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Žák, Marek, Jaroslav Rozman, and František V. Zbořil. "Design and Control of 7-DOF Omni-directional Hexapod Robot." Open Computer Science 11, no. 1 (2020): 80–89. http://dx.doi.org/10.1515/comp-2020-0189.
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AbstractLegged robots have great potential to travel across various types of terrain. Their many degrees of freedom enable them to navigate through difficult terrains, narrow spaces or various obstacles and they can move even after losing a leg. However, legged robots mostly move quite slowly. This paper deals with the design and construction of an omni-directional seven degrees of freedom hexapod (i.e., six-legged) robot, which is equipped with omnidirectional wheels (two degrees of freedom are used, one for turning the wheel and one for the wheel itself) usable on flat terrain to increase travel speed and an additional coxa joint that makes the robot more robust when climbing inclined terrains. This unique combination of omnidirectional wheels and additional coxa joint makes the robot not only much faster but also more robust in rough terrains and allows the robot to ride inclined terrains up to 40 degrees and remain statically stable in slopes up to 50 degrees. The robot is controlled by a terrain adaptive movement controller which adjusts the movement speed and the gait of the robot according to terrain conditions.
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Romaniuk, Leonid, Ihor Chykhira, Vitalii Kartashov, and Ihor Dombrovskyi. "UAV movement planning in mountainous terrain." Scientific journal of the Ternopil national technical university 110, no. 2 (2023): 15–22. http://dx.doi.org/10.33108/visnyk_tntu2023.02.015.
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The principles of planning of unmanned aerial vehicle movement in mountainous terrain are described in this paper. It is emphasized that the movement of the aerial vehicle takes place along the trajectory on a certain trajectory movement model, where unmanned aerial vehicle is represented as material point, the mass of which is concentrated in the center of mass. A discrete model in the linear state space that approximates the dynamics of an unmanned aerial vehicle is proposed. The general spatial movement of unmanned aerial vehicle is divided into longitudinal and lateral movement, and the longitudinal movement is considered independently of the lateral movement, taking into account the characteristics of the flight of unmanned aerial vehicle in mountainous terrain. The selection of the polygon from a certain set of irregularities in relation to the speed limit, acceleration limit and change in acceleration of unmanned aerial vehicle in the conditions of movement in mountainous terrain is graphically presented. It is emphasized that since the corresponding heights for any point on the curved surface of the relief are unknown, in order to obtain them, it is necessary to use the interpolation of the vertices of the corresponding triangle. It is noted that while choosing certain values of the coefficients, it is possible to describe the surface of the terrain using triangles, taking into account the combinations of coordinates of each known peak, and using the combinations of undefined coefficients as variable solutions, it is possible to describe the restrictions on the bending of the mountainous terrain. It is emphasized that during trajectory movement, the unmanned aerial vehicle is presented as material point, and in a real flight over mountainous terrain, its characteristic dimensions must be taken into account in order to avoid the obstacle successfully. It is proposed to increase the dimensions by a certain amount in each direction for effective obstacle avoidance of the unmanned aerial vehicle in mountainous terrain.
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Zhou, Fangrong, Xiaowei Huai, Pengcheng Yan, et al. "Research on the Identification of Typical Terrain Patterns in Yunnan Province Based on the K-Means Technology." Atmosphere 15, no. 3 (2024): 244. http://dx.doi.org/10.3390/atmos15030244.
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Wire icing is a prevalent challenge in both industrial and scientific domains, and it is widely acknowledged that terrain and water vapor are significant contributing factors in the formation of wire icing. Consequently, the identification of terrains that are prone to inducing water vapor uplift serves as the scientific foundation for predicting ice accumulation on power lines. Yunnan Province, a mountainous province in China, features a large elevation difference. In winter, this region is prone to wire, pole and tower icing, which can affect power transmission and cause economic and property losses. Therefore, it is necessary to conduct research on the identification of typical terrain patterns in this region. In previous terrain studies, more attention has been focused on slope and aspect, watershed analysis and terrain profile analysis. When the purpose of the terrain identification is to analyze which terrains are more prone to collecting water vapor, we hope to obtain slightly larger terrain blocks and analyze the water vapor sources for different terrains in order to identify typical terrains that are conducive to icing formation. A new technology for identifying terrain patterns based on the K-means clustering method is proposed in this study to explore the typical terrain in Yunnan province. Additionally, the influences of different terrain patterns on water vapor movement are also analyzed. The results indicate that the typical terrains in Yunnan are “Valley-Air Channel”, “Topographic Uplifting”, “Ravine”, “Mountain Pass” and “Alpine Divide” patterns. The results show that the identified typical terrain is consistent with observations from satellite images, which verifies the effectiveness of this identification method. Among these five typical terrains, the “Valley-Air Channel”, the “Topographic Uplifting” and the “Mountain Pass” terrains are prone to collecting water vapor and forming ice cover. The “Alpine Divide” terrain is also prone to accumulating water vapor on both sides to form ice cover. The identified typical terrain demonstrates that typical terrain patterns near water bodies are more prone to the occurrence of wire, pole and tower icing because these areas are abundant in water vapor, and the extensive water vapor is easily condensed under the effects of terrain uplifting and cooling. In these key areas, existing wires and towers, as well as those to be constructed in the future, deserve our special attention.
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Routledge, Paul. "Backstreets, Barricades, and Blackouts: Urban Terrains of Resistance in Nepal." Environment and Planning D: Society and Space 12, no. 5 (1994): 559–78. http://dx.doi.org/10.1068/d120559.
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In this paper I apply aspects of sociospatial theory to the revolutionary context of urban Nepal during the democratic uprisings of 1990. The urban spaces of Kathmandu and Patan were two of the most important sites within which power was contested, and terrains upon which space itself was contested. As I will show, the location of struggle emerged from conscious movement choices (as to tactics, efficacy of mobilization, etc) and influenced the character of collective action. An analysis of the spatial mediation of social movement agency provides us with what 1 term the ‘terrain of resistance’—the specific geographical, historical, political, economic, ecological, and cultural context of movement agency. Such analysis can provide us with important insights into why movements occur where they do, the spatiocultural specificity of movement practice, and the language by which people articulate their discontent, understood through the ‘cultural expressions of resistance’.
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Voina, Ioan, Maricel Palamariu, Iohan Neuner, et al. "Digital Modeling Phenomenon Of Surface Ground Movement." Bulletin of University of Agricultural Sciences and Veterinary Medicine Cluj-Napoca. Horticulture 73, no. 2 (2016): 342. http://dx.doi.org/10.15835/buasvmcn-hort:12363.
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With the development of specialized software applications it was possible to approach and resolve complex problems concerning automating and process optimization for which are being used field data. Computerized representation of the shape and dimensions of the Earth requires a detailed mathematical modeling, known as "digital terrain model". The paper aims to present the digital terrain model of Vulcan mining, Hunedoara County, Romania. Modeling consists of a set of mathematical equations that define in detail the surface of Earth and has an approximate surface rigorously and mathematical, that calculated the land area. Therefore, the digital terrain model means a digital representation of the earth's surface through a mathematical model that approximates the land surface modeling, which can be used in various civil and industrial applications in. To achieve the digital terrain model of data recorded using linear and nonlinear interpolation method based on point survey which highlights the natural surface studied. Given the complexity of this work it is absolutely necessary to know in detail of all topographic elements of work area, without the actions to be undertaken to project and manipulate would not be possible. To achieve digital terrain model, within a specialized software were set appropriate parameters required to achieve this case study. After performing all steps we obtained digital terrain model of Vulcan Mine. Digital terrain model is the complex product, which has characteristics that are equivalent to the specialists that use satellite images and information stored in a digital model, this is easier to use.
