The dynamics of a 6 DOF lightweight and compact manipulator is modeled and simulated in this work. Both joint and link flexibilities are considered in order to determine modal properties of the robotic system. The numerical results are then compared with experimental measurements of predefined trajectories through a laser tracker. It is demonstrated that both joint and link flexibilities have important effects on the end-effector motion and the vibrational properties of the system. Index terms -robot manipulator, flexible link, flexible joint, laser tracker, vibration mode.
Recent work has indicated that the time a program spends in memory is the primary determinant of the turnaround of the program.We constructed a simulation model of our 0S/360 system, using as input performance data gathered by a software monitor, and experimented with differing models of the operating system, program behavior, and hardware configurations to determine an appropriate trade-off between the complexity of models used and the accuracy of the simulation.We constructed a fairly simple model which simulated, from resource requirements of programs, the time a collection of programs resided in memory to within 10% accuracy for the actual completion time of the various programs.The data gathered gave, between any two sample points, the central processor time spent processing on interrupts, on various system tasks, on various problem program tasks and on the large timesharing task which runs in our system. It also gave the number and total duration of the input-output requests from each task to each device. This data was sampled every time a program was introduced into memory or terminated and left memory.The simulators we constructed had components for the operating system (in various levels of detail), problem program behavior (we tested various distributions of processor burst time and input-output time) and also a component for the inputoutput configuration (we tested various models of channels and devices with associated queueing).The test of the accuracy of the simulation Was how well it compared with the times taken by the actual programs.The results yielded insight into the nature of program behavior as well as how programs interact with the operating system.
O crescimento das cidades de forma desorganizada tem despertado grandes preocupações acerca do mecanismo de proteção e defesa do bem-estar de seus habitantes, as de ordem social e ambiental são deveras preocupantes pelos impactos que estas trazem. Com a finalidade de conhecer os problemas e as necessidades socioambientais no município de Rosário – MA, através da análise de indicadores sociais e a consulta do Plano Diretor da cidade, buscou-se demonstrar os problemas socioambientais enfrentados no município, e a importância de um bom planejamento urbano aliado à gestão ambiental. A base econômica do município está nas atividades de pesca, agricultura familiar, extrativismo, pecuária, artesanato, frágil indústria e comércio bastante limitado. Observou-se no município uma carência em seu planejamento, principalmente na implantação de projetos ambientais, no qual o problema da negligência de tais questões é acentuado pela omissão da comunidade na gestão. O descaso do poder público é mais evidente pelas pessoas de baixa renda que, além de arcar com o ônus da dificuldade de acesso à habitação, ao saneamento básico, à educação, ao transporte e à saúde, entre outros itens necessários à reprodução social, essa população também é a mais exposta e vulnerável aos riscos ambientais intrínsecos aos contextos urbanos.Palavras-chave: Vulnerabilidade Socioambiental; Planejamento Urbano; Rosário – MA.ABSTRACTThe growth of cities in a disorganized manner has raised great concerns about the mechanism of protection and defense of the welfare of their inhabitants, the social and environmental are very worrying for the impacts they bring. In order to know the social and environmental problems and needs in the city of Rosario – MA, through the analysis of social indicators and needs in the impacts they bring. In order to know the social and environmental problems and needs in the city of Rosario – MA, through the analysis of social indicators and the consultation of the master plan of the city, we sought to demonstrate the social and environmental problems faced in the city and the importance of a good urban planning combined with environmental management. The economic base of the municipality is fishing, family farming, extractives, livestock, crafts, fragile industry and very limited trade. There was a lack of planning in the municipality, especially in the implementation of environmental projects, in which the problem of neglect of such issues is accentuated by the omission of the community in management. The neglect of the public power is more evident by the low-income people who, besides bearing the burden of the difficulty of access to housing, basic sanitation, education, this population is also the most exposed and vulnerable to environmental risks intrinsic to urban contexts.Keywords: Socio Environmental Vulnerability; Urban Planning; Rosario – MA.RESUMENEl crecimiento de las ciudades de manera desorganizada ha suscitado grandes preocupaciones sobre el mecanismo de protección y defensa del bienestar de sus habitantes, los social y lo ambiental son muy preocupantes por los impactos que conllevan. Para conocer los problemas y necesidades sociales y ambientales en la ciudad de Rosario – MA, a través del análisis de indicadores sociales y la consulta del Plan Maestro de la ciudad, y la importancia de un buen planificación urbana combinada con gestión ambiental. La base económica del municipio es la pesca, la agricultura familiar, el extractivismo, la ganadería, la artesanía, la industria frágil y el comercio muy limitado. Hubo una falta de planificación en el municipio, especialmente en la implementación de proyectos ambientales, en los que el problema de la negligencia de tales problemas se acentúa por la omisión de la comunidad en la gestión. El abandono del poder público es más evidente por las personas de bajos ingresos que además de suportar la carga de la dificultad de acceso a la vivienda, saneamiento básico, educación, esto la población también es la más expuesta y vulnerable a los riesgos ambientales intrínsecos a los contextos urbanos.Palabras clave: Vulnerabilidad social y ambiental; Planificación urbana; Rosario – MA.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
hi@scite.ai
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.