualisation des couleurs mêmes.

Purpose. Conducting research aimed at choosing the rational modes of flashing the tubular billet by stabilizing the dynamic characteristics of the drive power line of heavy-duty piercing mills TPA. Methodology. The dynamics of the power line of the piercing mill of the pipe-rolling unit (TPA) are considered, taking into account the peculiarities of the behavior of the spindle hinges and the mechanism for setting the work rolls. Findings. The differential equation of motion of the line of the main drive of the piercing mill is composed and its numerical solution is given. An adapted three-mass dynamic model of the system is considered and a solution is obtained using the software Solid Works IT Simulation X. The basic conditions for the occurrence of unstable dynamic phenomena in the fieldline and the installation mechanism of the piercing mill rolls are formulated. It is shown that the unstable dynamics of the system are one of the main reasons for the discrepancy between the results of well-known theoretical, experimental studies and pipe thickness measurement at TPA 350 piercing mills. Originality. The main causes of the emergence of parametric oscillations in the drive of the working stand of the piercing mill, the installation mechanism of the work rolls in connection with the mechanism of formation of the thin-wall thickness of pipes are established. The areas of stability of the system’s functioning are determined depending on the operating modes and the angle of feed of the work rolls, taking into account the spatial position of the elements of the spindle device. The necessary and sufficient stability conditions for the joint stable functioning of the power line elements of the piercing mill are formed. Practical value. To stabilize the processes for flashing the tubular billet, a scheme has been proposed for upgrading the spindles of the main drive and the mechanism for installing the work rolls of the piercing mill No. 1 of TPA 350. The results are applicable to similar helical rolling mills. Keywords: firmware, billet, mill, pipe, uneven stroke, varying thickness, dynamics, drive, roll, oscillations, spindle, Cardan, hinge, moment of inertia, rigidity, drum, installation mechanism, stability.

To investigate the response of root architecture and nitrogen metabolism of apple rootstock to glucose supply in low-carbon (C) soil, Malus baccata (L.) Borkh. in gravel soil was treated with glucose C equal to the soil microbial biomass carbon (MBC)-C value (G<sub>1</sub>), five times the soil MBC value (G<sub>2</sub>), or with no glucose (CK). The roots samples were harvested after treatments for 7, 15 and 30 days. The roots tended to become larger, more dichotomous and showed a larger link branching angle in G<sub>1</sub> and G<sub>2</sub> than in CK, especially in the G<sub>1</sub> treatment for 30 days. Plant height and biomass were increased by G1. Nitrate (NO<sub>3</sub><sup>–</sup>-N) and nitrite (NO<sub>2</sub><sup>–</sup>-N) contents were increased, but ammonium (NH<sub>4</sub><sup>+</sup>-N) concentration was decreased in the roots treated with G<sub>1</sub> and G<sub>2</sub> in all treatment periods. Also, the activities and transcript levels of nitrate reductase, glutamine synthetase, glutamate dehydrogenase, glutamate synthase were generally increased in roots treated with glucose, especially under G<sub>1</sub>. The activities of glutamic oxalacetic transaminases and glutamic-pyruvic transaminase were higher under G<sub>1</sub> than under either G<sub>2</sub> or CK. Exogenous carbon source that equals to the native MBC effectively regulated the root architecture and supported increasing nitrogen absorption and metabolism in plants growing under carbon-restricted conditions.

The existing literature on the flow of fluids through porous packed beds gives very limited quantitative information on the criteria employed in marking the applicability of the different flow regimes. It is the objective of this paper to provide experimental evidence for determining the demarcation criteria during the flow of water through a bed of randomly packed spherical beads. Two different sizes of glass beads, 3 mm and 6 mm, were employed as the porous matrix through which water flowed at rates varying from 5.07 × 10−6 m3/s to 4920 × 10−6 m3/s. Our dimensionless pressure drop data showed less variation when the characteristic length of the porous medium was taken to be proportional to the square root of the permeability over the porosity and not the bead diameter. Curves of properly nondimensionalized pressure drop (P’K/μv) plotted against the actual flow Reynolds number based on the porous medium permeability (RˆeK) provided the following information. It was found that Darcy’s law has very limited applicability and is valid for a small range of Reynolds numbers (0.06<RˆeK<0.12). This leads to a pre-Darcy flow that is valid for a much broader range of Reynolds numbers than expected (RˆeK<0.06). Alternatively, the range of validity of the post-Darcy laminar Forchheimer flow is also found to be of much more limited applicability (0.34<RˆeK<2.30) than previous studies (Fand et al., 1987) have indicated (0.57<RˆeK Fand et al. <9.00). Transition to turbulence takes place earlier than expected and turbulent flow prevails from then on (RˆeK>3.40). The dimensionless pressure drop in both the Forchheimer and turbulent flow regimes can be modeled by an appropriately nondimensionalized Ergun’s equation (Carman, 1937), i.e., a first-order inertia term correction is sufficient in both flow regimes. However, the magnitude of the correction coefficients in the Forchheimer regime differs significantly from that in the turbulent flow regime (AˆF=1.00, BˆF=0.70, BˆT=1.90, BˆT=0.22). Again, this differs from previous findings (Fand et al., 1987). The effect of the angle of inclination of the porous medium with respect to the horizontal on the transition mechanisms was also experimentally investigated. No changes other than the correction in the pressure drop due to the static liquid column height were observed.