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Chen, Liuhongxu, Ping Du, Pengfei Zhan, and Bo Xie. "Gait Learning for Hexapod Robot Facing Rough Terrain Based on Dueling-DQN Algorithm." International Journal of Computer Science and Information Technology 2, no. 1 (2024): 408–24. http://dx.doi.org/10.62051/ijcsit.v2n1.44.
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In the handling of dangerous goods in explosive environments, robots are increasingly being used instead of human operators. Robots designed for operation in explosive environments are mostly equipped with tracked structures, which, due to their limited terrain adaptability, struggle to movement rugged landscapes. Hexapod robots, with their excellent maneuverability and adaptability, possess advantages in completing hazardous material handling tasks in such rugged terrains. One current challenge lies in enabling hexapod robots to autonomously adjust their gaits to cope with rugged terrain. This paper proposes a gait learning method based on the Dueling Deep Q-Network (Dueling-DQN) algorithm to address the gait adjustment problem of hexapod robots in sloped, terraced, and rugged terrain. The method combines lidar data and reinforcement learning to extract features from the lidar data to determine terrain types and foot coordinates. Finally, the Dueling-DQN algorithm and redundant phase strategy are employed to facilitate the motion of hexapod robots in these three types of rugged terrain. Simulation and prototype experiments are conducted to evaluate the Dueling-DQN algorithm's performance in terms of rewards and stability margins for the three types of terrain. During algorithm training on sloped, terraced, and rugged terrain, stable rewards and positive stability margins are achieved after approximately 490 iterations. The effectiveness and feasibility of the proposed method are further validated through Gazebo simulation and prototype experiments. In the context of movement in rugged terrain within explosive environments, the gait learning method based on the Dueling-DQN algorithm offers valuable insights into the control of hexapod robots.
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Li, Xu, Songyuan Zhang, Haitao Zhou, Haibo Feng, and Yili Fu. "Locomotion Adaption for Hydraulic Humanoid Wheel-Legged Robots Over Rough Terrains." International Journal of Humanoid Robotics 18, no. 01 (2021): 2150001. http://dx.doi.org/10.1142/s0219843621500018.
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Compared with the traditional hydraulic humanoid robots, the WLR-II, a novel hydraulic wheel-legged robot developed by using hose-less design, can significantly increase the reliability and maneuverability. The WLR-II combines the rough-terrain capability of legs with the efficiency of wheels. In this paper, a novel framework called rough-terrain adaption framework (RTAF) is presented which allows WLR-II to move on both flat terrains and terrains with unmodeled contact dynamics. RTAF is a hierarchical framework, which has a high-level balance controller and a low-level impedance controller that a high-performance nested torque controller with feed-forward velocity compensation is used. The low-level impedance controller for the hydraulic-driven unit can cancel out the load dynamics influence such as unexpected terrain disturbances and increase the force-tracking performance. With the high-level balance controller, the robot is able to handle unexpected terrain disturbances through wheel-ground force estimation, pitch/roll balance control and impedance parameter regulator. The proposed approach is suitable for a wheel-legged humanoid robot to manage balance through torque control at joints and regulate force-based interaction on rough terrains. The performance of the proposed RTAF is evaluated on variable gradient slopes and grassland which are the typical rough-terrain scenarios for real-world applications. The experimental results reveal that the maximum speed of grassland movement can reach 3 km/h.
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Liu, Yubin, Chunbo Wang, He Zhang, and Jie Zhao. "Research on the Posture Control Method of Hexapod Robot for Rugged Terrain." Applied Sciences 10, no. 19 (2020): 6725. http://dx.doi.org/10.3390/app10196725.
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This paper proposes a hexapod robot posture control method for rugged terrain to solve the problem of difficulty in realizing the posture control of a foot robot in rough terrain. The walking gait and original position of a six-legged robot is planned, and the Layer Identification of Tracking (LIT) strategy is developed to enable the robot to distinguish mild rugged terrain and severe rugged terrains automatically. The virtual suspension dynamic model is established. In mild rugged terrain, the posture maintenance strategy is adopted to keep the stability of the torso. In severe rugged terrain, the posture adjustment strategy is adopted to ensure the leg workspace and make it more widely adapt to the changing terrain, and a gravity center position adjustment method based on foot force distribution is designed to use foot force as feedback to control the position and attitude. The experiment of posture control in rough terrain and climbing experiment in the ladder terrain shows that the hexapod robot has good posture maintenance and posture adjustment effects when traversing complex terrain through the posture maintenance strategy and the posture adjustment strategy. Combined with the terrain identification method based on LIT, the hexapod robot can successfully climb the ladder terrain through the identification of the changing ladder terrain, and the movement of the posture adjustment process is stable.
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Rudakov, Konstantin Vladimirovich, Liubov Nikolaevna Sanduleanu, Aleksandra Alekseevna Tokmakova, Ilya Sergeevich Yamschikov, Ivan Aleksandrovich Reyer, and Vadim Viktorovich Strjov. "Terrain objects movement detection using SAR interferometry." Computer Research and Modeling 7, no. 5 (2015): 1047–60. http://dx.doi.org/10.20537/2076-7633-2015-7-5-1047-1060.
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DOI, Takahiro, and Nobuto KAIDO. "Uneven Terrain Movement Mechanism using Reciprocating Spikes." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 (2017): 2A1—C08. http://dx.doi.org/10.1299/jsmermd.2017.2a1-c08.
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Prasetio, Yusuf, and Nuryono Satya Widodo. "Hexapod Robot Movement Control for Uneven Terrain." Control Systems and Optimization Letters 1, no. 2 (2023): 82–86. http://dx.doi.org/10.59247/csol.v1i2.23.
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Hexapod robot is a robot that has 6 legs with joints or structures that resemble insect legs. This study uses the inverse kinematic method with the aim of finding points and effectors of the robot's legs that will make the robot's legs pass through uneven obstacles such as uneven flor, stairs, bolong-bolong obstacles, bolong-non-obvious obstacles and non-objective obstacles. This inverse kinematic is accessed with the Open Cm 9.04 microcontroller to control the dynamixel servo on the robot leg. The results of testing the robot's movement using inverse kinematics have succeeded in overcoming uneven obstacles using the inverse kinematic method. For testing the stability of the robot it is still not stable enough because the mechanical part of the foot is still not precise. The conclusion of the study, from 6 trials that average and uneven obstacles were obtained in the range of 85% - 95%. The inverse kinematic method using a proximity sensor on the front of the robot, the average success that can be obtained is in the range of 80% - 90%.
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Chen, Boyang, Xizhe Zang, Yue Zhang, Liang Gao, Yanhe Zhu, and Jie Zhao. "A Non-Flat Terrain Biped Gait Planner Based on DIRCON." Biomimetics 7, no. 4 (2022): 203. http://dx.doi.org/10.3390/biomimetics7040203.
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Various constraints exist in bipedal movement. Due to the natural ability of effectively handling constraints, trajectory optimization has become one of the mainstream methods in biped gait planning, especially when constraints become much more complex on non-flat terrain. In this paper, we propose a multi-modal biped gait planner based on DIRCON, which can generate different gaits for multiple, non-flat terrains. Firstly, a virtual knot is designed to model the state transitions when the swing foot contacts terrain and is inserted as the first knot of the target trajectory of the current support phase. Thus, a complete gait or multi-modal gaits sequence can be generated at one time. Then, slacked complementary constraints, which can avoid undesired trajectories, are elaborated to describe the coupling relationships between terrain information and bipedal motion for trajectory optimization based gait planning. The concrete form of the gait planner is also delivered. Finally, we verify the performance of the planner, as well as the structural design of our newly designed biped robot in CoppeliaSim through flat terrain walking, stairs terrain walking and quincuncial piles walking. The three experiments show that the gaits planned by the proposed planner can enable the robot to walk stably over non-flat terrains, even through simple PD control.
