The cable-driven parallel mechanism (CDPM) is known as an interesting application in industry to pick and place objects owing to its advantages such as large workspaces. In addition to the advantages of this mechanism, there are some challenges to improving performance by considering constraints in different components, such as the behavior of cables, shape, size of the end effector and base, and model of pulleys and actuators. Moreover, the impact of online geometry reconfiguration must be analyzed. This paper demonstrates the impact of these constraints on the performance of reconfigurable CDPM. The methodology is based on the systematic review and meta-analysis guidelines to report the results. The databases used to find the papers are extracted from Scopus and Google Scholar, using related keywords. As a result, the impact of physical constraints on system performance is discussed. A total of 90 and 37 articles are selected, respectively. After removing duplicates and unrelated papers, 88 studies that met the inclusion criteria are selected for review. Even when considering the physical constraints in modeling the mechanism, simplifications in designing a model for the reconfigurable CDPM generate errors. There is a gap in designing high-performance controllers to track desired trajectories while reconfiguring the geometry, and the satisfaction of physical constraints needs to be satisfied. In conclusion, this review presents several constraints in designing a controller to track desired trajectories and improve performance in future work. This paper presents an integrated controller architecture that includes physical constraints and predictive control.

We generalize the known collision results for a solid in a 3D compressible Newtonian fluid to compressible non-Newtonian ones, and to Newtonian fluids with temperature-depending viscosities.

Raptors play a unique role in ecosystem services and are regarded as effective indicators of ecosystem health. In recent years, varieties of anthropogenic factors have threatened the majority of raptor species worldwide. Nepal is considered a global hotspot for threatened and declining raptor species, but there is limited information on the direct human threats to the raptor populations living in the country. In this paper, we identify important anthropogenic threats to raptors in Nepal based on raptor mortality data collected by powerline surveys and from monitoring of GPS-tagged raptors, complete various reports, and social media. We found that powerlines, poisoning, and persecution, mainly shooting, are significant threats to raptors in Nepal that were largely overlooked previously. We report 54 electrocuted raptors affecting eight species, 310 poisoned raptors of 11 species, and five persecuted raptors of four species; among them vultures are the most affected (>88%). Based on our findings, to safeguard the future of Nepal’s raptors, we propose the retrofitting of power poles and the use of flight diverters on powerlines in the most affected areas to reduce raptor interactions with powerlines, as well as an effective conservation education programme to prevent the use of unintentional poisoning.

The United Nations Sustainable Development Goals aim to improve livelihoods and maintain functioning ecosystems, and include the provision of electricity and the prevention of desertification. We show that the pursuit of those two goals can lead to developments that put critical ecosystem functions at risk. Vultures are scavengers that provide sanitary ecosystem services, but their populations across Africa are declining due to poisoning, electrocution, and collision with power infrastructure. The extent to which the pursuit of sustainable development threatens vultures in Africa is unclear. We surveyed 227 km of powerlines in Ethiopia, which revealed bird mortality (0.15 vulture carcasses / km) at power infrastructure constructed under a National Electrification Programme to provide universal electricity access by 2025. We also interviewed 190 local pastoralists in 10 areas about livelihood challenges, which revealed that the bush Prosopis juliflora, which was originally introduced to prevent desertification but then invaded north-eastern Ethiopia, increased livestock predation and motivated the use of poison to control predators. Actions to increase universal access to electricity and to reduce desertification therefore have undesired side-effects that increase vulture mortality through electrocution and poisoning. To avoid negatively affecting local vulture populations and the services they provide, we urge governments to use infrastructure designs that minimise the risk of electrocution and assist pastoralists to protect their livestock and reduce the risk of poisoning to vultures and other wildlife.

Saudi Arabia is the fastest growing electricity consumer in the Middle East, with a rapidly expanding network of powerlines. Bird mortality through electrocution and collision has been recorded in the country, but so far there is little information as to how much the electricity infrastructure affects globally threatened raptor populations that migrate to Saudi Arabia. In 2019, the world’s largest wintering congregation of Steppe Eagles Aquila nipalensis was discovered near a rubbish dump in central Saudi Arabia. We evaluated whether powerlines in the vicinity of this, and another congregation site, caused mortality of large birds. In November 2019, we surveyed powerlines within 6 km of two focal rubbish dumps at Al Qunfudhah (12.4 km) and Ushaiqer (2 km). We found 52 carcasses of five species, of which 85% were Steppe Eagles. Based on the age of these carcasses, we coarsely extrapolate that 14.4 km of powerlines near these two congregation sites may kill 94–240 Steppe Eagles per winter, representing up to 0.3% of their global population. We call for the urgent safeguarding of powerlines that cause mortality near known Steppe Eagle congregation sites, and the adoption and implementation of regulations that ensure that future infrastructure is constructed with designs that are safe for birds.