Mirjana POLIĆ BOBIĆ: Kalifornijski zapisi oca Ferdinanda Konšćaka iz Družbe Isusove, Hrvatska sveučilišna naklada, Zagreb, 2015.U ovoj knjizi autorica je iscrpno i kompetentno, kao ponajbolji prevodilac pisane ostavštine Ferdinanda Konšćaka, analitički i metodološki kvalitetno, uz podrobna objašnjenja i popratna razmišljanja, na tristo stranica predstavila bogatu i vrijednu pisanu ostavštinu kao i relevantne spise o njegovom radu i o njemu. To je do sada najsveobuhvatniji pristup obradi spisa ovoga pripadnika Družbe Isusove u nas, koji uvelike pridonosi spoznaji o veličini i značenju njegovih znanstvenih i istraživačkih dosega, ne samo za geografiju nego za pojedine druge znanosti. Opsežni uvod čine četiri poglavlja autoričine sveobuhvatne rasprave 1. o Konšćakovim zapisima i životu s popisom i opisom rukopisa i izdanja Konšćakovih tekstova o Novom svijetu i o njegovu životu, 2. o tome kako je Konšćak mogao dospjeti u Donju Kaliforniju, 3. o Kaliforniji od mita do utopijskog projekta te 4. o kraljevskim i misionarskim interesima, utopijskim obrascima i svakodnevnici sa zaključnim razmatranjima. Spisateljičina rasprava o navedenim aspektima, opservacije i razmatrani predlošci brojnih prethodnika, suvremenika i kasnijih istraživača i promicatelja Konšćakova rada i djela odaju vrsnu poznavateljicu brojnih predložaka i dokumentacije, neobjavljene i objavljene, dostupne i manje dostupne o našem isusovcu istraživaču. Drugi dio, može se slobodno istaknuti, krucijalni su prijevodi petnaestak autentičnih zapisa, dakle pisama, izvješća, dnevnika, opisa, Ferdinanda Konšćaka iz kojih se neposredno saznaje o njegovim putovanjima, otkrićima, spoznajama, poslanju, sukobljavanjima pa sve do intimnijih razmišljanja u prepisci ili izviješćima kroz koja izbija mnoštvo dokaza o njemu kao o izrazitom isusovačkom humanistu, entuzijastu, misionaru i istraživaču. To su pisma subraći, nadređenima, meksičkom provincijalu, superiorima, vizitatorima, prijateljima, dnevnici i dr., te također dva prijevoda drugih autora Miguela del Barca i oca Francisca Zevallosa koji se tiču Ferdinanda Konšćaka. Djelo prate i zahvala, popis izvora uz prevedene Konšćakove tekstove, literatura, sažetci na španjolskom i engleskom jeziku i kratki opis života i rada autorice. Otac Ferdinand Konšćak, poznat u svjetskoj literaturi i kao Ferdinando Consag (španj.) utemeljitelj Donje Kalifornije (Baja California), rođen je u Varaždinu 2. prosinca 1703., a umro je u misiji Santa Gertrudis u Donjoj Kaliforniji (Meksiko) 10. rujna 1759. Pristupio je isusovačkom redu 1719. u Trenčinu u Slovačkoj. Filozofiju je završio u Grazu, zatim radio na kolegijima u Zagrebu, pa Budimu. Prije završetka studija teologije u Grazu, odobren mu je odlazak u Novi svijet pa je 1729. otišao u Španjolsku, odakle je iz Cadiza 1731. krenuo u jednom od jedrenjaka flote za Indije. Preko Havane, stigao je u Veracruz te u Meksiko gdje je 1731. završio započeti studij teologije. Na poluotok Donje Kalifornije stigao je 1732. u redukciju Loreto gdje je najprije boravio, pa 1733. prešao u San Ignacio, zatim na sam jug poluotoka, pa ponovno u San Ignacio odakle je opsluživao velik dio izoliranih krajeva, dajući posebno velik doprinos osnivanju misija Santa Gertrudis i San Francisco de Borja. Kao isusovački misionar postao je jedan od najslavnijih istraživača meksičkoga poluotoka Kalifornije, koji je dokazao da je Kalifornija poluotok. Naime, poslije ranijih spoznaja (još od 30-ih godina 16. st.) da je Donja Kalifornija poluotok (v. Planciusov zemljovid svijeta 1592., i Meteliusov Kalifornije 1598.), u 17. i početkom 18. stoljeća počeli su se u Europi pojavljivati pogrješni, dosta tvrdokorni stavovi da je riječ o otoku kao i zemljovidi na kojima je tako i prikazivana. Stoga je trebalo ponovno, a iz sasvim pragmatičnih razloga, podastrijeti nove dokaze o poluotoku. Premda se već subrat Francisco E. Kino u četiri svoja putovanja 1697. – 1702. uvjerio da je Kalifornija poluotok, to otkriće nije bilo prihvaćeno pa su se tražili novi dokazi. Konšćakovo istraživanje dokazalo je drugi put poluotočnost Donje Kalifornije. Čak je i kasnije bilo dvojbi o poluotočnosti pa je 1766. tamo poslan otac Wenceslao Linck da provjeri Konšćakovu tvrdnju. Priznati su mu znanstveni doprinosi u matematici, astronomiji, prirodoslovlju, etnologiji, geografiji i geologiji. Bio je graditelj cesta, vodoopskrbnih objekata i obrambenih nasipa te nadzornik svih isusovačkih misija u Meksiku, a njegovo ime nosi otočić Roca Consag (Consag Rocks na sjeveru Kalifornijskog zaljeva 17 milja od grada San Felipe). Miguel del Barco, kojeg je kasnije iščitavao i Alexander