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Putra, Prasetya Murdaka, and Nuryono Satya Widodo. "Development of the Design and Control of a Hexapod Robot for Uneven Terrain." Buletin Ilmiah Sarjana Teknik Elektro 5, no. 4 (2024): 552–66. https://doi.org/10.12928/biste.v5i4.9426.
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In the Indonesian Search and Rescue Robot Contest in 2021 and 2022, the robot still cannot work well when passing through uneven obstacles. The change in uneven terrain from the previous year was a difficulty for the robot in passing it. This research was conducted to develop mechanical design and movement control design for the robot, so that the robot can be more optimal when moving through uneven terrain. The design of the hexapod robot is done by reducing the dimensions of the existing robot and determining the Center of Gravity point. The movement of the robot is also designed by determining the angular position of the AX-18A servo with respect to the terrain the robot travels through. The movement algorithm applied to the robot is the tripod gait algorithm. The robot control on the debris field and irregular floor is done by applying a proximity sensor to minimise the robot from hitting the wall on the field. The robot also has an IMU sensor that will work in measuring the slope on the up-and-down floor terrain (slope), so that the movement of the robot can be adjusted when passing through the terrain with the slope read by the sensor. The results of the research conducted show that the robot can be redesigned through 3D design through solidworks by determining the Center of Gravity (CoG) point. The robot has been able to pass through 3 objects tested, namely debris terrain, irregular floor terrain, and up and down floor terrain. The success rate of the robot when passing through debris terrain and irregular floor terrain is 100% with an average time of 9.7 seconds and 10.1 seconds. The success rate of the robot when passing through the up-and-down floor terrain is 80% with an average time of 22.9 seconds.
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Nickel, Barry A., Justin P. Suraci, Anna C. Nisi, and Christopher C. Wilmers. "Energetics and fear of humans constrain the spatial ecology of pumas." Proceedings of the National Academy of Sciences 118, no. 5 (2021): e2004592118. http://dx.doi.org/10.1073/pnas.2004592118.
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Energetic demands and fear of predators are considered primary factors shaping animal behavior, and both are likely drivers of movement decisions that ultimately determine the spatial ecology of wildlife. Yet energetic constraints on movement imposed by the physical landscape have only been considered separately from those imposed by risk avoidance, limiting our understanding of how short-term movement decisions scale up to affect long-term space use. Here, we integrate the costs of both physical terrain and predation risk into a common currency, energy, and then quantify their effects on the short-term movement and long-term spatial ecology of a large carnivore living in a human-dominated landscape. Using high-resolution GPS and accelerometer data from collared pumas (Puma concolor), we calculated the short-term (i.e., 5-min) energetic costs of navigating both rugged physical terrain and a landscape of risk from humans (major sources of both mortality and fear for our study population). Both the physical and risk landscapes affected puma short-term movement costs, with risk having a relatively greater impact by inducing high-energy but low-efficiency movement behavior. The cumulative effects of short-term movement costs led to reductions of 29% to 68% in daily travel distances and total home range area. For male pumas, long-term patterns of space use were predominantly driven by the energetic costs of human-induced risk. This work demonstrates that, along with physical terrain, predation risk plays a primary role in shaping an animal’s “energy landscape” and suggests that fear of humans may be a major factor affecting wildlife movements worldwide.
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Thapa, Prem Bahadur, Bikash Phuyal, and Krishna Kumar Shrestha. "Spatial variability of slope movements in central and western Nepal Himalaya: Evaluating large-scale landslides to cut-slopes." Journal of Nepal Geological Society 65 (August 22, 2023): 183–94. http://dx.doi.org/10.3126/jngs.v65i01.57777.
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Spatial variability of slope movements is common in the Himalayan terrain of central and western Nepal Himalaya due to the intricate topography, differential geo-environment, and frequent rainstorms. The process of mass movements in the Himalaya has been described in the past by many researchers. The spatial variability of slope movement phenomena is scale dependent and is affected by causative and triggering processes. The limited researchers delivered output to understand the scale-dependent spatial variability resulting from the causative and triggering mechanism of slope movement phenomena. This study has presented a rigorous scientific examination of the spatial variability of slope movements, focusing on large-scale landslides to cut slopes across the central and western regions of the Nepal Himalaya. To achieve this, a multidisciplinary approach was employed, encompassing geospatial analysis, remote sensing, and field investigations. High-resolution satellite imagery was utilized to identify and map slope movement features, while digital terrain analysis techniques aided in quantifying their characteristics. This approach quantitatively analyzed slope movement distribution, frequency, and characteristics in terms of various geo-environmental settings. The findings reveal diverse patterns of slope movements influenced by complex interactions between geological factors, geomorphology, triggering factors, and anthropogenic activities. Geological and geomorphological heterogeneity play roles differently in the spatial distribution of slope movements. Moreover, rainfall distribution and peak ground acceleration act similarly for the scale dependency phenomena of slope movement. The spatial variation concerning the causative and triggering variables signify the scale-dependency nature of slope movement processes. This study has provided insights into the scale dependency and spatially variable nature of slope movement events due to variations in causative and triggering mechanisms in the Nepal Himalaya.
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Gradetsky, Valery, Ivan Ermolov, Maxim Knyazkov, et al. "Highly passable propulsive device for UGVs on rugged terrain." MATEC Web of Conferences 161 (2018): 03013. http://dx.doi.org/10.1051/matecconf/201816103013.
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One of the priority functional tasks of both industrial and mobile robotics is to perform operations for moving payloads in space. Typically, researchers pay attention to control the movement of the robot on different soils. It is necessary to underline the specificity of the movements of mobile robots, the main functional purpose of which is the movement of different objects. Unlike other robot applications there is the fact that transported cargo may have different mass-dimensional characteristics. The payload should be comparable to the mass of the mobile robot. This article addresses the issue of passability on rough terrain for a mobile robot performing the transport task and proposed a technical solution in the field of mechanics of propulsion to improve propelling of the traction wheel of the mobile robot with the ground.
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Rédl, Jozef, Veronika Váliková, and Ján Antl. "Modelling of Terrain Surface." Acta Technologica Agriculturae 17, no. 1 (2014): 17–20. http://dx.doi.org/10.2478/ata-2014-0004.
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Abstract In this contribution, we deal with the methodology of visualisation of terrain surface, on which experimental measurements of driving manoeuvres of an agricultural technological vehicle MT8-222 were performed. The introduced methodology uses a defined approach when determining the dynamic stability of agricultural vehicles following the standard STN 47 017. Records of the centre of gravity accelerations were obtained from driving manoeuvres at every instance of time during the drive. From records of accelerations and by using Euler‘s parameters with respect to the inertial system, there were evaluated contact points of the wheel with the terrain. Performed driving manoeuvres consisted of movement in the direction of down grade slope as well as in the direction of tractive movement on the slope. We created a model of terrain surface in the Surfer® program from obtained experimental data. Next, by using supporting commands in Matlab®, we created an algorithm for visualisation of terrain surface. Following this algorithm, there was created another model of terrain surface. Both visualisations of terrain surface are depicted in Figs 4 and 5.
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A/L V.Nagarrettinam, Mahesh, Aravind CV, and Mohsen Nabi Poor. "Prediction of Cyclists Movement in Different Terrain Conditions." MATEC Web of Conferences 152 (2018): 03003. http://dx.doi.org/10.1051/matecconf/201815203003.