The style of inversion of inherited extensional basins in the Western Alps is investigated through thermo-mechanical modelling. Two-dimensional models consist of a half-graben embedded in a relatively strong crust (basement) and filled with weak syn-rift sediments (cover). We investigate the relative influence of the internal friction (µ) of the basin-bounding normal fault, tectonic burial (h) under an overlying nappe and the geothermal gradient. We use a viscoplastic model with symmetrical shortening. The inherited normal fault is implemented as a curved thin body with a variable friction coefficient (µ) ranging from 0.1 to 0.6. The style of basin inversion is controlled at shallow depth by the internal friction coefficient, whose influence decreases with the increase of both burial depth and geothermal gradient. With increasing burial and/or geothermal gradient, fault reactivation is inhibited and distributed deformation in the basement induces the vertical extrusion of the cover. The basin inversion is accompanied by distributed deformation in the cover and by the shearing of the basin and basement interface. The results are consistent with the style of inversion of inherited half-grabens in the external Western Alps, where no significant fault reactivation occurred owing to tectonic burial underneath the Alpine internal units during the early Alpine collision.

Vortex rings have been a subject of interest in vortex dynamics due to a plethora of physical phenomena revealed by their motions and interactions within a boundary. The present paper is devoted to physics of a head-on collision of two vortex rings in three dimensional space, simulated with a second order finite volume scheme and compressible. The scheme combines non-iterative approximate Riemann-solver and piecewise-parabolic reconstruction used in inviscid flux evaluation procedure. The computational results of vortex ring collisions capture several distinctive phenomena. In the early stages of the simulation, the rings propagate under their own self-induced motion. As the rings approach each other, their radii increase, followed by stretching and merging during the collision. Later, the two rings have merged into a single doughnut-shaped structure. This structure continues to extend in the radial direction, leaving a web of particles around the centers. At a later time, the formation of ringlets propagate radially away from the center of collision, and then the effects of instability involved leads to a reconnection in which small-scale ringlets are generated. In addition, it is shown that the scheme captures several experimentally observed features of the ring collisions, including a turbulent breakdown into small-scale structures and the generation of small-scale radially propagating vortex rings, due to the modification of the vorticity distribution, as a result of the entrainment of background vorticity and helicity by the vortex core, and their subsequent interaction.

In this article we study a number of collisions concerning a simple occupancy problem with unequal probabilities. Using combinatorial arguments and negative associations of random variables, we have several limit theorems, namely, a weak law of large numbers and a Poisson law of small numbers including the Chen-Stein estimate.

When a collision occurs between two ships on the high seas, very likely one may need to determine who should be liable for the collision and the apportionment of liability between them. However, it is not unusual to see a collision between an anchored vessel and another vessel underway. When determining apportionment of liability between them, it seems that there is a presumption of fault against the vessel underway. To counteract such a presumption, the author discusses some issues in respect of collisions between a vessel at anchor and others underway under the International Regulations for Preventing Collisions at Sea, 1972 (COLREGs) by examining the obligations of anchored vessels to avoid a collision at sea.

Consider an M/M/1 retrial queue with collisions and working vacation interruption underN-policy. We use a quasi birth and death process to describe the considered system andderive a condition for the stability of the model. Using the matrix-analytic method, weobtain the stationary probability distribution and some performance measures. Furthermore,we prove the conditional stochastic decomposition for the queue length in the orbit.Finally, some numerical examples are presented.