von Humboldt, navodio je Konšćaka kao važnog izvora opisa ratničkih običaja, društvenog ustroja tamošnjih indijanskih zajednica, njihovih jezika, vjerovanja, načina odijevanja, prehrambenih navika, obreda uvođenja u zrelo doba života. Uz brojne pohode, poduzeo je i tri veće ekspedicije (1746., 1751. i 1753.) u kojima je sustavno istraživao neznana područja poluotoka. U prvoj do ušća Rio Colorada, razriješio je više od dva stoljeća podržavanu dvojbu o Donjoj Kaliforniji, dokazavši da nije otok nego poluotok. Oko 1748. izradio je precizan zemljovid Donje Kalifornije, a oko 1750. i zemljovid Kalifornijskog zaljeva, ucrtavši u njih brojna naselja, misije, imena zaljeva, rtova, otoka, pojave vode (na njegovu zemljovidu Aguage) itd. kao i imena plemena. Zanimljivi su prikazi reljefa, posebice vulkanskog područja Las Virgenes (en los quales sehàn de scubierto Volcanes d Fuego. Año 1746), zaljeva, rtova, otoka i otočića u Kalifornijskom zaljevu itd. U svim ekspedicijama bilježio je podatke o terenu, prirodnim bogatstvima i starosjediocima. Osnovao je nove misije, gradio akvadukte, nasipe, kanale za odvodnju, sudjelovao pri otvaranju prvih rudnika srebra na poluotoku. Još za života objavljeni su njegovi dnevnici ekspedicijâ, prevedeni na nekoliko jezika, u više izdanja, a njegovi zemljovidi poluotokâ i zaljevâ bili su poznati u to doba i nerijetko precrtavani. U prvom pohodu 1746. Konšćak je s posadama i pratnjom na četiri jedrenjaka, počevši od luke San Carlos (daje opširan opis luke, voda, rtova), najbliže misiji San Ignacio, uz istočnu obalu poluotoka istražio najprije širi prostor zaljeva Santisima Trinidad (lovište bisernica s hridinastim dnom, opasnim za ronioce, San Bernabé i otočić s tuljanima). Nastavili su do područja rta San Juan de Bauptista, niske obale s glinenim nanosima, pojavom vode i priobalnim hridima što opširnije opisuje, zatim do rta San Miguel, koji sa sljedećim rtom zatvara zaljev, s barom, vrelom vode, lovištem bisernica, gdje za nevremena more izbacuje mnoštvo školjaka tvoreći nasip koji već kršteni domoroci nazivaju Pepena. U mjestu San Miguel de la Peña održali su poduku domorocima poganima, od kojih su neke i krstili. Dalje opširno opisuje obalu, vrste dna, odvaljene litice, pojave ilovasta tla uz obalu s kaktusom cardón i čičkom, brojnim pticama, pojavama mramora. U blizini rta San Gabriel de las Almeja ili Salsipuedes (prema imenu susjednog otočja) spominje otočić Tortuguilla (tj. Kornjačica) koji Kalifornijci nazivaju Serro Blanco, obližnja naselja u kojima je bilo ponešto krštenika. Domoroci skupljaju vodu, pa makar i slankastu jer su izvori rijetkost. Dno je opasno, hridinasto, spominje neku žutu pećinu, s opisom obale. Skupine domorodaca dovodile su djecu na krštenje, ali bilo je i onih, na koje su bili upozoreni da spremaju napad na ekspediciju, pa su nastavili prema zaljevu San Rafael gdje su na ušću rijeke Kada Koaman u razgovorima s gostoljubivim domorocima, koji su ih vodili do brzaca vode i zdenca, saznali da njih i ronioce napadaju gorštaci. Posebno je važan opis toplih vrela koja su vidljiva za oseke, a za plime su poplavljena morem, priobalnih dijelova s konkavnim stijenama s izvorima vode, šljunčanim i pješčanim nanosima, drvećem mezquite. Pohod je nastavljen prema rtu San Antonio. Tamošnjem malom zaljevu dali su ime Purgatorio (Čistilište). Zatim su obišli stjenoviti i hridinasti rt Las Animas i stigli u duboku i pogodnu uvalu Los Angeles zaštićenu ulančenim otocima na ulazu s pojavom vode koja teče sa strmih padina. Ovdje su bili izloženi prijetnjama okupljenih domorodaca sa sjevera koji su brodove pratili nekoliko dana. Nastavili su do dijela Los Remedios s uvalom Nostra Señora de los Remedios, s nasuprotnim otokom Angel Santo de la Guarda. Za njega navodi da je dosta izdužen, širi na sjeverozapadu i da se od rta San Rafael proteže sve do otočića San Juan i San Pablo, a i dijelu obale su dali isto ime. Svugdje ima dosta bisernica. Kanal između otoka i obale poluotoka pun je kitova pa ga zovi Kitovim tjesnacem (Canal de Ballenas). Skromne, guste i bljutave vode našli su i na dijelu obale koji su nazvali po danu dolaska, San Pedro e Pablo. Nastavili su do zaljeva San Luis Gonzaga i njegova otoka okruženog rtovima, povoljnog za sidrenje, s više slanih lokava na kopnu i bogat ribom, a na zemljovidu je ovdje označeno ime na kopnu San Stanislao (sv. Stanislav; poljski isusovac iz 16. st.). Tu se nalazi i voda San Estanislao. Stalno su susretali negostoljubive, preplašene domoroce, a u moru posvuda sedefaste školjke. Sljedećem dijelu obale nadjenuli su ime San Sebastian, a zatim dio obale zvan Visitación