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In Malaysia, most of the accidents involving a bicycle and another vehicle are due to either the driver or rider ‘failing to look properly’. This is more significant with the government initiatives to support the use of bicycle making the carbon-free environment, a vision of TN50. This research addresses the safety aspect of the cyclists in terms of the driver’s point of view which improves cyclist visibility during driving. The proposed helmet system implements a rule-based algorithm which predicts the turning and braking movement of the cyclists. With this system, additional illumination and signaling are provided for the cyclists. The major challenge faced is the implementation of an algorithm for various situations of cycling. To ensure the system could be used on the road, the accuracy and speed of the automatic signaling system need to adhere. Situations that affects the output of the indicators include bicycle speed, the angle of turning, body tilt, duration of turn and random body movements. This paper implements a 3-axis accelerometer and a microcontroller in a data logger to acquire the required data which are analyzed in MATLAB. Using filtering technique, the acquired data are then be cleaned to remove noise due to vibration during cycling. The characteristics of braking and turning are then analyzed in the time domain as well as frequency domain to ensure the optimum algorithm used for gesture recognition and movement prediction. The algorithm is based on sliding window, FFT and threshold-based rule algorithm. The output based on the rule-based algorithm then illuminate the corresponding signals which provide the safety feature of the system.
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Sateesh, Deepta. "Movement and Place-making in a Monsoon Terrain." Dearq, no. 26 (January 2020): 16–27. http://dx.doi.org/10.18389/dearq26.2010.02.
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Sateesh, Deepta. "Movement and Place-making in a Monsoon Terrain." Dearq, no. 26 (January 2020): 16–27. http://dx.doi.org/10.18389/dearq26.2020.02.
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Kretchmar, Scott. "Movement and Play on Higher Education's Contested Terrain." Quest 48, no. 4 (1996): 433–41. http://dx.doi.org/10.1080/00336297.1996.10484208.
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Rybansky, M., F. Dohnal, S. Hoskova-Mayerova, and H. Svatonova. "The impact of drainage on terrain UGV movement." IOP Conference Series: Earth and Environmental Science 169 (July 31, 2018): 012021. http://dx.doi.org/10.1088/1755-1315/169/1/012021.
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Zhang, Yilin, Jiayu Zeng, Huimin Sun, Honglin Sun, and Kenji Hashimoto. "Dual-Layer Reinforcement Learning for Quadruped Robot Locomotion and Speed Control in Complex Environments." Applied Sciences 14, no. 19 (2024): 8697. http://dx.doi.org/10.3390/app14198697.
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Walking robots have been widely applied in complex terrains due to their good terrain adaptability and trafficability. However, in some environments (such as disaster relief, field navigation, etc.), although a single strategy can adapt to various environments, it is unable to strike a balance between speed and stability. Existing control schemes like model predictive control (MPC) and traditional incremental control can manage certain environments. However, they often cannot balance speed and stability well. These methods usually rely on a single strategy and lack adaptability for dynamic adjustment to different terrains. To address this limitation, this paper proposes an innovative double-layer reinforcement learning algorithm. This algorithm combines Deep Double Q-Network (DDQN) and Proximal Policy Optimization (PPO), leveraging their complementary strengths to achieve both fast adaptation and high stability in complex terrains. This algorithm utilizes terrain information and the robot’s state as observations, determines the walking speed command of the quadruped robot Unitree Go1 through DDQN, and dynamically adjusts the current walking speed in complex terrains based on the robot action control system of PPO. The speed command serves as a crucial link between the robot’s perception and movement, guiding how fast the robot should walk depending on the environment and its internal state. By using DDQN, the algorithm ensures that the robot can set an appropriate speed based on what it observes, such as changes in terrain or obstacles. PPO then executes this speed, allowing the robot to navigate in real time over difficult or uneven surfaces, ensuring smooth and stable movement. Then, the proposed model is verified in detail in Isaac Gym. Wecompare the distances walked by the robot using six different control methods within 10 s. The experimental results indicate that the method proposed in this paper demonstrates excellent speed adjustment ability in complex terrains. On the designed test route, the quadruped robot Unitree Go1 can not only maintain a high walking speed but also maintain a high degree of stability when switching between different terrains. Ouralgorithm helps the robot walk 25.5 m in 10 s, outperforming other methods.
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Chen, Yuanyuan, Yanyu Cui, Wenhui Chen, Tao Deng, and Jing Gong. "Mathematical Model of Air Pocket Evolution during Water Filling a Long-Slope Pipeline and Its Application to Air Removal Prediction." Mathematical Problems in Engineering 2020 (July 27, 2020): 1–15. http://dx.doi.org/10.1155/2020/3157850.
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During water filling a long-slope pipeline, air pocket is very likely to be entrapped at peak point. In order to track air movement and predict air removal conditions, a mathematical model of air pocket evolution, including its formation, compression, and entrainment, is proposed in this paper. The simulation results were compared with the engineering field data and the two are basically consistent. Furthermore, the two most important factors which play a great role in the removal of air pocket, i.e., the terrain category and the inlet flow rate, are analyzed in detail. It is concluded that the removal conditions reach three outcomes: air pocket compressed and partly removed, compressed and completely removed, and compressed without any removal. In this paper, the terrain which leads to the last outcome is called the “Dangerous Terrain.” And for the “Dangerous Terrain,” it is of great importance that the inlet flow rate should be strictly confined within a certain level. While for the other two categories of terrains, an increased flow rate is in any respect beneficial to the removal of air pocket.
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Uljan, Branislav, and Michal Kelemen. "Wheeled robot for rough terrain." Acta Mechatronica 9, no. 3 (2024): 21–26. https://doi.org/10.22306/am.v9i3.118.
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The article deals with the design of a robot chassis intended for movement on uneven terrain. The chassis is composed of a front part with two parallel arranged wheels and two tiltable parts with serially placed wheels. This concept adapts to uneven ground surfaces.
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Ion, Ion, Mircea Găvan, Adrian Curaj, Grigore Stamatescu, and Cornel Dinu. "Adaptation to Rough Terrains by Using Force Sensing on the MERO Modular Walking Robots." Applied Mechanics and Materials 762 (May 2015): 147–54. http://dx.doi.org/10.4028/www.scientific.net/amm.762.147.
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The last years a large number of vehicles have been developed for their mobility characteristics over rough terrains. The new modular walking robot MERO* (MEchanism Robot- *Pelecudi Ch et.al.) by reconfiguring their architecture are built to displace the heavy loads on the rough terrains. The main characteristic of the modular walking robot is that they are able to move away on not arranged, horizontal and rough terrains. The modular mechatronic system protect much better the environment when its contact with the soil is discrete, a fact that limits appreciately he area that is crushed. Operation of autonomous walking robot MERO movement implies the existence of a close link between planning movements, environmental perception and executions order to obtain an appropriate behaviour in weakly structured environments. For further acquisition of terrain information, we propose installed active force sensor for terminal leg. This paper describes the detailed design and the prototype characterization of a novel tactile sensor force/moment sensor for MERO an intelligent walking robot’s .
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Shim, Myounghoon, Jong In Han, Ho Seon Choi, Seong Min Ha, Jung-Hoon Kim, and Yoon Su Baek. "Terrain Feature Estimation Method for a Lower Limb Exoskeleton Using Kinematic Analysis and Center of Pressure." Sensors 19, no. 20 (2019): 4418. http://dx.doi.org/10.3390/s19204418.
