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During the automatic docking assembly of aircraft wing-fuselage, using monocular camera or dual-camera to monitor the docking stage of the fork-ear will result in an incomplete identification of the fork-ear pose-position and an inaccurate description of the deviation in the intersection holes’ position coordinates. To address this, a quality inspection and error correction method is proposed for the fork-ear docking assembly based on multi-camera stereo vision. Initially, a multi-camera stereo vision detection system is established to inspect the quality of fork-ear docking assembly. Subsequently, a spatial position solution mathematical model of the fork-ear feature points is developed, and a spatial pose determination mathematical model of fork-ear is established by utilised the elliptical cone. Finally, an enhanced artificial fish swarm particle filter algorithm is proposed to track and estimate the coordinate of the fork-ear feature points. An adaptive weighted fusion algorithm is employed to fuse the detection data from the multi-camera and the laser tracker, and a wing pose-position fine-tuning error correction model is constructed. Experimental results demonstrate that the method enhances the effect of the assembly quality inspection and effectively improves the wing-fuselage docking assembly accuracy of the fork-ear type aircraft.
There are many deviation sources in the assembly process of aircraft complex thin-walled structures. To get important factors that affect quality, it is crucial to diagnose the key deviation resources. The deviation transfer between deviation sources and assembly parts has the characteristics of small sample size, nonlinearity, and strong coupling, so it is difficult to diagnose the key deviation sources by constructing assembly dimension chains. Therefore, based on the deviation detection data, transfer entropy and complex network theory are introduced. Integrating the depth-first traversal algorithm with degree centrality theory, a key deviation diagnosis method for complex thin-walled structures is proposed based on weighted transfer entropy and complex networks. The application shows that key deviation sources that affect assembly quality can be accurately identified by the key deviation source diagnosis method based on complex networks and weighted transfer entropy.
As part of the digital transformation towards Industry 4.0, the tasks of staff on the shop floor are changing. Despite increasing automation, complex assembly steps still have to be carried out by humans, especially when it comes to complex products rich in variants, whose assembly cannpt be fully automated for various reasons. Due to increasing individualization and the steadily growing complexity of products, providing the right information at the right time and in the right place is becoming more important. In this context, the visualization of information via novel technologies such as augmented reality plays a crucial role towards an efficient and error-free production process. This paper compiles existing challenges when using augmented reality as a visualization form for an assistance system. On the one hand, the challenges found originate from a systematic literature review and are organized according to predefined categories. On the other hand, these challenges are complemented and compared through findings gained from expert interviews, which are conducted with employees of two European commercial vehicle manufacturers in the field of production. The analysis of the two methods highlights the need for further research.
Chapter 2 lays out the managerial system that applies to protest in the U.S. It uses a protest typology to describe the scope and limits of protesters’ rights under the First Amendment. The chapter identifies the public forum and time, place, manner, and other restrictions that limit protest activity. It addresses protest permits, policing tactics, enforcement of public order laws, limits on press activity at protests, and other elements of the “managed dissent” system. The chapter sets the stage for the book’s argument that public protest is over-managed in ways that make protest more costly, less safe, and less effective.
The mass street demonstrations that followed the 2020 police murder of George Floyd were perhaps the largest in American history. These events confirmed that even in a digital era, people rely on public dissent to communicate grievances, change public discourse, and stand in collective solidarity with others. However, the demonstrations also showed that the laws surrounding public protest make public contention more dangerous, more costly, and less effective. Police fired tear gas into peaceful crowds, used physical force against compliant demonstrators, imposed broad curfews, limited the places where protesters could assemble, and abused 'unlawful assembly' and other public disorder laws. These and other pathologies epitomize a system in which public protest is tightly constrained in the name of public order. Managed Dissent argues that in order to preserve the venerable tradition of public protest in the US, we must reform several aspects of the law of public protest.
A synodal church makes assumptions about our basic ecclesial experience which takes place when we assemble liturgically, especially when we act eucharistically. The basic assumption is that we are a genuine human community knowing and relating to one another as brothers and sisters in baptism. Only real communities can authentically image the church's nature. This is a ‘bottom – up’ activity. If we wish this, then we must rediscover our liturgy and celebrate it in a new way as flowing out from a community and helping it to discover its own nature. This, in turn, makes demands on our understanding of ministry and its structures. While many Catholics endorse synodality, their willingness to change the shape of the presbyterate is uncertain.
Loday’sassembly maps approximate the K-theory of group rings by the K-theory of the coefficient ring and the corresponding homology of the group. We present a generalisation that places both ingredients on the same footing. Building on Elmendorf–Mandell’s multiplicativity results and our earlier work, we show that the K-theory of Lawvere theories is lax monoidal. This result makes it possible to present our theory in a user-friendly way without using higher-categorical language. It also allows us to extend the idea to new contexts and set up a nonabelian interpolation scheme, raising novel questions. Numerous examples illustrate the scope of our extension.