završava na sjeveru istoimenim visokim rtom. Dalje je obala niska, ravna, blatna i kamenita, s dosta antilopa, divljih koza i ovnova, a naišli su i na ključalo sumporno vrelo s dimom (zacijelo solfatar). Sljedeća zona, nazvana Santa Ysabel, zadnje je nalazište školjaka bisernica, jer ih dalje nije bilo, a u blizini, na dijelu dosta teško pristupačne obale s pješčanim prudovima s dražicom San Fermin našli su pitku vodu. Nastavili su prema uvali San Felipe de Jesús, a prošavši San Buonaventuru, obala je postala niska, pješčana, močvarna (Marismas na zemljovidu) s planinama udaljenima tri do četiri lige, bez uvala i izvora, s plitkim morem (Pantanas), zamuljeno. Stigavši do ušća Crvene rijeke, vode su postale obojene, opore, nezdrave. Unatoč vrlo teškim uvjetima, naišli su na pitku vodu pri ušću, na kojem rukavci rijeke odvajaju tri niska močvarna otoka. Nanos rijeke prostire se miljama, a snaga plimnih valova, kao i same rijeke, dovodila je do havarija pa je jedan od brodova stradao. Istražili su područje oko ušća, ustanovivši da s kalifornijske strane rijeka vijuga i među planinama. Nakon dvadeset pet dana istraživačkog pohoda, Konšćak prvi put spominje zemljovid koji je izrađivao navodeći: „Petnaestorica naših kretala se jedno vrijeme kopnom, pa su nam donijeli vijesti o stanju u močvari koja se nalazi na samom rtu toga podvodnoga područja i mi to ucrtasmo u zemljovid“ na kojem je bila označena sjeverna širina. Ovaj Konšćakov dnevnik otac Miguel de la Barca kasnije je popratio podrobnim objašnjenjima i komentarima. U drugoj ekspediciji Konšćak je putovao kopnom poluotoka prema sjeveru i do Tihog oceana. Taj pohod o kojem piše u pismu prijatelju i posebno opširno u dnevniku, odvijao se 1751. iz misije San Ignacio, zapravo iz La Piedad (kasnije nazvana Santa Gertrudis) prema San Everardu kroz Sierra Madre na drugu stranu poluotoka do Oceana. Pohod se odvijao uz pomoć konja, najprije u bezvodnom kraju s bodljikavim stablima milapa, gdje su domoroci već bili pokršteni. Zatim su stigli do korita Kalmayia, koje je pripadalo oselju Nuestra Señora dela Visitación, zatim do Nuestra Señora dela Desponsación de Pui te potoka Kanjaikamána, Nakon nekoliko dana došli su do Ajavaiamina, tekućice s vodom, potom do Anguma, potoka Ziénage u Mezcalu, nešto sjevernije. U dnevniku spominje otoke u tjesnacu Santa Barbara i otok Cerros (Cedros) ili Santisima Trinidad, koji domoroci zovu Vamalgua ili (G)Uamalgua (tj. kuća magle) te rt Mendocino i otok Cenizas na Oceanu. Došavši do mjesta Kalvalaga pogled im se pružio na mali, ali visok otok „koji pomorci koji putuju za Filipine zovu Guadalupe“. Odatle su se vratili natrag do potoka Ziénage i potoka Kanjaikamána, te se zadržali kod vrela Medakal. Slijedi opis obale nasuprot otoku Cedros, gdje ima u moru mnoštvo kitova, gdje su pronašli ostatke brodoloma nekog broda, a spominje i Zaljev (očito Vizcaíno). Uskoro su stigli u indijanski Laboakal, odakle su se ponovno vratili u La Piedad i San Everardo, odakle su i krenuli. Svugdje opisuje život, vjerovanja, ponašanja i običaje domorodaca. Iz vremena između drugog i trećeg pohoda, posebno je važan opis otkrivenih dijelova Kalifornije i dijelova Meksika. Najprije za Donju Kaliforniju kaže da je siromašna, bezvodna, s nešto ruda i bisernicama, u nju misionari dolaze iz svojih misija u Sinaloi, na koju se kratko osvrće. Misije su geografski razmještene od najjužnije San Lucas do najsjevernije Santa Gertrudis. Plodnog zemljišta ima samo na jugu, i tamo žive u bolestima i međusobnim sukobima vrlo razrijeđeni Perikujci i Vajkurci te Guajkurci. Tri misije Perikujaca, Santa Rosa, Santiago i San José del Cabo, svedene su na Santiago i seoce San José, a vajkurske su misije Nuestra Señora de Pilar na jugu i Nuestra Señora de los Dolores i San Luis Gonzaga nešto sjevernije s oceanske strane. Ishodište misijskog rada i kraljevskih snaga je Loreto, nekad Concho, u području malobrojnog naroda Monkujaca, jezikom različitog od drugih, a okružuje ga prostorno istaknut narod Kočimaca ili Lajmona. Tamo je sedam misija (od juga prema sjeveru: San Javier, San José de Comondú, Purísima Concepción, Santa Rosalia, Nuestra Señora de Guadelupe, San Ignacio i Santa Gertrudis). Opisuje različitost narječja plemena, njihovih običaja te napose način jedenja (s uzicom uz dvostruko žvakanje). Poluotokom se pruža bezvodno sredogorje Sierra Madre, a priobalje je još bezvodnije pa su samo tri misije na obali. Otvoreni su i rudnici (Santa Anna i dr.). Ima nešto srebra, dosta naslaga soli i salitre. Uz poluotok su i otoci, s oceanske strane su važniji Santa Magdalena, La Navidad de Nuestra Señora i