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While controlling a lower limb exoskeleton providing walking assistance to wearers, the walking terrain is an important factor that should be considered for meeting performance and safety requirements. Therefore, we developed a method to estimate the slope and elevation using the contact points between the limb exoskeleton and ground. We used the center of pressure as a contact point on the ground and calculated the location of the contact points on the walking terrain based on kinematic analysis of the exoskeleton. Then, a set of contact points collected from each step during walking was modeled as the plane that represents the surface of the walking terrain through the least-square method. Finally, by comparing the normal vectors of the modeled planes for each step, features of the walking terrain were estimated. We analyzed the estimation accuracy of the proposed method through experiments on level ground, stairs, and a ramp. Classification using the estimated features showed recognition accuracy higher than 95% for all experimental motions. The proposed method approximately analyzed the movement of the exoskeleton on various terrains even though no prior information on the walking terrain was provided. The method can enable exoskeleton systems to actively assist walking in various environments.
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Петров, Л., та І. Кішянус. "ЕЛЕМЕНТИ ТЕОРІЇ ВСЮДИХОДА ПЕТРОВА – КІШЯНУСА ЗІ ЗМІНЕННЯМ ГЕОМЕТРІЇ КОЛІСНОЇ ФОРМУЛИ ХОДОВОЇ ЧАСТИНИ". Collection of scientific works of Odesa Military Academy, № 20 (14 грудня 2023): 149–54. http://dx.doi.org/10.37129/2313-7509.2023.20.149-154.
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The article discusses the issues of studying the elements of the theory of a military vehicle for an all-terrain vehicle with a change in the wheel formula of the chassis. The study of the all-terrain vehicle with a change in the wheel formula of the chassis was associated with the use of the Lagrange equation As a generalized coordinate, the angular displacement of the movable wheel from its position with contact in the supporting surface – φ was taken. As a redundant coordinate, the value of the wheel lift up to the frame by the value of -y was used. Also, the equation of moments with respect to the hinge, which is a fixed point of the system – the point of suspension to the frame of the movable wheel, was compiled. The aim of the study is to create a technological scheme of a mobile wheel propulsion system when transferring the energy of the oscillatory movement of the wheel propulsion due to the "transition" of kinetic to potential energy and vice versa due to elastic elements made according to a special geometry with the creation of a portable force that acts on the frame of an all-terrain vehicle and is an auxiliary factor to the innovative technology of its movement. The scientific and practical direction of the work lies in the fact that for the first time a technology for an all-terrain vehicle has been proposed, in which its movement along the road uses the "transition" of potential energy into kinetic energy by oscillating movement of the wheel, connected to the frame of the all-terrain vehicle by elastic elements made according to a special geometry. The result of the study is the development of elements of the theory of an all-terrain vehicle with a moving wheel, which makes it possible to create a design of a promising all-terrain vehicle with an oscillating wheel, and thereby offer increased mobility for an all-terrain vehicle. Keywords: physical and mathematical model, force, oscillatory motion, potential energy, kinetic energy.
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de Curtò, J., I. de Zarzà, and Carlos T. Calafate. "UWB and MB-OFDM for Lunar Rover Navigation and Communication." Mathematics 11, no. 18 (2023): 3835. http://dx.doi.org/10.3390/math11183835.
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This paper presents a comprehensive study of ultra-wideband (UWB) and multi-band orthogonal frequency-division multiplexing (MB-OFDM) technologies for lunar rover navigation and communication in challenging terrains. Lunar missions pose unique challenges, such as signal propagation in the lunar environment, terrain elevation, and rover movement constraints. To address these challenges, we propose a hybrid communication and navigation system that leverages UWB technology for high-precision positioning and MB-OFDM for robust and high-throughput communication. We develop a realistic simulation framework that incorporates terrain elevation, obstacles, and rover movement constraints, along with a simple fading model for communication. Simulation results demonstrate the effectiveness of the proposed system in navigating lunar rovers to their target locations while maintaining reliable communication links with a lunar lander. A novel approach based on game theory for rover navigation is also presented. The study provides valuable insights into the design and optimization of communication and navigation systems for future lunar missions, paving the way for seamless integration of advanced terrestrial technologies in extraterrestrial environments.
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Куст, Сергей Юрьевич, Мария Владимировна Маркова, and Аза Валерьевна Писарева. "DEVELOPMENT OF AN ALGORITHM FOR IDENTIFICATION OF TERRAIN IN A LOWER LIMB PROSTHESIS CONTROL SYSTEM." СИСТЕМНЫЙ АНАЛИЗ И УПРАВЛЕНИЕ В БИОМЕДИЦИНСКИХ СИСТЕМАХ, no. 2 (July 26, 2021): 99–105. http://dx.doi.org/10.36622/vstu.2021.20.2.013.
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Статья посвящена разработке алгоритма определения типа местности, по которой перемещается пользователь протезом нижней конечности. Идентификация местности, по которой происходит движение, является важной задачей при управлении протезами нижних конечностей, так как на разных типах местности протез должен совершать разные модели движений. В данном исследовании высказано предположение о возможности определения типа местности с помощью электромиографических датчиков, которые записывают сигналы от определенных мышц пользователя протезом. Чтобы подтвердить это утверждение, было проведено исследование. Испытуемые выполняли несколько типов движений: движение прямо, подъем и спуск по лестнице, подъем и спуск по наклонной поверхности. Электромиографические сигналы регистрировались от разных мышц нижних конечностей испытуемых. После первичной обработки из сигналов были выделены параметры биоэлектрического сигнала, чаще всего используемые в управлении протезами. Результаты исследования показали, что существует статистическая разница в некоторых параметрах сигнала в зависимости от канала регистрации сигнала и типа местности, на которой происходит движение. Исследование доказало возможность определения типа местности по четырем комбинациям параметр сигнала - мышца. На основании полученных результатов предложен алгоритм идентификации местности The article is devoted to the development of an algorithm for determining the type of terrain along which the user moves with a lower limb prosthesis. Identification of the terrain along which the movement takes place is when controlling the prostheses of the lower extremities, since on different types of terrain the prosthesis must perform different models of movements. In this study, it is assumed that it is possible to determine the location using electromyographic sensors that record signals from the muscles of the wearer with a prosthesis. Research has been done to confirm this claim. The subjects performed several types of movements: straight movement, climbing and descending stairs, ascending and descending an inclined surface. Electromyographic signals were recorded from different muscles of the lower end objects. After primary processing, the parameters of the bioelectric signal were extracted from the signals. The research results show that there is a statistical difference in some signal parameters depending on the signal registration channel and the type of terrain on which the movement takes place. The study proved the possibility of determining the type of terrain by four combinations of signal parameter - muscle. Based on the results obtained, an algorithm for identifying the area is proposed
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Pillai, Branesh M., Arush Mishra, Rijo Jacob Thomas, and Jackrit Suthakorn. "Optimizing robot anomaly detection through stochastic differential approximation and Brownian motion." IAES International Journal of Robotics and Automation (IJRA) 14, no. 1 (2025): 19. https://doi.org/10.11591/ijra.v14i1.pp19-30.
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This paper presents an adaptive approximation method for detecting anomalous patterns in extensive data streams gathered by mobile robots operating in rough terrain. Detecting anomalies in such dynamic environments poses a significant challenge, as it requires continuous monitoring and adjustment of robot movement, which can be resource intensive. To address this, a cost-effective solution is proposed that incorporates a threshold mechanism to track transitions between different regions of the data stream. The approach utilizes stochastic differential approximation (SDA) and optimistic optimization of Brownian motion to determine optimal parameter values and thresholds, ensuring efficient anomaly detection. This method focuses on minimizing the movement cost of the robots while maintaining accuracy in anomaly identification. By applying this technique, robots can dynamically adjust their movements in response to changes in the data stream, reducing operational expenses. Moreover, the temporal performance of the data stream is prioritized, a key factor often overlooked by conventional search engines. This paper demonstrates how the approach enhances the precision of anomaly detection in resource-constrained environments, making it particularly beneficial for real-time applications in rugged terrains.