This chapter examines the organisational structure of the ecumenical synods. First, a new interpretation of their organisation is proposed. Whereas earlier scholars have argued for a (con)federal structure consisting of a leading group in Rome and quasi-independent local branches in the provinces, the sources indicate that the ecumenical synods were much more uniformly organised, with a central headquarters in Rome, local headquarters in certain cities and mobile delegations travelling along the agonistic circuits. Next comes an overview of synod officials and a discussion of the finances of the two associations. The chapter then proceeds to discuss the relationship between the synods and the emperor. Whereas several other scholars believe that the synods were a tool with which the emperor kept the agonistic world under control, it appears that the synods had more agency than was earlier assumed. Finally, this chapter analyses other agonistic associations in the Roman empire and their relationship with the ecumenical synods.
The debate on the compatibility of neutrality with collective security appears to have occupied scholars in the interwar period but not after the end of World War II. However, it remains relevant. Neutrality defers to collective security only if the Charter mechanism works effectively. Even then, however, neutrality is admissible if it does not subvert collective action authorized by the Security Council or the General Assembly under the Uniting-for-Peace resolution.
This chapter traces a rising national consciousness in English law and legal institutions, focusing on the implications of this for the broader shift from medieval privileges to modern intellectual property. The shift is presented through a narrative highlighting the roots of Parliament in the legal principles and transcendent appeals established in the wake of thirteenth century baronial revolts. We see the impacts of this nationalizing legal revolution in the thought-world of the great monastic chroniclers at the Benedictine abbey of St. Albans. And we see the historical legacy of this nationalizing legal revolution in the rise of statutory supremacy and positive legality. These interrelated developments occurred through processes of semantic legal ordering, in which Parliament appropriated traditional rights of prerogative kingship and the church, establishing itself as the guardian of property owned by an increasingly-vocal class of subjects invested (materially and spiritually) in the Protestant Reformation. Two statutory foundations for modern intellectual property resulted from these complex developments: the Statute of Monopolies (1624) and the Statute of Anne (1710).
During the fourth century, the amount of money Athenians got from the polis for volunteering to sit on a jury and for attending the assembly diverged significantly. Jury pay remained at 3 obols a day, despite inflation, while the pay given for a principal (kyria) assembly eventually rose from 1 obol to 9 obols—outpacing inflation and overcompensating most citizens for their time. What demographic reconstruction of the jury can explain why the real value of jury pay never declined to the point that too few Athenians volunteered? Self-reliant citizens (penêtes) must have dominated the jury pool, and penêtes with young adult children would have volunteered most often. Having an additional source of household labour reduced the opportunity cost of jury service for these Athenians and made their participation more resilient in the face of the declining value of pay. Citizens who faced greater opportunity costs probably participated less over time, meaning that fourth-century juries gradually became less diverse. By contrast, the growth in assembly pay can best be understood in terms of the ‘Lycurgan’ agenda of the 330s and the 320s. Greater pay helped to ensure that the assembly's newly expanded meeting place on the Pnyx was filled to capacity with citizens from all over Attica. The result was a massive spectacle that celebrated a threatened democracy and stimulated the polis economy. Since the courts lacked the same capacity for spectacle, there was no political motivation to pay jurors more.
This chapter gives a detailed and dramatic account of the first year of the Juba Peace Talks between the Lord’s Resistance Army/Movement (LRA/M) and the Government of Uganda. It highlights the many tensions and contradictions that occurred, for example, the pressure to bring LRA senior commanders to the table while they feared for their security, Ugandan government insistence to put a deadline on the talks, the lack of capacity within the LRA/M delegation to deliver negotiation papers, the technical and military challenge to have the LRA fighters assemble, the contradictions within international approaches that simultaneously supported the ICC while also requesting that to back off. Ownership of the process became complex for the LRA/M who sought broad civil society participation while aiming to maintain their powerful hold on the process. In offering a narrative of the convoluted and complex events of this first year of peace talks, the chapter also argues that the developing dynamics of the talks made the pursuit of peace not just an unthankful but rather a damaging experience: For the LRA/M, the start to the negotiations was an experience of continuation, with existing political and military power relations entrenched, rather than transformed.
Informed by the ‘assembly’ jurisprudence of the United Nations Human Rights Committee, this article addresses fundamental questions about the meaning and scope of ‘assembly’ in Article 21 of the International Covenant on Civil and Political Rights (ICCPR). In seeking to determine when the right of peaceful assembly might properly be engaged, the article explores the interrelationship of assembly with expression and association and proposes a definition of ‘assembly’—for the purposes of its protection—as ‘an intentional gathering by two or more people (including in private and online/virtual spaces)’. Such definitional reflection is particularly timely in light of the Human Rights Committee's drafting of General Comment No 37 on Article 21.