Cerros (Uamalgua). S ovoga posljednjeg domoroci su prešli na kopno i dio ih se naselio u San Estanislau. Bave se i lovom na morske dabrove (nutrije). S istočne strane poluotoka ima više pogodnih luka (Concepción, Los Angeles i dr.), zaljeva te otoka, od kojih su za pristajanje pogodna tri: Espíritu Santo (za plime dva otoka, vrelo vode), San José (domoroci tamo love divljač koja u želudcima ima bezoar, kamen koji stvaraju preživači i ima ljekovita svojstva) i onaj posvećen Gospi Karmelskoj na kojem je solana. Navodi da su svi otoci Kalifornijskog zaljeva nenaseljeni, premda je na nekima prije bilo stanovnika, ali su prešli na kopno u misije. Opisuje različitost školjki bisernica i samih bisera prema boji (na jugu su bijeli, sjevernije u raznim bojama) s kojima se trguje, purpurnu školjku, a ističe da su brojne i zmije te morske kornjače s obje strane poluotoka, ali onih s prozirnim oklopom koje daju skupu kornjačevinu ima samo na jugu. Bavi se i različitim biljkama (medesa, agave, tedá, gorka smokva, kaktusi, razni sukulenti, garambulla, pitahaye, cardón, portulak, šćir) od kojih su neke jestive, ljekovite, a za prehranu su važni i zečevi, kunići, šišmiši pa i štakori. Česti su leopardi, rjeđi jaguari, divlje mačke, vukovi, ima kojota, a lisice su brojne, i sve ih domoroci jedu. Otrovnice čegrtuše su posvuda kao i brojne druge, većinom neotrovne zmije. Spominje i guštere i crve koje domoroci sve jedu osim daždevnjaka i nekoga crvenog crva, te pojedine kukce (stjenice, skakavce, razne pauke pa i tarantule i dr.). Od ptica spominje brojne grabljivice, orlove, gavrane te golubove, neke vrste nalik na fazane i prepelice. Srebro se vadi u rudnicima na jugu, bakra ima po kamenju, željeza također u grumenima, sumpora u izobilju, galice, različitih mramora i prozirca nalik na dijamant. Daje opširne opise običaja i životnih navika domorodaca, muškaraca i žena, nošnje, ženidbe, vjerovanja, idola, vračeva, glazbe, plesova, mnogoženstva (naročito kod stasitih i svijetloputih Perikujaca), vještina lova, prehrane, pogrebnih običaja, inicijacije itd. Vrlo pojednostavnjeno daje opise pojedinih stijena, ruda, okamina, konglomerata i breča pokušavajući objasniti njihov postanak. Na kraju u bilješci navodi luke s oceanske strane kad se od otoka Cerros putuje na sjever: San Hipólito i San Damián prije otoka Cenizas, a zatim San Francisco (de Borja, op. p.), Las Vírgenes, San Simón i Judas te San Diego, koji je razmjerno blizu misije San Borja. Treći pohod 1753. godine, čiji izvorni opis (dnevnik) do sada nije poznat, ali se ponešto saznaje iz drugih napisa, ostvaren je kroz unutrašnjost poluotoka na sjever do 30. stupnja sjeverne širine. Ovaj je put prošao u puno gostoljubivijem okruženju domorodaca, kopnom od Santa Gertrudis preko naselja uz zaljev Los Angeles, do naselja u sredogorju nedaleko od zaljeva San Luis Gonzaga. Osim što je brojnim pothvatima osnivao sigurna naselja, vodoopskrbne sustave, smirivao sukobe među plemenima, onemogućavao pljačke s različitih strana, počeo opismenjavati i liječiti domoroce od zaraza i epidemija, otvarajući im tako put u civilizirani način života, za geografe su značajni i njegovi pisani doprinosi. Uz manje opservacije o Havani, Veracruzu, otocima Alacranes u Meksičkom zaljevu, otkrio je svjetskoj geografskoj spoznaji oblik i zemljopisna obilježja istočne obale Donje Kalifornije, duljinu otoka Angel de la Guarda, mjesto za misiju San Francisco de Borja, izvor rijeke Adac. Istražujući terene oko misija San Ignacio, koji je na granici prema sjeveru (frontera del Norte), Santa Gertrudis, te velik dio Kalifornijskog zaljeva (ili Crvenog mora), u njegovim se zapisima ističu misija Guadelupe, oblast Primeria (današnje Sonora i Sinaloa), ušće Crvene rijeke, temeljit opis zaljeva Los Angeles, vrlo pogodne prirodne luke s vrelima vode i više otočića u blizini (južno od Kanala kitova Canal de Ballenas na njegovoj karti) s pogodnim pristupom iz luka Caborce i Tepoce, koji, s obzirom na povoljne vjetrove, omogućuje prolaz kroz „zastrašujuće otoke Salsipuedes“, Laogiú, tj. planine San Rafael i mnoge druge u ovom tekstu navedene. Geografi, ali i svi drugi koje ova problematika zanima, u ovom će zanimljivom štivu zahvaljujući trudu autorice, pronaći poticaje za saznanja o Ferdinandu Konšćaku i njegovim otkrićima i zapisima, a možda i za daljnje pronalaženje drugih, do danas još nepoznatih rukopisa, bilo njegovih ili o njemu. Autorica Polić Bobić je za knjigu o ocu Ferdinandu Konšćaku dobila nagradu Hrvatske akademije znanosti i umjetnosti za najviša znanstvena i umjetnička dostignuća u Republici Hrvatskoj za 2015. godinu za područje