Numerous calc-alkaline granitoid intrusions in the eastern Kunlun Orogen provide a valuable opportunity to constrain the evolution of the orogen. The age and genesis of these intrusions, however, remain poorly understood. The granitoid intrusions near the Balong region, eastern Kunlun Orogen, consist of granodiorite, diorite and syenogranite. The granodiorite contains crystallized segregations, abundant mafic microgranular enclaves (MMEs) and small quartz diorite stocks. In situ zircon U–Pb dating reveals that the granodiorites and quartz diorites were emplaced between 263 and 241 Ma, whereas the syenogranite was produced at c. 231 Ma. The granodiorite and quartz diorite have a calc-alkaline affinity and are metaluminous and Na-rich, with slightly enriched Sr–Nd isotope compositions. The granodiorite is characterized by fractionated REE patterns, whereas the quartz diorite displays a relatively flat REE pattern. The MMEs are consistent with the granodiorite in terms of incompatible elements and Sr–Nd isotope composition. Compared to the granodiorite and diorite, the syenogranite has higher SiO2, K, Rb, Th and Sr contents and a lower Rb/Sr ratio. The results presented here, when combined with regional geological data, indicate that the granodiorite and quartz diorite were derived from dehydration melting of mafic lower crustal rocks during the N-directed subduction of the Anyemaqen ocean lithosphere in Late Permian–Middle Triassic times, whereas the syenogranite was produced at a higher crustal level in a syn-collisional setting compared to the granodiorite.

Introduction: Globally, railway transport is increasing steadily. Despite the adoption of diverse safety systems, major railway incidents continue to occur. Higher speeds and increased passenger traffic are factors that influence the risk of mass-casualty incidents and make railway crashes a reality that merits extensive planning and training.

Methods: Data on railway disasters were obtained from the Centre for Research on the Epidemiology of Disasters (CRED), which maintains the Emergency Events Database (EM-DAT). This descriptive study consists of 529 railway disasters (≥10 killed and/or ≥100 non- fatally injured) from 1910 through 2009.

Results: The number of railway disasters, people killed, and non-fatally injured, has increased throughout the last hundred years—particularly during the last four decades (1970–2009), when 88% of all disasters occurred. In the mid-20th century, a shift occurred, resulting in more people being non-fatally injured than fatally injured. During 1970–2009, 74% of all railway disasters occurred in Asia, Africa, and South and Central America, combined. The remaining 26% occurred in Europe, North America, and Oceania, combined. Since 1980, railway disasters have increased, especially in Asia and Africa, while Europe has had a decrease in railway disasters. The number killed per disaster (1970–2009) was highest in Africa (n = 55), followed by South and Central America (n = 47), and Asia (n = 44). The rate was lowest in North America (n = 10) and Europe (n = 29). On average, the number of non-fatal injuries per disaster was two to three times the number of fatalities, however, in the African countries (except South Africa) the relation was closer to 1:1, which correlates to the relation found in more developed countries during the mid-20th century. The total losses (non-fatally and fatally injured) per disaster has shown a slight decreasing trend.

Conclusions: Despite extensive crash avoidance and injury reduction safety systems, railway crashes occur on all continents, indicating that this type of incident must be accounted for in disaster planning and training. Better developed safety, crashworthiness, and rescue resources in North America and Europe may be factors explaining why the number of crashes and losses has stabilized and why the average number of people killed per disaster is lowest on these continents.

We study molecular motor-induced microtubule self-organization in dilute and semi-dilutefilament solutions. In the dilute case, we use a probabilistic model of microtubuleinteraction via molecular motors to investigate microtubule bundle dynamics. Microtubulesare modeled as polar rods interacting through fully inelastic, binary collisions. Ourmodel indicates that initially disordered systems of interacting rods exhibit anorientational instability resulting in spontaneous ordering. We study the existence anddynamic interaction of microtubule bundles analytically and numerically. Our resultsreveal a long term attraction and coalescing of bundles indicating a clear coarsening inthe system; microtubule bundles concentrate into fewer orientations on a slow logarithmictime scale. In semi-dilute filament solutions, multiple motors can bind a filament toseveral others and, for a critical motor density, induce a transition to an ordered phasewith a nonzero mean orientation. Motors attach to a pair of filaments and walk along thepair bringing them into closer alignment. We develop a spatially homogenous, mean-fieldtheory that explicitly accounts for a force-dependent detachment rate of motors, which inturn affects the mean and the fluctuations of the net force acting on a filament. We showthat the transition to the oriented state can be both continuous and discontinuous whenthe force-dependent detachment of motors is important.

Computer simulation is a major tool in validation of robot motion planning systems, since, on the one hand, underlying theory of algorithms typically requires questionable assumptions and simplifications, and, on the other hand, experiments with hardware are necessarily limited by available resources and time. This is especially true when the motion planning system in question is based on sensor feedback and the generated trajectory is, therefore, unpredictable. This paper describes a simulation system ROPAS (for RObot PAth Simulation) for testing one approach — called Dynmic Path Planning (DPP) — to sensor-based robot collision avoidance in an environment with unknown obstacles. Using real time graphics animation of the motion planning system, the user can simulate the behavior of an autonomous vehicle or a robot arm manipulator with a fixed base. The overall structure of the system is described, and examples are presented.