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Stojnic, Nedeljko. "Modeling of the sliding process in condition of disturbed soil stability." Glasnik Srpskog geografskog drustva 90, no. 1 (2010): 35–49. http://dx.doi.org/10.2298/gsgd1001035s.
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Main goal of this investigation is to present a mechanism, terrain shaping of a certain slope during the sliding process, in time history, up to its final form. It means that except slope material movement what is the slope composed, in time of slope occurrence is emphasized becoming of a new terrain form as a result of the process itself, too. This way of investigation definitively opens a new approach in a terrain relief form prediction depends on terrain characteristics and expecting weather occurrence. Here is analyzed a process of land crumbing and sliding on a Neogene slope at Ubilci place (part of urban area of Smederevo city), which was triggered by humane activities (undercutting of slope) and weather influence (rainy period). To present continuity flow of the slope material movement, it is used extended distinct element method. Profile line of the terrain surface which is obtained by numerical analyzes is in very good agreement with the finale profile line of the slope where a real case of crumbing and soil sliding has occurred. .
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Pahnke, Anthony. "The Changing Terrain of Rural Contention in Brazil: Institutionalization and Identity Development in the Landless Movement's Educational Project." Latin American Politics and Society 59, no. 3 (2017): 3–26. http://dx.doi.org/10.1111/laps.12024.
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AbstractStudies of the Brazilian Landless Movement, particularly the MST (Movimento dos Trabalhadores Rurais Sem Terra, Landless Rural Workers' Movement), note two periods of collective action: the time when tactics such as land occupations are deployed to acquire land (luta pela terra) and subsequent mobilizations to develop territory (luta na terra). The latter period, which includes fostering educational opportunities and coordinating economic production, features prolonged interaction with government authorities. Instead of demobilizing during institutionalization, this study argues, postoccupation practices are as contentious as seizing territory. This is apparent in the movement's efforts to influence public policies that lead to the creation of schools where a contentious, movement-centered identity develops. Documenting the movement's efforts in education provides a way to understand how the current moment in rural contention in Brazil—called by some the time toacumular forças(accumulate forces)—remains collective and political instead of indicating movement decline.
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Pahnke, Anthony. "The Changing Terrain of Rural Contention in Brazil: Institutionalization and Identity Development in the Landless Movement's Educational Project." Latin American Politics and Society 59, no. 03 (2017): 3–26. http://dx.doi.org/10.1017/s1531426x00010256.
Full textAbstract:
Abstract Studies of the Brazilian Landless Movement, particularly the MST (Movimento dos Trabalhadores Rurais Sem Terra, Landless Rural Workers' Movement), note two periods of collective action: the time when tactics such as land occupations are deployed to acquire land (luta pela terra) and subsequent mobilizations to develop territory (luta na terra). The latter period, which includes fostering educational opportunities and coordinating economic production, features prolonged interaction with government authorities. Instead of demobilizing during institutionalization, this study argues, postoccupation practices are as contentious as seizing territory. This is apparent in the movement's efforts to influence public policies that lead to the creation of schools where a contentious, movement-centered identity develops. Documenting the movement's efforts in education provides a way to understand how the current moment in rural contention in Brazil—called by some the time to acumular forças (accumulate forces)—remains collective and political instead of indicating movement decline.
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Kenny, Bridget. "The South African labour movement." Tempo Social 32, no. 1 (2020): 119–36. http://dx.doi.org/10.11606/0103-2070.ts.2020.166288.
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This paper reviews the state of the South African labour movement. It discusses trade unions within the context of national political dynamics, including the Tripartite Alliance and neoliberalism, as well as growing precarianization of work within South Africa. It examines splits within the major federation and explores debates around union renewal and new worker organizations. It argues that the political terrain is fragmented and shifting, but workers’ collective labour politics abides.
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Demić, Miroslav, Aleksandar Đurić, Aleksandar Grkić, Momir Drakulić, and Slavko Muždeka. "A contribution to investigation of oscillatory loads of driving axles in order to create conditions for laboratory tests of trucks." IOP Conference Series: Materials Science and Engineering 1271, no. 1 (2022): 012001. http://dx.doi.org/10.1088/1757-899x/1271/1/012001.
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Abstract Motor vehicles are complex dynamic systems due to spatial vibratory displacements during movement, changes in the characteristics of components during life cycle, a large number of influences and disturbances, the occurrence of clearance, friction, hysteresis, etc. The mentioned dynamic phenomena, especially vibrations, cause fatigue of the driver and passengers, reduce the life cycle of the vehicle and its systems, etc. In the general case, the movement of motor vehicles is done on uneven roads (terrain) and curvilinear paths in flat roads (terrains). Oscillatory movements cause loading of vehicle parts, but they also negatively affect human health. Therefore, even in the design phase of the vehicle, special attention must be paid to the harmonization of the mutual movement of the vehicle subsystem, and in particular, the suspension system. Theoretical, experimental or combined methods can be used for this purpose, and it is very useful to have experimental results of vibration of the vehicle subsystems in real operational conditions. Therefore, it is very useful to have experimental results of vibration of vehicle subsystems in operational conditions. Bearing that in mind, the aim of this wpaper was to use the movement of FAP 1118, 4x4 wheel formula, in operational conditions (due to higher speeds - in road conditions) to define laboratory conditions for testing. This is made possible by registering and identifying statistical parameters of registered quantities.
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Shriver, Thomas, and Alison Adams. "Collective Identity and the Subjective Terrain of Political Opportunities: Movement Dissension over Participation in Party Politics." Mobilization: An International Quarterly 18, no. 1 (2013): 65–82. http://dx.doi.org/10.17813/maiq.18.1.076ut123521u6115.
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Extant research emphasizes the ways in which collective identity is negotiated within broader political and economic opportunity structures. However, the interplay between collective identity and the subjective nature of opportunities has been largely unexplored. We address this gap in the literature by delineating how conflicting perceptions of salient political opportunities can fuel animosity and threaten movement identity. We draw from a unique qualitative dataset on the Czech environmental movement collected over a ten-year span. In 2002, a group of movement leaders circulated a manifesto urging environmentalists to stage a coup d'état of the Czech Green Party. Controversy erupted as some activists felt that the rallying call violated their longstanding independence from party politics. Our findings reveal that the movement's collective identity ultimately became fragmented as a result of activists' dissonant perceptions of this opportunity. We conclude by discussing the implications of our results for social movement research.
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Jaedicke, C., K. Lied, and K. Kronholm. "Integrated database for rapid mass movements in Norway." Natural Hazards and Earth System Sciences 9, no. 2 (2009): 469–79. http://dx.doi.org/10.5194/nhess-9-469-2009.