Chapter 7 discusses the continuing relevance and importance of the assembly and petition rights in the modern, online era. Regarding assembly, it notes that large gatherings of citizens such as the 2017 Women’s March (modeled on the 1963 March on Washington lead by Dr. Martin Luther King, Jr.) continue to play a critical role in enabling ordinary citizens to participate in democratic governance. Even in the Internet era, physical assemblies have a unique ability to express the strength and popularity of political positions, as well as to galvanize the participants in such events. The Internet has for that reason not displaced physical assembly, though it has simplified the organizing of such assemblies and permitted individuals who cannot physically assemble to jointly develop and express shared views. The chapter also explores and criticizes legal barriers to the exercise of assembly rights. Finally, the chapter argues in favor of reviving the traditional right of petition, and in particular the use of physical, hand-delivered petitions as a means to restore contact between citizens and public officials. It closes by demonstrating how the 1965 Selma March illustrates the continuing value of assembly and petition in our democracy.
Chapter 2 discusses the First Amendment right to peaceably assemble and the related right to form associations. In their original proposed constitutional amendments, George Mason and James Madison both included a right “peaceably to assemble to consult for the common good.” Historically the assembly right was a powerful one, entitling the people to gather in public places without prior permission from government officials.Furthermore, even disruptive assemblies were tolerated so long as they did not cross into violence because assembly was recognized as an essential element of popular sovereignty. After all, in an era before electronic communications, physical gatherings were the only way ordinary citizens could exchange and jointly formulate their political beliefs. For similar reasons, the First Amendment has also been long interpreted to protect the right to form permanent associations. This right emerged from efforts during the Washington Administration to suppress the Democratic-Republican Societies, founded to support the French Revolution. Today, the Supreme Court accepts that meaningful citizen participation in government requires stringent protection for associations because it is only through joining groups that individual citizens are able to influence policymaking. The hard question that remains is whether to tolerate discriminatory associations.
The Homeric poems depict a broad spectrum of political behaviors practiced in two organs for collective deliberation, the agorē “assembly” and the boulē “council.” Nuanced representations of collective deliberation reflect the Homeric tradition’s general interest in mechanisms of social cohesion and discord.
Chapter 6 addresses two ways in which our minds can be constructive: either by making inferences on the basis of what’s already there – filling in gaps of information, or by transforming what’s there into something new. This twofold ability of the human mind to construct is basic to our existence, enabling us to go beyond what we encounter around us. The way we talk reflects both inference and transformation processes systematically. Inference involves taking observable facts and combining them with further knowledge or assumptions, in order to come to new insights or conclusions that aren’t directly observable. Transformation, on the other hand, involves taking observable facts or objects and turning them into something different, something that isn’t yet there but that can be accomplished using available tools and operators. Chapter 6 looks at each of these processes of cognitive constructiveness in turn.
This chapter explains how you can discretize the basic equations for single-phase, compressible flow by use of the discrete differential and averaging operators introduced in Chapter 4. These operators enable you to implement the flow equations in a compact form similar to the continuous mathematical description. By using automatic differentiation, you can automatically linearize and assemble the corresponding linear system without having to explicitly derive and implement expressions for partial derivatives in the Jacobian matrix. The combination of discrete operators and automatic differentiation with a flexible grid structure, a highly vectorized and interactive scripting language, and a powerful graphical environment, is the main reason MRST has proven to be an efficient tool for developing new proof-of-concept codes. To demonstrate this, we first develop a compact solver for compressible flow, and then extend the basic single-phase model to include pressure-dependent viscosity, non-Newton fluid behavior, and temperature effects.
This paper investigates a battery snap-in operation performed by an industrial robot. The snap-fit phenomenon is experienced during the insertion of batteries into the battery holder. In order to understand the nature of the snap-fit phenomenon, the large displacement but small deformation theory is used to model the insertion operation. The stability of equilibrium points is analysed in order to determine the so-called trip point. The purpose of the investigation is to augment the displacement control of the robot with force feedback. A microcontroller-based measurement system is implemented to provide the force feedback. The proposed method is valid for a class of snap-fit problems not only for the investigated specific one.
With European Laser Facilities such as the Extreme Light Infrastructure (ELI) and the Helmholtz International Beamline for Extreme Fields (HIBEF) scheduled to come online within the next couple of years, General Atomics, as a major supplier of targets and target components for the High Energy Density Physics community in the United States, is gearing up to meet their demand for large numbers of low cost targets. Using the production of a subassembly for the National Ignition Facility’s fusion targets as an example, we demonstrate that through automation of assembly tasks, the design of targets and their experimental setup can be fairly complex while keeping the assembly time and cost as a minimum. A six-axis Mitsubishi robot is used in combination with vision feedback and a force–torque sensor to assemble target subassemblies of different scales and designs with minimal change of tooling, allowing for design flexibility and short assembly setup times. Implementing automated measurement routines on a Nikon NEXIV microscope further reduces the effort required for target metrology, while electronic data collection and transfer complete a streamlined target production operation that can be adapted to a large variety of target designs.