društvenih znanosti Mirjana POLIĆ BOBIĆ, Mijo KORADE: Paragvajska pisma: Ivan Marchesetti i Nikola Plantić, isusovci u Paragvajskoj provinciji Družbe Isusove, Matica hrvatska, Zagreb, 2015. Iz pera vrsne hispanistice, urednice i književne prevoditeljice, redovite profesorice španjolske i hispanoameričke književnosti na Filozofskom fakultetu Sveučilišta u Zagrebu te koautora, crkvenog povjesničara i povjesničara kulture, suradnika Hrvatskog instituta za povijest u Zagrebu i nasl. redovitog profesora na Hrvatskim studijima Sveučilišta u Zagrebu, dostupno je široj javnosti kulturološko ostvarenje koje ima i brojne sastavnice povijesno-zemljopisne naravi, pa je stoga zanimljivo ne samo za povjesničare, hispaniste i druge, nego posebice i za geografe. Prof. Polić Bobić inače se bavi istraživanjem književnosti i kulturne povijesti kolonijalne Amerike te hrvatsko-hispanskim kulturnim vezama, a prof. Mijo Korade hrvatskom latinističkom historiografijom, historiografijom hrvatskoga redovništva, odnosima Crkve i države, poviješću školstva u Hrvata i hrvatskim putnicima i putopiscima. Knjiga se u prvom dijelu bavi Paragvajskom provincijom Družbe Isusove i njezinim misijama u kojima su srednjoeuropski isusovci, među kojima i hrvatski, u okviru opće i kulturne povijesti kolonijalne Amerike dali istaknut doprinos ne samo zemljopisnom širenju misijskih projekata, nego i sveukupnom udjelu Družbe Isusove u kulturi, povijesti, geografiji, književnosti itd. kolonijalnih posjeda. Razmatranim spisima te redovničke pokrajine, u kojoj su o nastanku tzv. redukcija, tj. naseobina u kojima se obavljala evangelizacija indijanskih plemena Guarani i drugih, omogućen je odgovarajući pristup poznavanju onovremenih procesa, uz ostalo i sociogeografskih, u prostoru južnoameričkoga geopolitičkog sraza dvaju katoličkih kolonijalnih imperija, španjolskog i portugalskog. U porječjima Parane, Paragvaja, Urugvaja s njihovim brojnim pritokama, u okviru većeg broja (više od četrdeset) misija na teritoriju današnje Argentine, Paragvaja, Bolivije i Brazila, između 1585. (1604.) i 1767. ostvarivani su suživot i društveno-gospodarsko uređenje potaknuti djelovanjem požrtvovnih isusovaca, među kojima se ističu i oni iz hrvatskoga prostora tadašnje Austrijske provincije Družbe Isusove, Ivan Krstitelj Marchesetti iz Rijeke i Nikola Plantić iz Zagreba, čija su pisma predmet ove knjige. Red kojem su pripadali zacrtao je stvaranje kršćanskog društva, ustrojstveno i gospodarski izvan utega tadašnjih europskih kasnofeudalnih odnosa, bližeg pravednim novozavjetnim učenjima o ravnopravnosti i vrijednosti svih ljudskih bića. Taj „jedinstveni socijalni eksperiment u povijesti čovječanstva“, koji je imao i svoje političko-geografsko naličje, premda je doživio mnoge poticaje, priznanja i podršku mnogih suvremenika, ugašen je, na štetu posebice brazilskih guaranskih misija. Tome su uzrok bila međudržavna i unutarcrkvena nesuglasja, agresivnost odmetnika i pojedinih kolonizatora te posebice objede i optužbe da misionari zlorabe zasnovane redukcije za svoje bogaćenje i širenje nekoga svojeg zamišljenog kraljevstva. Otuda i kasnije neosnovane i izmišljene reinterpretacije o Plantiću kao „paragvajskom kralju“, kao „komunističkom kralju“ i sl. Od 1585. do 1767. Družba je provela dvadesetpet istraživačkih pohoda, ostavivši o tome brojna pismena svjedočanstva. Epilog gotovo dvostoljetnih nastojanja isusovaca, u vrtlogu dinastičkih interesa i prekrajanja i u sukobu portugalskih i španjolskih geopolitičkih prisezanja, bio je, nažalost, porazan, posebice za stotine tisuća domorodaca koji su pristali na pokrštavanje i novi način života ostvaren kroz misionarske redukcije. Pojam redukcija (lat. reducere – natrag dovesti) ovdje označava misijska naselja, tzv. Paragvajske redukcije u koje su iz divljih krajeva i prašuma okupljani Indijanci da žive sigurni u organiziranoj kršćanskoj zajednici. Prostirale su se na području dugačkom više od 1000 km i širokom oko 300 km, površine više od 400 tisuća četvornih kilometara. Prva je bila Loreto (1609.), u pokrajini Guayara. Najsjevernija redukcija, San Ignacio del Norte, bila je na 16. usporednici, a najjužnija, Yapeyu, između 29. i 30. usporednice južne zemljopisne širine. U početku su bile izrazito ugrožene od neprijatelja kraljevske kuće i guvernera, raznih španjolskih upravitelja i veleposjednika, portugalskih trupa i posebice odmetnika, a kasnije su konsolidirane u tzv. Kršćansku Republiku Paragvaj koja je uživala visoku autonomiju unutar Španjolskog Kraljevstva. U vrijeme procvata redukcija, ustrojenih po načelu „zajednički posjed, zajednički rad, zajednički plodovi“ 