The Hengshan–Wutai–Fuping belt is located in the middle segment of the Trans-North China Orogen, a Palaeoproterozoic continental collisional belt along which the Eastern and Western blocks amalgamated to form the North China Craton. The belt consists of the medium- to high-grade Hengshan and Fuping gneiss complexes and the intervening low- to medium-grade Wutai granite–greenstone terrane, and most igneous rocks in the belt are calc-alkaline and have affinities to magmatic arcs. Previous tectonic models assumed that the Hengshan and Fuping gneiss assemblages were an older basement to the Wutai supracrustal rocks, but recent studies indicate that the three complexes constitute a single, long-lived Neoarchaean to Palaeoproterozoic magmatic arc where the Wutai Complex represents an upper crustal domain, whereas the Hengshan and Fuping gneisses represent the lower crustal components forming the root of the arc. The earliest arc-related magmatism in the belt occurred at 2560–2520 Ma, marked by the emplacement of the Wutai granitoids, which was followed by arc volcanism at 2530–2515 Ma, forming the Wutai greenstones. Extension driven by widespread arc volcanism led to the development of a back-arc basin or a marginal sea, which divided the belt into the Hengshan–Wutai island arc (Japan-type) and the Fuping relict arc. At 2520–2480 Ma, subduction beneath the Hengshan–Wutai island arc caused partial melting of the lower crust to form the Hengshan tonalitic–trondhjemitic–granodioritic (TTG) suites, whereas eastward-directed subduction of the marginal sea led to the reactivation of the Fuping relict arc, where the Fuping tonalitic–trondhjemitic–granodioritic suite was emplaced. In the period 2360–2000 Ma, sporadic phases of isolated granitoid magmatism occurred in the Hengshan–Wutai–Fuping region, forming 2360 Ma, c. 2250 Ma and 2000–2100 Ma granitoids in the Hengshan Complex, the c. 2100 Ma Wangjiahui and Dawaliang granites in the Wutai Complex, and the 2100–2000 Ma Nanying granitoids in the Fuping Complex. At c. 1920 Ma, the Hengshan–Wutai island arc underwent an extensional event, possibly due to the subduction of an oceanic ridge, leading to the emplacement of pre-tectonic gabbroic dykes that were subsequently metamorphosed, together with their host rocks, to form medium- to high-pressure granulites. At 1880–1820 Ma, the Hengshan–Wutai–Fuping arc system was juxtaposed, intensely deformed and metamorphosed during a major and regionally extensive orogenic event, the Lüliang Orogeny, which generated the Trans-North China Orogen through collision of the Eastern and Western blocks. The Hengshan–Wutai–Fuping belt was finally stabilized after emplacement of a mafic dyke swarm at 1780–1750 Ma.

In this paper, a collision detection and identification method of a manipulator, using wrist and base force/torque sensors, is presented. An impact model is used to simulate the interaction between the manipulator and the human or environment. A neural network approach and a model based method are developed to detect the collision forces and disturbance torques on the joints of the manipulator. The experimental results illustrate the validity of the developed collision detection and identification scheme.

Although overhead electrical wires are known to have caused severe declines of bird populations, there are no studies in India that address this danger, even for endangered species. Rates of mortality, factors affecting mortality and population effects of electrical wires on the globally endangered sarus crane (Grus antigone) were assessed for breeding and non-breeding cranes in Etawah and Mainpuri districts, Uttar Pradesh, India. Non-breeding cranes were most susceptible to wires and, within territories, mortalities were higher for pre-dispersed young. Similar proportions of non-breeding and breeding cranes were killed, together accounting for nearly 1% of the total sarus crane population annually. Supply wires accounted for the majority of sarus crane deaths, and only non-breeding cranes were killed by both supply and high-tension power lines. Non-breeding crane deaths at roost sites were correlated with numbers of roosting birds and numbers of wires at each site. Over 40% of 251 known sarus crane territories had at least one overhead wire posing a risk to breeding adults and pre-dispersed young. A risk index for wires over territories of cranes was computed; mortality was not affected by increasing the number and therefore risk posed by wires. Most crane deaths in territories occurred as a result of wires at edges of territories. Wires around roosting sites, territoriality and age of sarus cranes appear to be the most important factors affecting their mortality due to wires. Mitigation measures will be most effective around roost sites and for wires that border territories of breeding pairs.