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Abstract. Rapid gravitational slope mass movements include all kinds of short term relocation of geological material, snow or ice. Traditionally, information about such events is collected separately in different databases covering selected geographical regions and types of movement. In Norway the terrain is susceptible to all types of rapid gravitational slope mass movements ranging from single rocks hitting roads and houses to large snow avalanches and rock slides where entire mountainsides collapse into fjords creating flood waves and endangering large areas. In addition, quick clay slides occur in desalinated marine sediments in South Eastern and Mid Norway. For the authorities and inhabitants of endangered areas, the type of threat is of minor importance and mitigation measures have to consider several types of rapid mass movements simultaneously. An integrated national database for all types of rapid mass movements built around individual events has been established. Only three data entries are mandatory: time, location and type of movement. The remaining optional parameters enable recording of detailed information about the terrain, materials involved and damages caused. Pictures, movies and other documentation can be uploaded into the database. A web-based graphical user interface has been developed allowing new events to be entered, as well as editing and querying for all events. An integration of the database into a GIS system is currently under development. Datasets from various national sources like the road authorities and the Geological Survey of Norway were imported into the database. Today, the database contains 33 000 rapid mass movement events from the last five hundred years covering the entire country. A first analysis of the data shows that the most frequent type of recorded rapid mass movement is rock slides and snow avalanches followed by debris slides in third place. Most events are recorded in the steep fjord terrain of the Norwegian west coast, but major events are recorded all over the country. Snow avalanches account for most fatalities, while large rock slides causing flood waves and huge quick clay slides are the most damaging individual events in terms of damage to infrastructure and property and for causing multiple fatalities. The quality of the data is strongly influenced by the personal engagement of local observers and varying observation routines. This database is a unique source for statistical analysis including, risk analysis and the relation between rapid mass movements and climate. The database of rapid mass movement events will also facilitate validation of national hazard and risk maps.
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ŠEGINA, Ela, Mateja JEMEC AUFLIČ, Matija ZUPAN, Jernej JEŽ, and Tina PETERNEL. "Composite landslide in the dynamic alpine conditions: a case study of Urbas landslide." Geologija 65, no. 2 (2022): 161–75. http://dx.doi.org/10.5474/geologija.2022.010.
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The alpine environment is characterized by complex geology, high-energy terrain, deeply incised river valleys with high erosional potential, extreme weather conditions and dynamic geomorphic processes. Such settings provide favourable conditions for the formation of composite landslides rather than individual slope mass movement phenomena. As an example, we present the kinematics of the composite landslide Urbas in the North of Slovenia which developed in the complex geological and morphological settings characteristic of the alpine environment. The research combines several monitoring techniques and involves the integration of both surface and subsurface displacements measured in the landslide area. The results indicate that the composite sliding process consists of several simultaneous and interrelated types of movements occurring in different segments of the unstable mass that are governed by different mechanisms of displacements, such as rockfall, sliding and debris flow. The kinematic characteristics of a deep-seated landslide that formed in such conditions vary spatially, but is rather homogenuous vertically, indicating translational type of movement. Spatial kinematic heterogeneity is primarily related to the diverse terrain topography, reflecting in different displacement trends. Based on the revealed kinematic proprieties of the sliding material, the sediment discharge illustrates the sliding material balance which estimates the volume of the retaining material that represents the potential for slope mass movement events of larger scales.
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Arrigoni, Stefano, Marco Zangrandi, Giovanni Bianchi, and Francesco Braghin. "Control of a Hexapod Robot Considering Terrain Interaction." Robotics 13, no. 10 (2024): 142. http://dx.doi.org/10.3390/robotics13100142.
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Bioinspired walking hexapod robots are a relatively young branch of robotics. Despite the high degree of flexibility and adaptability derived from their redundant design, open-source implementations do not fully utilize this potential. This paper proposes an exhaustive description of a hexapod robot-specific control architecture based on open-source code that allows for complete control over a robot’s speed, body orientation, and walk gait type. Furthermore, terrain interaction is deeply investigated, leading to the development of a terrain-adapting control algorithm that allows the robot to react swiftly to the terrain shape and asperities, such as non-linearities and non-continuity within the workspace. For this purpose, a dynamic model derived from interpreting the hexapod movement is presented and validated through a Matlab SimMechanicsTM simulation. Furthermore, a feedback control system is developed, which is able to recognize leg–terrain touch and react accordingly to ensure movement stability. Finally, the results from an experimental campaign based on the PhantomX AX Metal Hexapod Mark II robotic platform by Trossen RoboticsTM are reported.
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Ashley, Jennifer. "Chilean Television on Shifting Terrain: Movement Toward a Postnetwork Era." Television & New Media 20, no. 5 (2018): 476–91. http://dx.doi.org/10.1177/1527476418776416.
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Two events rocked Chilean television in the first half of the 2010s. The first of these was an earthquake in 2010, and the second was the arrival in 2014 of the first Turkish soap opera to the screens of Chilean viewers. In this article, I situate these two events within an historical analysis of Chile’s movement to a postnetwork era. This digital transition has been marked by a much greater transnationalization both in property structure and in the viewing habits of the Chilean public. Although Chile could be considered an outlier in Latin America in terms of its digital access, my analysis emphasizes the importance of highlighting points of individual variation within the region to disaggregate regional-level conclusions regarding the state of “Latin American” television.
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Chen, H. X., L. M. Zhang, L. Gao, H. Zhu, and S. Zhang. "Presenting regional shallow landslide movement on three-dimensional digital terrain." Engineering Geology 195 (September 2015): 122–34. http://dx.doi.org/10.1016/j.enggeo.2015.05.027.
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Rider, Kevin A., and Bernard J. Martin. "Effects of Ride Motion on the Speed and Accuracy of In-Vehicle Pointing Tasks." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 49, no. 12 (2005): 1119–23. http://dx.doi.org/10.1177/154193120504901204.
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Terrain-induced vibration of a moving vehicle adversely affects the ability to quickly and accurately perform in-vehicle pointing tasks by altering the planned fingertip trajectory. The relationship between movement speed and accuracy is a result of the combined use of visual and somatosensory feedbacks which are used to discern movement deviations and make necessary compensatory movements. Participants (N=20) performed three-dimensional rapid pointing tasks under stationary and ride motion conditions to three touchpanel displays. Ride motion contributed to increased reaction and movement times and increased endpoint variability. Trajectory deviations were correlated to the principal direction of vehicle acceleration. Reaches orthogonal to the dominant vehicle acceleration exhibited larger endpoint variability, and reaches to the elevated touchpanel resulted in the largest variability across all motion conditions. Principal axes of endpoint ellipses were along the on-axis and off-axis directions of fingertip movement.
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Rickenmann, Dieter, and Christian Scheidl. "Modelling of debris-flow deposition: Terrain slope, mobility coefficient, and back-calculated basal friction coefficient." E3S Web of Conferences 415 (2023): 07013. http://dx.doi.org/10.1051/e3sconf/202341507013.
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Numerous simulation models have become available for the hazard delineation of gravitational mass movements such as debris flows in the potential depositional area. This study compares the basal friction coefficients of two modelling approaches as they have been used in other studies to simulate mass movement deposition. We show that both back-calculated basal friction coefficients are related to the fan or terrain slope in the deposition region and to a mass flow mobility coefficient. The latter is characterized by the geometric scaling between the deposition area and the deposition volume as well as by process type. Intended as a preliminary study, we aim to initiate systematic investigations of different model applications to determine the runout pattern of mass movement processes, that could provide guidance for appropriate parameter selection.
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FOMIN, ALEKSANDR YU. "AUGMENTED REALITY OF EMULATING TERRAIN AND EMERGENCY SITUATIONS IN FARM MACHINERY SIMULATORS." Agricultural engineering, no. 4 (2022): 64–68. http://dx.doi.org/10.26897/2687-1149-2022-4-64-68.