30-ih i 40-ih godina 18. stoljeća živjelo je u njima i više od 140 000 osoba. Uređenje naseobina i zemljišnih imanja svakako je bitno utjecalo na stvaranje novoga oblika kulturnog krajobraza u divljim predjelima južnoameričkog kontinenta. U drugom dijelu knjige predstavljena su do sada neobjavljena pisma navedene dvojice hrvatskih isusovaca u izvorniku na španjolskom i u hrvatskom prijevodu, pisma iz njihove prepiske i druga pisma u kojima se spominje Ivan Marchesetti (Rijeka, 10. prosinca 1704. – Candelaria, Paragvaj, 5. veljače 1767.). Ivan Marchesetti umro je u Novom svijetu prije protjerivanja Družbe Isusove 1767. godine. U Argentinu je stigao 1734. i ondje, poslije priprema u Córdobi, od 1738. do smrti djelovao kao misionar i upravitelj u sedam misija. U Nuestra Señora de Fe uveo je plantažni uzgoj štitastih uši – košenila za proizvodnju grimiznih boja te priređivanje lijekova i začina te ustrojio samoobranu grada. Uspješno je pokrenuo proizvodnju i trgovinu poljoprivrednim kulturama u redukcijama (maté, duhan, trska, sukno i dr.). Nikola Plantić (Zagreb, 2. prosinca 1720. – Varaždin, 15. lipnja 1777.), koji je bio u Paragvaju, ali nije poslan u misije, nego je kao profesor filozofije i teologije boravio u Cordobi, vratio se u Hrvatsku gdje je i umro. Prije odlaska u Južnu Ameriku 1748. studirao je filozofiju u Zagrebu i Grazu, a teologiju u Trnavi te 1747. zaređen. Bio je i rektor isusovačkoga kolegija u Buenos Airesu te superior u Montevideu. Nakon izgona isusovaca na temelju patenta Karla III., vratio se 1768. u Zagreb. Od 1771. bio je rektor isusovačkoga kolegija u Varaždinu, gdje je ostao i nakon ukinuća reda 1773. Popraćena opsežnim bilješkama, pisma Marchesettija i Plantića subraći pohranjena u argentinskom državnom arhivu, svjedoče o misijama, tegobama, gospodarskom i društvenom ustroju, svakodnevnom životu, dvojbama i borbama misionara, kolonizatora i domorodačkih plemena. Prepisku je pronašao pok. Milan Blažeković te ju je predao 1992. godine drugom autoru knjige dr. Koradeu. Ova pisma, kao izvorna svjedočanstva, važna su potka u izučavanju povijesno-zemljopisnih okolnosti tristogodišnjega kolonijalnog razdoblja i nastanka južnoameričkih društava. Autori su ih popratili znanstvenim studioznim razmatranjima o životu i radu dvojice misionara te njihovu utjecaju na subraću redovnike, druge suvremenike i naraštaje koji su slijedili. Posebno je obrađena i legenda o kralju Nikoli, tj. intriga o Plantiću kao kralju paragvajskih Indijanaca, izmišljena i proširena za potrebe pristalica sramotno rigidne reakcije na jednu humanu, gospodarski uspješnu misionarsku stečevinu i koliko je bilo moguće, ostvarenje pravednog suživota domorodaca i kolonizatora. Svakoga geografa, kao i brojne druge čitatelje, zanimat će ovo štivo kao dokumentacija i svjedočanstvo jednog vremena i geopolitičkih zbivanja unutar kojih je, unatoč brojnim poteškoćama, ostvarena jedna od najhumanijih do sada poznatih ljudskih zajednica. Kada su godine 1750. Španjolska i Portugal provele bestidnu trgovinu s gradovima-misijama zamjenom sedam redukcija na istočnoj obali Urugvaja za bogatu koloniju San Sacramento na ušću rijeke La Plate, u mjesec dana moralo se iseliti 30 tisuća ljudi sa svom pokretnom imovinom iz sedam misijskih župa. Guarani su morali prepustiti sav svoj 150-godišnji trud svojim neprijateljima. Brojni prosvjedi civilnih i crkvenih vlasti u Americi i u Španjolskoj nisu, nažalost, bili od pomoći. Unatoč kasnijem povratu na prijašnje stanje, protjerivanjem isusovačkog reda u Portugalu, ubrzo i u Španjolskoj, te geopolitičkim previranjima u 19. stoljeću, baština prosvjetiteljskih i vjerskih misija ubrzano se gasila. Ipak, ostale su brojne potvrde, uz ostalo i pisma naših redovnika, veličanstvenog postignuća jednoga crkvenog reda, doprinosa općem boljitku svijeta. Isusovci su svojim redukcijama u Paragvaju ispisali zasigurno jednu od najljepših stranica socijalne povijesti kao i povijesnog zemljopisa na karti svijeta. Knjiga je izašla u izdanju Matice hrvatske, kao prva knjiga u sklopu edicije Biblioteka Historia. Glavna urednica je Romana Horvat, a recenzenti su dr. sc. Marino Manin iz Instituta za migracije i narodnosti u Zagrebu i dr. sc. Damir Zorić, etnolog i povjesničar iz Matice hrvatske. Knjiga ima dvjesto četrdeset šest stranica s osamnaest slika (dvanaest u bojama), bibliografijom i kazalom osobnih imena. Kao što je s uspjehom i suosjećanjem za Guaranske redukcije svojevremeno prihvaćen filmski oskarovac Misija na ovu temu, tako i ova knjiga ne ostavlja ravnodušnima sve one koji teže pravednijim i humanijim odnosima među ljudskim zajednicama.

RESUMEN:El objetivo del artículo es aproximarnos a la controvertida biografía del comisario Manuel Brabo Portillo. El trabajo está basado en fuentes primarias y secundarias. El método utilizado es empírico. En el imaginario del mundo sindicalista revolucionario, Brabo Portillo era el policía más odiado, la reencarnación de la cara más turbia del Estado. Fue, así mismo, un espía alemán relacionado con el hundimiento de barcos españoles, el asesinato del empresario e ingeniero Barret y el primer jefe de los terroristas vinculados a la patronal barcelonesa. La conflictividad que afectó a España en el período de la Primera Guerra Mundial es fundamental para entender los orígenes del terrorismo vinculado al pistolerismo, que marcó la historia político social española del primer tercio del siglo XX.PALABRAS CLAVE: Brabo Portillo, pistolerismo, espionaje, sindicalismo, Primera Guerra Mundial.ABSTRACT:The objective of the article is an approach to the controversial biography of Police Chief Manuel Brabo Portillo. The work is based on primary and secondary sources. The method used is empirical. In the imagery of the revolutionary syndicalist world, Brabo Portillo was the most hated policeman, the reincarnation of the murkiest face of the state. He was also a German spy connected with the sinking of Spanish ships, the murder of businessman and engineer Josep Barret and the first head of the terrorists linked to Barcelona employers. 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The joint coordinate system convention proposed by Grood and Suntay has been widely adopted, but often misrepresented. Previous work has argued by logical explanation of the approach that the joint coordinate system is a set of Euler or Cardan angles. The current work offers both an explanation and mathematical proof that the joint coordinate system convention is equivalent to a Cardan angle sequence, thereby demonstrating the joint coordinate system angles are both sequence dependent and orthogonal.

The Thompson coupling is a relatively recent design of constant-velocity coupling, that is, principally based on the double Cardan mechanism. An extra mechanism comprising a spherical pantograph serves to align the intermediate shaft of this coupling and so maintains the constant velocity of the double Cardan mechanism, in a modular fashion. This technical note serves to introduce basic closed form expressions for the coupling’s geometry—which may then be used to derive linkage accelerations and dynamic forces. The expressions are derived using standard identities in spherical geometry. The resulting dynamic model then informs a basic conceptual design optimization, which object is intended to reduce induced driveline vibrations, when the coupling is articulated at nonzero angles of torque transmission.

In this study, a compliant version of the Cardan universal joint is introduced. The original design consists of two identical parts assembled at right angle with respect to each other. The single piece part can be produced from planar materials; thus, it has the advantage of easiness in manufacturing. Dimensions of the mechanism are devised in order to satisfy the Cardan joint theory and to avoid an undesired contact between the identical parts. As a design example, a mechanism is dimensioned. The resultant stresses at flexural hinges of this sample are determined via finite element analysis method and torque transmission capability of this mechanism is determined. Further, this sample is manufactured and operated under a considerable output loading. Therefore, robustness of the compliant Cardan joint is verified with this prototype. As well, it is verified that the results of experiments are consistent with the theoretical approaches.

Abstract We describe the basic cohomology ring of the canonical holomorphic foliation on a moment-angle manifold, LVMB-manifold, or any complex manifold with a maximal holomorphic torus action. Namely, we show that the basic cohomology has a description similar to the cohomology ring of a complete simplicial toric variety due to Danilov and Jurkiewicz. This settles a question of Battaglia and Zaffran, who previously computed the basic Betti numbers for the canonical holomorphic foliation in the case of a shellable fan. Our proof uses an Eilenberg–Moore spectral sequence argument; the key ingredient is the formality of the Cartan model for the torus action on a moment-angle manifold. We develop the concept of transverse equivalence as an important tool for studying smooth and holomorphic foliated manifolds. For an arbitrary complex manifold with a maximal torus action, we show that it is transverse equivalent to a moment-angle manifold and therefore has the same basic cohomology.

ABSTRACTA parabolic rate kinetics model has been developed and verified by experiments for the pressure infiltration of textile ceramic matrix composites using sol-gel processing with added solid particles. Darcy's law and a global permeability of the whole system were adopted in the model. The permeability of the whole system consisting of fiber preform, compaction, and filter was derived from the individual permeabilities of the fiber preform and particle compaction inside the preform which were based on the Kozeny-Carman equation. Experiments were conducted using 3-D angle interlock woven carbon fiber preforms and silica sol containing silica particles of 0.25μm and 0.5μm sizes. The total infiltration time was inversely proportional to the constant processing pressure and increased significantly with reducing the solid particle size by a factor of two. This is because the permeability of particle compaction layer is the dominant term and it is proportional to the square of particle size.