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The practical skills of agroengineers include the skills of operating technical means used in the agricultural sector. The variety of brands and modifications of training simulators and their functionality creates difficulties in obtaining the full range of skills required fror operating transport and technological machines. To expand the practical skills of students, the authors conducted analytical and patent studies of training simulators. As a result, they present a simulator using the technology of augmented reality terrain emulation, which can simulate dynamic force effects on the vehicle cab, when driving at a uniform speed on roads with different surface profiles and rotation angles, displaying the dynamics of translational motion with visual images. The impact of the vertical road terrain on the vehicle and the operator’s cabin is simulated by four vertical linear pneumatic actuators acting on the inclined platform using control devices, by means of short-term lifting and the return movement of the rods. The lifting height is modeled by the pressure in the receiver and the duration of the open state of the valve and is consistent with the road relief-modeling program. With the controls, the trainee simulates the control of the vehicle movement along the road. The central microprocessor device displays an image of the road with a visible profile of rhe vehicle’s body part and the trainee, who feels the dynamic effect on the receptor-muscular system through mechanical movements of the simulator cabin, creates a psychophysical perception of the full range of real control factors over the machine. The proposed prototype of the training simulator for the movement of a technological vehicle will increase the effectiveness of training operating skills.
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Lv, Kai, Xihui Mu, Lishun Li, Wenbin Xue, Zhiyuan Wang, and Lin Xu. "Design and test methods of rubber-track conversion system." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233, no. 7 (2018): 1903–29. http://dx.doi.org/10.1177/0954407018794101.
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Rubber-track conversion system enables the vehicle to have stronger rough terrain trafficability than tire. Its roller wheels swing with terrain contours to comfort ride and steady traction. However, this will increase the detracking risk and aggravate the rubber track repeated stretch. To minimize variations of the track perimeter, a systematic design method for rubber-track conversion system was proposed to harmonize the component parameters related to relative movements. Furthermore, its tensioning system was optimized. Using a multi-camera video measurement system, the track perimeter is calibrated on a flat steel plate and track perimeter variations are measured on various terrains. Results show that the track perimeter remains unchanged when roller wheels swing on rugged terrains, and the proposed design method is free from terrain parameters and obstacle types. After reliability running test over 1000 km on various terrains, the measurements above were carried out again. The results are consistent with those before the reliability test, which further proves the effectiveness of the proposed design method.
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Bailey, Derek W., Mitchell B. Stephenson, and Marco Pittarello. "Effect of terrain heterogeneity on feeding site selection and livestock movement patterns." Animal Production Science 55, no. 3 (2015): 298. http://dx.doi.org/10.1071/an14462.
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Feeding site selection is a critical part of livestock foraging that can constrain and/or increase the choices available during diet selection. When livestock choose new feeding sites, vegetation and nutrient profiles can differ from other areas, especially in heterogeneous environments with rugged terrain. Correspondingly, livestock should remain longer in feeding sites in rugged heterogeneous pastures than in homogeneous pastures where animals may alternate among feeding sites to facilitate diet mixing and to prevent satiation. The objective of this study was evaluate how terrain and corresponding heterogeneity may affect the sequence and pattern of feeding site selection of free-roaming livestock. Grazing patterns of mature cows were evaluated on six ranches located in Arizona, Montana and New Mexico. In total, 11–19 cows were tracked for 1–3-month periods at each ranch by using global positioning system (GPS) collars. Positions were recorded at 10- or 15-min intervals and used to identify where cows grazed during the early morning (0500 hours to 1000 hours). Pastures (336–9740 ha) at each ranch were divided into seven to nine sections (48–1082 ha) as an indicator of feeding sites. Classification was based on cattle density and topographical and vegetation types. Sequences of daily section selection were evaluated using transition matrixes. For all ranches, the sequence of section selection differed from what would be expected by chance, indicating that the section selected on the following day depended on the section selected on the previous day. For ranches with relatively gentle terrain, cattle selected different feeding sites ~70% of the tracking period. In contrast, cows at the ranch with the largest pasture and enclosing both mountainous and gentle terrain stayed in the same feeding site for over 10 successive days for 42% of the tracking period. Smaller pastures with only mountainous terrain were intermediate. Cows grazing gentle topography and relatively homogeneous vegetation alternated among feeding sites (sections in the present study) more frequently than cows grazing pastures with more rugged topography and more heterogeneous vegetation. This pattern could help livestock mix forages and select a more diverse diet.
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Zhan, Zhengkai, Bo Leng, Wenhai Piao, XiHua Hu, Lu Xiong, and Yishi Lu. "Trajectory Tracking Control of Multi-axle Hybrid Steering Vehicles on Soft Terrain." Journal of Physics: Conference Series 3024, no. 1 (2025): 012033. https://doi.org/10.1088/1742-6596/3024/1/012033.
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Abstract Aiming at the problem of large trajectory tracking control errors for multi-axle vehicles on soft terrain, this study comprehensively considers complex wheel-terrain interaction relationships on soft terrain and develops a time-varying parameter-based trajectory tracking control algorithm for soft terrain using MPC (Model Predictive Control). Specifically, it establishes calculation methods for tire longitudinal/lateral forces on soft terrain and fits corresponding force curves. A vehicle dynamics model and trajectory tracking error model adapted to soft terrain conditions are constructed to enhance model accuracy. Considering load transfer during vehicle movement on soft terrain and the correlation between tire lateral forces and wheel loads, time-varying parameter matrices are established to accurately characterize vehicle dynamic characteristics under such conditions. By incorporating time-varying lateral force proportionality coefficients for wheel-terrain interaction, an MPC-based control algorithm is designed. Simulation tests of multi-axle vehicle trajectory tracking demonstrate the effectiveness of the proposed algorithm, showing significant improvement in control accuracy compared with conventional control methods that neglect parameter time-variation characteristics.
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Silder, Amy, Ethan J. Wong, Brian Green, Nicole H. McCloughan, and Matthew C. Hoch. "Methods for Evaluating Tibial Accelerations and Spatiotemporal Gait Parameters during Unsupervised Outdoor Movement." Sensors 24, no. 20 (2024): 6667. http://dx.doi.org/10.3390/s24206667.
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The purpose of this paper is to introduce a method of measuring spatiotemporal gait patterns, tibial accelerations, and heart rate that are matched with high resolution geographical terrain features using publicly available data. These methods were demonstrated using data from 218 Marines, who completed loaded outdoor ruck hikes between 5–20 km over varying terrain. Each participant was instrumented with two inertial measurement units (IMUs) and a GPS watch. Custom code synchronized accelerometer and positional data without a priori sensor synchronization, calibrated orientation of the IMUs in the tibial reference frame, detected and separated only periods of walking or running, and computed acceleration and spatiotemporal outcomes. GPS positional data were georeferenced with geographic information system (GIS) maps to extract terrain features such as slope, altitude, and surface conditions. This paper reveals the ease at which similar data can be gathered among relatively large groups of people with minimal setup and automated data processing. The methods described here can be adapted to other populations and similar ground-based activities such as skiing or trail running.
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Ivanov, Georgi. "Study of agrorobot resistance to movement during plant protection operations." Agricultural Sciences 15, no. 37 (2023): 54–60. http://dx.doi.org/10.22620/agrisci.2023.37.007.
Full textAbstract:
Conventional robotic systems in agriculture are driven by operator control or are those that move along an established path. Unfortunately, however, in the field an established path is a very conditional concept. It is not possible to fix the route along which the robot will move, because different crops alternate on the same field. It is necessary to assess whether the robot is taking samples from the terrain and the crop, whether it will perform a plant protection event or other type of operation. Plant protection operations are accompanied by a constant change in the mass of the agricultural robot. During the operation, the mass of the sprayed solution decreases. This change leads to a decrease in its resistance. In order to be able to design an agricultural robot, it is necessary to establish its stability in different terrains. This article discusses the main points in determining the longitudinal sustainability of agricultural robots. Dependencies for the conditions of sustainability of the agricultural robot when climbing and descending are derived. The article is an overview and helps to determine the robot’s resilience faster.